High-speed stable truss manipulator

Abstract

The utility model relates to the technical field of truss manipulators, in particular to a high-speed stable truss manipulator which comprises a displacement mechanism and a plurality of mounting plates, connecting plates are fixedly connected among the mounting plates, and a plurality of suckers are fixedly mounted on the bottom sides of the mounting plates. And vent holes are formed in one sides of the mounting plates. Compared with the prior art, the truss manipulator has the advantages that through matched arrangement of the displacement structure, the mounting plate, the connecting plate, the suction cups, the vent holes, the air spraying pipe, the flow dividing pipe, the multi-way switch, the air conveying hose, the air pump and the connecting frame, air blowing operation can be conducted on the surface of a workpiece before the workpiece is adsorbed through the truss manipulator, and dust on the surface of the workpiece can be removed; and therefore, the situation that dust is attached to the suction cup can be avoided, the suction cup can stably suck the workpiece, the situation that the workpiece falls off in the process that the truss manipulator drives the workpiece to move is avoided, and the truss manipulator can stably drive the workpiece to move.

Description

Technical Field

[0001] The utility model relates to the technical field of truss manipulators, in particular to a high-speed and stable truss manipulator. Background Art

[0002] A truss manipulator is a fully automatic industrial device that is based on a right-angle X, Y, Z [1] three-coordinate system and is used to adjust the workpieces' positions or perform functions such as the trajectory movement of workpieces. Its control core is realized through an industrial controller (such as: PLC, motion control, single-chip microcomputer, etc.). By analyzing and processing various input (various sensors, buttons, etc.) signals through the controller, after making certain logical judgments, execution commands are issued to each output component (relays, motor drivers, indicator lights, etc.) to complete the combined movement between the X, Y, and Z axes, thereby realizing a complete set of fully automatic operation processes.

[0003] When the truss manipulator is paired with a suction cup to adsorb workpieces, the truss manipulator adsorbs the workpieces through the combined action of the adsorption forces of multiple suction cups. If there is dust on the surface of the workpiece during the adsorption process of the workpiece, it is easy for the suction cup to adhere to dust when adsorbing the workpiece through the suction cup, which may easily lead to the situation that the workpiece drops during the process of adsorbing the workpiece with the suction cup, making the truss manipulator unable to drive the workpiece to move stably. Therefore, a high-speed and stable truss manipulator is needed to solve the above problems. Summary of the Utility Model

[0004] The purpose of the present utility model aims to solve at least one of the above technical defects.

[0005] To this end, an object of the present utility model is to provide a high-speed and stable truss manipulator to solve the problems mentioned in the background art and overcome the deficiencies existing in the prior art.

[0006] To achieve the above object, an embodiment of one aspect of the present utility model provides a high-speed and stable truss manipulator, which includes a moving mechanism and several mounting plates. Connecting plates are fixedly connected between several of the mounting plates. Several suction cups are fixedly installed on the bottom sides of several of the mounting plates. Vent holes are opened on one sides of several of the mounting plates. Spray pipes are fixedly connected to the top sides of several of the mounting plates. A shunt pipe is fixedly connected to the tops of several of the spray pipes. A multi-way pipe is fixedly connected to one ends of several of the shunt pipes. An air delivery hose is fixedly connected to a connection port of the multi-way pipe. An air pump is fixedly installed at the end of the air delivery hose far from the multi-way pipe. A connection frame is fixedly connected to one side of one of the mounting plates. A height adjustment mechanism for adjusting the height of the connection frame is provided on the displacement mechanism.

[0007] Preferably, according to any of the above solutions, the displacement mechanism includes a first linear module, a support column, a second linear module, and a moving seat. There are two first linear modules. A plurality of support columns are fixedly connected to the bottom sides of the two first linear modules. A second linear module is arranged on the first linear module. A moving seat is arranged on the second linear module. The air pump is fixedly installed on the top side of the moving seat.

