Modularized truss type manipulator

Abstract

The utility model discloses a modularization truss type mechanical arm, relates to mechanical arm technical field, including lifting beam, rotary cylinder and multiple sets of vacuum chuck, be equipped with the regulation mechanism above multiple sets of vacuum chuck, regulation mechanism includes fixed plate, two sets of electric cylinder and movable plate, the inside of movable plate is equipped with five sets of spacing groove through, the fixed plate is equipped with the fixed plate, the two sets of electric cylinder is equipped with the spacing groove. Sliding bases are fixedly mounted on the two sides of the movable plate correspondingly, and two limiting bases are fixedly mounted on one side of the fixed plate. The adjusting mechanism is arranged to adjust the distance between the vacuum chucks in the output module, so that the device can adapt to workpieces of different sizes and shapes, the adsorption effect is optimized, it is ensured that the tightness between the vacuum chucks and the workpieces is higher, the adsorption stability and reliability are improved, the adsorption and carrying processes of the workpieces are more efficient and rapid, and the working efficiency is improved. The adaptability and flexibility of the manipulator are improved, and the automatic production process is optimized.

Description

Technical Field

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

[0002] A truss manipulator is a fully automatic industrial device that is based on a right-angle X, Y, Z three-coordinate system and is used to adjust the workpieces' positions or achieve functions such as the trajectory movement of workpieces. Currently, most truss manipulators adopt modular design and are systems composed of multiple independent modules. Each module has specific functions and tasks and can operate independently or cooperate with other modules. When transporting an object, the output end of the manipulator uses a vacuum chuck for operation.

[0003] However, in the prior art, the distance between the suction cups of the truss manipulator is fixed. Since the distance between the suction cups cannot be adjusted, it cannot flexibly meet the requirements of different workpieces, resulting in poor matching between the suction cups and the workpieces, affecting the adsorption effect, and easily causing situations such as insecure adsorption or omission of suction cups. It is necessary to frequently replace the suction cups or adjust the position of the manipulator for workpieces of different sizes, resulting in a reduction in production efficiency. In view of the above problems, a modular truss manipulator is proposed. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the problem in the prior art that the distance between the suction cups of the truss manipulator is fixed, resulting in poor matching between the suction cups and the workpieces, and easily causing situations such as insecure adsorption or omission of suction cups, and to propose a modular truss manipulator.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: A modular truss manipulator includes a lifting beam, a rotary cylinder, and multiple groups of vacuum suction cups. An adjusting mechanism is arranged above the multiple groups of vacuum suction cups. The adjusting mechanism includes a fixing plate, two groups of electric cylinders, and a moving plate. Five limiting grooves are penetrated inside the moving plate. Sliding seats are fixedly installed on both sides of the moving plate. Two limiting seats are fixedly installed on one side of the fixing plate. Five sliding rods are slidably connected to the bottoms of the two limiting seats. Limiting rods are fixedly installed on one side of each of the five sliding rods.

[0006] Preferably, the bottom of the lifting beam is fixedly connected to the top of the rotary cylinder, and the outer walls of the two groups of electric cylinders are fixedly connected to the bottom of the fixing plate.

[0007] Preferably, both groups of sliding seats are arranged inside the fixing plate, and the five limiting rods are respectively arranged inside the five limiting grooves.

[0008] Preferably, an installation mechanism is arranged on the top of the fixing plate. The installation mechanism includes a fixing rod, multiple groups of limiting strips, a fixing sleeve, and a connecting sleeve.

[0009] Preferably, the bottom of the fixed rod is fixedly connected to the top of the fixed plate, and multiple groups of the limiting strips are fixedly installed on the outer wall of the fixed rod.

[0010] Preferably, the top of the fixed sleeve is drivingly connected to the output end of the rotary cylinder, and the inner wall of the fixed sleeve is engaged with the outer wall of the fixed rod.

[0011] Preferably, the inner wall of the connecting sleeve is rotatably connected to the outer wall of the fixed rod, and the inner wall of the connecting sleeve is threadedly connected to the outer wall of the fixed sleeve.

[0012] Compared with the prior art, the advantages and positive effects of the present utility model are as follows:

[0013] 1. In the present utility model, by providing an adjustment mechanism to adjust the spacing of the vacuum suction cups in the output module, it can adapt to workpieces of different sizes and shapes, optimize the adsorption effect, ensure a higher degree of fit between the vacuum suction cups and the workpieces, improve the adsorption stability and reliability, make the adsorption and handling process of the workpieces more efficient and rapid, enhance the adaptability and flexibility of the manipulator, and optimize the automated production process.

