Double-arm truss manipulator

Abstract

The utility model discloses a double-arm truss manipulator which comprises a base, a first truss manipulator and a second truss manipulator, wherein the first truss manipulator and the second truss manipulator are arranged on the base; each of the first truss manipulator and the second truss manipulator comprises a cross beam fixedly arranged on the base, a movable seat slidably connected to the cross beam, a horizontal driving mechanism used for driving the movable seat to reciprocate in the horizontal direction, and a vertical beam slidably connected to the movable seat; the vertical driving mechanism is used for driving the vertical beam to reciprocate in the vertical direction; and the clamping jaw is arranged on the vertical beam. The double-arm truss manipulator has the advantages of being compact in structure, good in compatibility and wide in application range, and the production efficiency can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material conveying equipment, in particular to a double-arm truss manipulator. Background Art

[0002] A double-head vertical lathe is a processing machine tool with two lathe spindles, which can realize the simultaneous processing of two workpieces. However, the existing dual-axis or three-axis manipulators can only meet the automatic loading and unloading of a single spindle, and cannot meet the high-efficiency processing requirements of the dual spindle loading and unloading of the double-head vertical lathe, and has certain limitations. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a double-arm truss manipulator which has a compact structure, good compatibility, a wide range of applications and can effectively improve production efficiency.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0005] A double-arm truss manipulator comprises a base and a first truss manipulator and a second truss manipulator arranged on the base, wherein the first truss manipulator and the second truss manipulator each comprise a crossbeam fixedly arranged on the base, a movable seat slidably connected to the crossbeam, a horizontal driving mechanism for driving the movable seat to reciprocate in a horizontal direction, a vertical beam slidably connected to the movable seat, a vertical driving mechanism for driving the vertical beam to reciprocate in a vertical direction, and a clamp arranged on the vertical beam.

[0006] As a further improvement of the above technical solution:

[0007] An accordion cover is arranged at one end of the crossbeam, one end of the accordion cover is a fixed end, and the other end is a movable end, and the fixed end is fixedly connected to the crossbeam.

[0008] The movable end is provided with an adsorption sheet metal, the crossbeam is provided with a magnetic baffle with a magnet, and the movable seat is provided with a magnetic sheet metal with a magnet. When the movable seat moves toward the side close to the accordion cover, the magnetic sheet metal passes through the magnetic baffle and is magnetically connected to the adsorption sheet metal. When the movable seat moves away from the accordion cover, the magnetic sheet metal passes through the magnetic baffle and releases the magnetic connection with the adsorption sheet metal, and the magnetic baffle is magnetically connected to the adsorption sheet metal.

[0009] The horizontal driving mechanism includes a first rack fixedly arranged on the crossbeam, a first driving motor fixedly arranged on the movable seat, and a first driving gear arranged at the output end of the first driving motor, and the first driving gear is meshedly connected with the first rack.

[0010] The vertical driving mechanism includes a second rack fixedly arranged on the vertical beam, a second driving motor fixedly arranged on the movable seat, and a second driving gear arranged at the output end of the second driving motor, and the second driving gear is meshedly connected with the second rack.

[0011] Compared with the prior art, the advantages of the utility model are:

[0012] The double-arm truss manipulator of the utility model has a first truss manipulator and a second truss manipulator on a base, has a compact structure and good compatibility, solves the technical problem in the prior art that only a single spindle can automatically load and unload materials, can realize simultaneous loading and unloading of dual spindles of a double-head vertical lathe and dual fixtures of a machining center, has a wide range of applications, and effectively improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of a double-arm truss manipulator.

[0014] Figure 2 Schematic diagram of the structure of the first truss manipulator.

[0015] Figure 3 This is a schematic diagram of the structure of the first truss manipulator from another angle.

[0016] Figure 4 Schematic diagram of a double-arm truss robot applied to a double-head vertical lathe.