[0008] Preferably, according to any of the above solutions, the height adjustment mechanism includes an adjustment shell, an adjustment bolt, an extension rod, adjustment jacks, a mounting frame, and a hydraulic cylinder. One side of the moving seat is fixedly connected to the adjustment shell. One side of the adjustment shell is threadedly connected to the adjustment bolt. The extension rod is slidably connected inside the adjustment shell. A plurality of adjustment jacks are opened on one side of the extension rod. The bottom end of the extension rod is fixedly connected to the mounting frame. A hydraulic cylinder is fixedly installed on one side inside the mounting frame. The output end of the hydraulic cylinder is fixedly connected to the connecting frame.

[0009] Preferably, according to any of the above solutions, limiting sliding grooves are opened on two opposite side surfaces of the mounting frame. Limiting sliding plates fixedly connected to the connecting frame are slidably connected to the inner walls of the two limiting sliding grooves. The shapes of the limiting sliding grooves and the limiting sliding plates are both T-shaped.

[0010] Preferably, according to any of the above solutions, the positions of the shunt pipes correspond to the ventilation holes, the sizes of the shunt pipes are adapted to the ventilation holes, and the shunt pipes and the ventilation holes are distributed at intervals on one side of the mounting plate.

[0011] Preferably, according to any of the above solutions, the positions of the adjustment bolts correspond to the adjustment jacks, and the sizes of the adjustment bolts are adapted to the adjustment jacks.

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

[0013] 1. Through the cooperation of the displacement structure, the mounting plate, the connecting plate, the suction cup, the ventilation hole, the air injection pipe, the shunt pipe, the multi-way pipe, the air delivery hose, the air pump, and the connecting frame, it is possible to perform a blowing operation on the surface of the workpiece before adsorbing the workpiece by the truss manipulator, which can remove the dust on the surface of the workpiece, thereby avoiding the situation that dust adheres to the suction cup, enabling the suction cup to stably adsorb the workpiece, and preventing the workpiece from falling during the process of the truss manipulator driving the workpiece to move, so that the truss manipulator can stably drive the workpiece to move.

[0014] 2. Through the cooperation of the adjustment shell, the adjustment bolt, the extension rod, the adjustment jacks, the mounting frame, and the hydraulic cylinder, the range for the truss manipulator to adjust the height of the suction cup is large, enabling the truss manipulator to adsorb workpieces at more heights, and improving the practicability of the truss manipulator. Brief Description of the Drawings

[0015] Figure 1 is a schematic structural view of the first perspective of the present utility model;

[0016] Figure 2 is a schematic structural view of the second perspective of the present utility model;

[0017] Figure 3 is a schematic structural view of the height adjustment mechanism of the present utility model;

[0018] Figure 4 is a schematic structural view of the mounting plate and its connecting members of the present utility model.

[0019] In the figure: 1 - displacement mechanism, 101 - first linear module, 102 - support column, 103 - second linear module, 104 - moving seat, 2 - mounting plate, 3 - connecting plate, 4 - suction cup, 5 - ventilation hole, 6 - air injection pipe, 7 - shunt pipe, 8 - multi-way pipe, 9 - gas transmission hose, 10 - air pump, 11 - connecting frame, 12 - height adjustment mechanism, 1201 - adjustment shell, 1202 - adjustment bolt, 1203 - extension rod, 1204 - adjustment jack, 1205 - mounting frame, 1206 - hydraulic cylinder, 13 - limit sliding groove, 14 - limit sliding plate. Detailed Description of the Preferred Embodiment

[0020] The following further describes the present utility model with reference to the accompanying drawings, but the protection scope of the present utility model is not limited to the following.