[0014] 2. In the present utility model, by providing an installation mechanism, the fixed plate and the vacuum suction cups can be quickly and simply disassembled and replaced, realizing modular installation and disassembly of the vacuum suction cups. Moreover, the fixed rod and the fixed sleeve are firmly connected and will not undergo relative displacement and rotation. Therefore, when the rotary cylinder drives the fixed plate to rotate, it can ensure that the vacuum suction cups are adjusted to the designated positions, facilitating precise and stable adsorption of the objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional structural schematic diagram of a modular truss-type manipulator proposed by the present utility model;

[0016] Figure 2 is a three-dimensional structural schematic diagram of an adjustment mechanism of a modular truss-type manipulator proposed by the present utility model;

[0017] Figure 3 is an exploded three-dimensional structural diagram of an adjustment mechanism of a modular truss-type manipulator proposed by the present utility model;

[0018] Figure 4 is a three-dimensional structural schematic diagram of an installation mechanism of a modular truss-type manipulator proposed by the present utility model.

[0019] Legend: 1. Lifting beam; 2. Rotary cylinder; 3. Vacuum suction cup; 4. Adjusting mechanism; 41. Fixed plate; 42. Electric cylinder; 43. Moving plate; 44. Limiting groove; 45. Sliding seat; 46. Limiting seat; 47. Sliding rod; 48. Limiting rod; 5. Mounting mechanism; 51. Fixed rod; 52. Limiting strip; 53. Fixed sleeve; 54. Connecting sleeve. Detailed implementation mode

[0020] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0021] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed in the following specification.

[0022] Embodiment 1

[0023] As Figures 1-3 shown, the present invention provides a modular truss manipulator, including a lifting beam 1, a rotary cylinder 2 and multiple groups of vacuum suction cups 3. An adjusting mechanism 4 is arranged above the multiple groups of vacuum suction cups 3. The adjusting mechanism 4 includes a fixed plate 41, two groups of electric cylinders 42 and a moving plate 43. Five groups of limiting grooves 44 are penetrated and opened inside the moving plate 43. Sliding seats 45 are fixedly installed on both sides of the moving plate 43. Two groups of limiting seats 46 are fixedly installed on one side of the fixed plate 41. Five groups of sliding rods 47 are slidably connected to the bottoms of the two groups of limiting seats 46. Limiting rods 48 are fixedly installed on one side of each of the five groups of sliding rods 47. The bottom of the lifting beam 1 is fixedly connected to the top of the rotary cylinder 2. The outer walls of the two groups of electric cylinders 42 are fixedly connected to the bottom of the fixed plate 41. The two groups of sliding seats 45 are both arranged inside the fixed plate 41. The five groups of limiting rods 48 are respectively arranged inside the five groups of limiting grooves 44.

[0024] Specifically describe the specific settings and functions of this embodiment below. The lifting beam 1 is the moving part of the truss mechanical mechanism, and the bottom is the output operation module. When handling and transferring objects of different volumes, first connect the hoses at the top of multiple vacuum suction cups 3 to the vacuum pump. According to the shape of the object, start the rotary cylinder 2 to adjust the positions of the fixed plate 41 and multiple vacuum suction cups 3. Then, adjust the spacing between multiple vacuum suction cups 3 according to the area of the top of the object. Start the two electric cylinders 42 to operate synchronously, thereby driving the moving plate 43 and the sliding seat 45 to move at the bottom of the fixed plate 41. During the movement of the moving plate 43, since the five limiting slots 44 show a tightening trend from left to right, and with the setting of the limiting seat 46, the sliding rod 47 and the limiting rod 48 can only move horizontally. Therefore, the moving plate 43 and the limiting slots 44 will drive the limiting rod 48 to gradually approach, causing multiple sliding rods 47 to approach, reducing the distance between multiple vacuum suction cups 3, adsorbing the top of the object, and ensuring that there are normal operations of vacuum suction cups 3 at all four corner positions. By setting the adjustment mechanism 4 to adjust the spacing of the vacuum suction cups 3, it can adapt to workpieces of different sizes and shapes, optimize the adsorption effect, ensure a higher degree of fit between the vacuum suction cups 3 and the workpiece, improve the adsorption stability and reliability, make the adsorption and handling process of the workpiece more efficient and fast, improve the adaptability and flexibility of the manipulator, and optimize the automated production process.

[0025] Embodiment 2

[0026] As Figure 1 and Figure 4 shown, an installation mechanism 5 is provided on the top of the fixed plate 41. The installation mechanism 5 includes a fixed rod 51, multiple limiting strips 52, a fixed sleeve 53, and a connecting sleeve 54. The bottom of the fixed rod 51 is fixedly connected to the top of the fixed plate 41. Multiple limiting strips 52 are fixedly installed on the outer wall of the fixed rod 51. The top of the fixed sleeve 53 is in transmission connection with the output end of the rotary cylinder 2. The inner wall of the fixed sleeve 53 is clamped with the outer wall of the fixed rod 51. The inner wall of the connecting sleeve 54 is rotatably connected to the outer wall of the fixed rod 51. The inner wall of the connecting sleeve 54 is threadedly connected to the outer wall of the fixed sleeve 53.