[0017] Legend:

[0018] 100, double-head vertical lathe; 200, workpiece silo; 300, unloading conveyor line;

[0019] 1. Base; 101. First truss manipulator; 102. Second truss manipulator; 2. Crossbeam; 3. Movable seat; 4. Horizontal drive mechanism; 401. First rack; 402. First drive motor; 403. First driving gear; 5. Vertical beam; 6. Vertical drive mechanism; 601. Second rack; 602. Second drive motor; 603. Second driving gear; 7. Gripper; 8. Organ cover; 801. Fixed end; 802. Movable end; 9. Adsorption sheet metal; 10. Magnetic baffle; 11. Magnetic sheet metal. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 3As shown, the double-arm truss manipulator of this embodiment includes a base 1 and a first truss manipulator 101 and a second truss manipulator 102 arranged on the base 1. The first truss manipulator 101 and the second truss manipulator 102 both include a crossbeam 2 fixedly arranged on the base 1, a movable seat 3 slidably connected to the crossbeam 2, a horizontal driving mechanism 4 for driving the movable seat 3 to reciprocate in the horizontal direction, a vertical beam 5 slidably connected to the movable seat 3, a vertical driving mechanism 6 for driving the vertical beam 5 to reciprocate in the vertical direction, and a clamp 7 arranged on the vertical beam 5. The double-arm truss manipulator is provided with the first truss manipulator 101 and the second truss manipulator 102 on the base 1, and has a compact structure and good compatibility. It solves the technical problem in the prior art that only a single spindle can be automatically loaded and unloaded, and can realize simultaneous loading and unloading of double-head vertical lathes with double spindles and double fixtures of machining centers. It has a wide range of applications and effectively improves production efficiency.

[0022] Preferably, an accordion cover 8 is provided at one end of the cross beam 2 , one end of the accordion cover 8 is a fixed end 801 , and the other end is a movable end 802 , and the fixed end 801 is fixedly connected to the cross beam 2 .

[0023] Preferably, the movable end 802 is provided with an adsorption sheet metal 9, the cross beam 2 is provided with a magnetic baffle 10 with a magnet, and the movable seat 3 is provided with a magnetic sheet metal 11 with a magnet. When the movable seat 3 moves toward the side close to the accordion cover 8, the magnetic sheet metal 11 passes through the magnetic baffle 10 and is magnetically connected to the adsorption sheet metal 9. When the movable seat 3 moves away from the accordion cover 8, the magnetic sheet metal 11 passes through the magnetic baffle 10 and releases the magnetic connection with the adsorption sheet metal 9, and the magnetic baffle 10 is magnetically connected to the adsorption sheet metal 9. In this embodiment, the function of the magnetic baffle 10 installed on the crossbeam 2 is to distinguish the space inside and outside the machine tool. The crossbeam 2 is bounded by the magnetic baffle 10, the side close to the accordion cover 8 is the inside of the machine tool, and the side away from the accordion cover 8 is the outside of the machine tool, so that the accordion cover 8 can only move on the inside of the machine tool. When the movable seat 3 moves toward the inside of the machine tool, the magnetic sheet metal 11 will pass through the magnetic baffle 10 and abut against the adsorption sheet metal 9 for magnetic attraction, and the movable seat 3 drives the movable end 802 to move toward the fixed end 801. When the movable seat 3 moves toward the outside of the machine tool, the magnetic sheet metal 11 will pass through the magnetic baffle 10 again, and the magnetic baffle 10 will abut against the adsorption sheet metal 9 for magnetic attraction, and the adsorption sheet metal 9 and the magnetic sheet metal 11 will be released from the magnetic connection, so that the movable end 802 stays at the machine tool protective door, thereby playing a waterproof and chip-proof role for the moving parts inside the machine tool.

[0024] Preferably, the horizontal driving mechanism 4 includes a first rack 401 fixedly disposed on the crossbeam 2, a first driving motor 402 fixedly disposed on the movable seat 3, and a first driving gear 403 disposed at the output end of the first driving motor 402, and the first driving gear 403 is meshingly connected with the first rack 401.

[0025] Preferably, the vertical drive mechanism 6 includes a second rack 601 fixedly arranged on the vertical beam 5, a second drive motor 602 fixedly arranged on the movable seat 3, and a second driving gear 603 arranged at the output end of the second drive motor 602, and the second driving gear 603 is meshed and connected with the second rack 601. In this embodiment, the horizontal drive mechanism 4 and the vertical drive mechanism 6 both adopt the form of gear rack transmission, which has the advantages of compact structure, high transmission efficiency and good operation stability. In other embodiments, the horizontal drive mechanism 4 and the vertical drive mechanism 6 can also adopt synchronous belt transmission, chain transmission, telescopic cylinder transmission and other components with reciprocating movement function, which are not limited to this embodiment.

[0026] like Figure 4 As shown, in actual application, the double-arm truss manipulator of the utility model is installed in front of the double-head vertical lathe 100, the workpiece bin 200 and the unloading conveyor line 300 are installed in front of the double-arm truss manipulator, and the distance between the first truss manipulator 101 and the second truss manipulator 102 is adjusted according to the double spindle distance of the double-head vertical lathe 100, which can realize simultaneous loading and unloading of the double spindles, effectively improving production efficiency; in order to improve the cutting fluid and chip protection during processing, the conventional truss manipulator will increase the overall height of the truss so that the truss body is located outside the machine tool, but this makes the equipment height higher, the upper and lower axis strokes longer, and the rigidity worse, while the crossbeam 2 part of the first truss manipulator 101 and the second truss manipulator 102 of the utility model is located Inside the lathe, the overall height of the equipment is lowered, the upper and lower axis strokes are shortened, the rigidity of the equipment is improved, and it is suitable for some low factories. An accordion cover 8 is provided at one end of the crossbeam 2 located inside the lathe. When the movable seat 3 moves toward the inside of the machine tool, the magnetic sheet metal 11 will pass through the magnetic baffle 10 and abut against the adsorption sheet metal 9 for magnetic attraction. The movable seat 3 drives the movable end 802 to move toward the fixed end 801. When the movable seat 3 moves toward the outside of the machine tool, the magnetic sheet metal 11 will pass through the magnetic baffle 10 again, and the magnetic baffle 10 will abut against the adsorption sheet metal 9 for magnetic attraction, and the adsorption sheet metal 9 and the magnetic sheet metal 11 will be released from the magnetic connection, so that the movable end 802 stays at the machine tool protective door, thereby playing a role of waterproofing and chip prevention for the moving parts located inside the machine tool, and the protection effect is good.

[0027] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. For those skilled in the art, improvements and changes obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A double-arm truss manipulator, characterized in that: The invention comprises a base (1) and a first truss manipulator (101) and a second truss manipulator (102) arranged on the base (1); the first truss manipulator (101) and the second truss manipulator (102) each comprising a crossbeam (2) fixedly arranged on the base (1), a movable seat (3) slidably connected to the crossbeam (2), a horizontal driving mechanism (4) for driving the movable seat (3) to reciprocate in a horizontal direction, a vertical beam (5) slidably connected to the movable seat (3), a vertical driving mechanism (6) for driving the vertical beam (5) to reciprocate in a vertical direction, and a clamp (7) arranged on the vertical beam (5).

2. The double-arm truss manipulator according to claim 1, characterized in that: An accordion cover (8) is provided at one end of the crossbeam (2); one end of the accordion cover (8) is a fixed end (801), and the other end is a movable end (802); the fixed end (801) is fixedly connected to the crossbeam (2).

3. The double-arm truss manipulator according to claim 2, characterized in that: The movable end (802) is provided with an adsorption sheet metal (9), the cross beam (2) is provided with a magnetic attraction baffle (10) with a magnet, and the movable seat (3) is provided with a magnetic attraction sheet metal (11) with a magnet. When the movable seat (3) moves toward the side close to the accordion cover (8), the magnetic attraction sheet metal (11) passes through the magnetic attraction baffle (10) and is magnetically connected to the adsorption sheet metal (9). When the movable seat (3) moves toward the side away from the accordion cover (8), the magnetic attraction sheet metal (11) passes through the magnetic attraction baffle (10) and releases the magnetic attraction connection with the adsorption sheet metal (9), and the magnetic attraction baffle (10) is magnetically connected to the adsorption sheet metal (9).

4. The double-arm truss manipulator according to claim 1, characterized in that: The horizontal driving mechanism (4) comprises a first rack (401) fixedly arranged on the crossbeam (2), a first driving motor (402) fixedly arranged on the movable seat (3), and a first driving gear (403) arranged at the output end of the first driving motor (402), the first driving gear (403) being meshingly connected with the first rack (401).

5. The double-arm truss manipulator according to claim 4, characterized in that: The vertical drive mechanism (6) comprises a second rack (601) fixedly arranged on the vertical beam (5), a second drive motor (602) fixedly arranged on the movable seat (3), and a second driving gear (603) arranged at the output end of the second drive motor (602), the second driving gear (603) being meshingly connected with the second rack (601).

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