[0027] The effect achieved by the entire embodiment is that when disassembling and replacing the output module, the old fixing plate 41 is removed, and then the new fixing plate 41 and the vacuum suction cup 3 are placed at the bottom of the rotary cylinder 2. The fixing rod 51 and the limiting strip 52 are inserted into the fixing sleeve 53, and then the connecting sleeve 54 on the outer wall of the fixing rod 51 is rotated so that the connecting sleeve 54 is threadedly connected to the outer wall of the fixing sleeve 53, thereby connecting the fixing sleeve 53 and the fixing rod 51 together. By providing the installation mechanism 5, the fixing plate 41 and the vacuum suction cup 3 can be disassembled and replaced quickly and simply, realizing the modular installation and disassembly of the vacuum suction cup. Moreover, the fixing rod 51 and the fixing sleeve 53 are firmly connected and will not undergo relative displacement and rotation. Furthermore, when the rotary cylinder 2 drives the fixing plate 41 to rotate, it can ensure that the vacuum suction cup 3 is adjusted to the specified position, facilitating the precise and stable adsorption of objects.

[0028] The usage method and working principle of this device: The lifting beam 1 is the moving part in the truss mechanical mechanism, and the bottom is the output operation module. When handling and transferring objects of different volumes, first connect the hoses at the tops of multiple vacuum suction cups 3 to the vacuum pump. According to the shape of the object, start the rotary cylinder 2 to adjust the positions of the fixing plate 41 and multiple vacuum suction cups 3. Then, adjust the spacing between multiple vacuum suction cups 3 according to the area of the top of the object. Start the two electric cylinders 42 to operate synchronously, thereby driving the moving plate 43 and the sliding seat 45 to move at the bottom of the fixing plate 41. During the movement of the moving plate 43, since the five limiting grooves 44 show a tightening trend from left to right, and due to the setting of the limiting seat 46, the sliding rod 47 and the limiting rod 48 can only move horizontally. Furthermore, the moving plate 43 and the limiting grooves 44 will drive the limiting rod 48 to gradually approach, causing multiple sliding rods 47 to approach, reducing the distance between multiple vacuum suction cups 3, and adsorbing the top of the object to ensure that the vacuum suction cups 3 are operating normally at all four corner positions. When disassembling and replacing the output module, remove the old fixing plate 41, then place the new fixing plate 41 and the vacuum suction cup 3 at the bottom of the rotary cylinder 2, insert the fixing rod 51 and the limiting strip 52 into the fixing sleeve 53, and then rotate the connecting sleeve 54 on the outer wall of the fixing rod 51 so that the connecting sleeve 54 is threadedly connected to the outer wall of the fixing sleeve 53, thereby connecting the fixing sleeve 53 and the fixing rod 51 together.

[0029] The above is only a preferred embodiment of the present invention, and it is not a limitation of the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A modular truss manipulator, comprising a lifting beam (1), a rotary cylinder (2) and a plurality of vacuum suction cups (3), characterized in that: An adjustment mechanism (4) is arranged above the plurality of groups of vacuum suction cups (3), and the adjustment mechanism (4) comprises a fixed plate (41), two groups of electric cylinders (42) and a movable plate (43), and five groups of limiting grooves (44) are provided inside the movable plate (43), and sliding seats (45) are fixedly installed on both sides of the movable plate (43), and two groups of limiting seats (46) are fixedly installed on one side of the fixed plate (41), and five groups of sliding rods (47) are slidably connected to the bottom of the two groups of limiting seats (46), and limiting rods (48) are fixedly installed on one side of the five groups of sliding rods (47).

2. A modular truss manipulator according to claim 1, characterized in that: The bottom of the lifting beam (1) is fixedly connected to the top of the rotating cylinder (2), and the outer walls of the two groups of electric cylinders (42) are fixedly connected to the bottom of the fixing plate (41).

3. A modular truss manipulator according to claim 1, characterized in that: The two groups of sliding seats (45) are both arranged inside the fixed plate (41), and the five groups of limiting rods (48) are respectively arranged inside the five groups of limiting grooves (44).

4. A modular truss manipulator according to claim 1, characterized in that: A mounting mechanism (5) is arranged on the top of the fixing plate (41), and the mounting mechanism (5) comprises a fixing rod (51), a plurality of groups of limiting strips (52), a fixing sleeve (53) and a connecting sleeve (54).

5. A modular truss manipulator according to claim 4, characterized in that: The bottom of the fixing rod (51) is fixedly connected to the top of the fixing plate (41), and a plurality of groups of limiting strips (52) are fixedly mounted on the outer wall of the fixing rod (51).

6. A modular truss manipulator according to claim 4, characterized in that: The top of the fixing sleeve (53) is drivingly connected to the output end of the rotary cylinder (2), and the inner wall of the fixing sleeve (53) and the outer wall of the fixing rod (51) are mutually clamped.

7. A modular truss manipulator according to claim 4, characterized in that: The inner wall of the connecting sleeve (54) is rotatably connected to the outer wall of the fixing rod (51), and the inner wall of the connecting sleeve (54) is threadedly connected to the outer wall of the fixing sleeve (53).

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