[0021] As Figures 1 to 4As shown in the figure, a high-speed and stable truss manipulator includes a displacement mechanism 1 and several mounting plates 2. Connecting plates 3 are fixedly connected between several mounting plates 2, and the connecting plates 3 can ensure the connection stability between several mounting plates 2. A plurality of suction cups 4 are fixedly installed on the bottom sides of several mounting plates 2. The suction cups 4 are vacuum suction cups. Vent holes 5 are opened on one side of several mounting plates 2. A plurality of spray pipes 6 are fixedly connected to the top sides of several mounting plates 2. One shunt pipe 7 is fixedly connected to the top ends of several spray pipes 6. One multi-way pipe 8 is fixedly connected to one end of several shunt pipes 7. The lowest of the multi-way pipes 8 is a three-way pipe. An air delivery hose 9 is fixedly connected to one connection port of the multi-way pipe 8. An air pump 10 is fixedly installed at the end of the air delivery hose 9 away from the multi-way pipe 8. A connecting frame 11 is fixedly connected to one side of one mounting plate 2. A height adjustment mechanism 12 for adjusting the height of the connecting frame 11 is provided on the displacement mechanism 1. Before adsorbing the workpiece, the air pump 10 is started. The gas generated by the air pump 10 is delivered to the inside of several shunt pipes 7 through the air delivery hose 9 and the multi-way pipe 8, and then ejected through several spray pipes 6 and the air flow is delivered to the inside of the vent holes 5. The dust on the surface of the workpiece is removed by the air flow flowing inside the vent holes 5, avoiding the situation that the dust adheres to the surface of the workpiece, which is convenient for the subsequent suction cup 4 to fit tightly with the workpiece. When the truss manipulator drives the workpiece to move at a high speed, the workpiece can be stably adsorbed by the suction cup 4 and driven to move.

[0022] As an optional technical solution of the present invention, the displacement mechanism 1 includes a first linear module 101, a support column 102, a second linear module 103 and a moving seat 104. The number of the first linear modules 101 is two. Several support columns 102 are fixedly connected to the bottom sides of the two first linear modules 101. The second linear module 103 is arranged on the first linear module 101. The moving seat 104 is arranged on the second linear module 103. The air pump 10 is fixedly installed on the top side of the moving seat 104, so that the air pump 10 can move with the movement of the moving seat 104. The moving seat 104 can move on the X-axis and Y-axis through the first linear module 101 and the second linear module 103.

[0023] As an alternative technical solution of the present utility model, the height adjustment mechanism 12 includes an adjustment housing 1201, an adjustment bolt 1202, an extension rod 1203, adjustment jacks 1204, a mounting frame 1205 and a hydraulic cylinder 1206. One side of the moving seat 104 is fixedly connected with the adjustment housing 1201. One side of the adjustment housing 1201 is threadedly connected with the adjustment bolt 1202. The extension rod 1203 is slidably connected inside the adjustment housing 1201. A plurality of adjustment jacks 1204 are provided on one side of the extension rod 1203. The bottom end of the extension rod 1203 is fixedly connected with the mounting frame 1205. One side inside the mounting frame 1205 is fixedly installed with the hydraulic cylinder 1206. The output end of the hydraulic cylinder 1206 is fixedly connected with the connecting frame 11. When it is necessary to use the suction cup 4 to adsorb the workpiece, first, the extension rod 1203 slides inside the adjustment housing 1201. At this time, the mounting frame 1205 moves accordingly. At this time, the hydraulic cylinder 1206 drives the connecting frame 11 and the mounting plate 2 to move. At this time, the suction cup 4 moves accordingly. Adjust the suction cup 4 to a suitable height according to the actual situation during use. Then, make the adjustment bolt 1202 connected to the adjustment jack 1204 at a suitable position to fix the extension rod 1203, thereby fixing the suction cup 4 at a suitable height.

[0024] As an alternative technical solution of the present utility model, limiting sliding grooves 13 are provided on both symmetric sides of the mounting frame 1205. The inner walls of the two limiting sliding grooves 13 are slidably connected with limiting sliding plates 14 fixedly connected with the connecting frame 11. The shapes of the limiting sliding grooves 13 and the limiting sliding plates 14 are both T-shaped. The connecting frame 11 can move smoothly in the vertical direction through the limiting sliding plates 14 and the limiting sliding grooves 13.

[0025] As an alternative technical solution of the present utility model, the position of the shunt pipe 7 corresponds to that of the ventilation hole 5, the size of the shunt pipe 7 is adapted to that of the ventilation hole 5, and the shunt pipe 7 and the ventilation hole 5 are spaced apart and distributed on one side of the mounting plate 2, so that the gas can be smoothly transported into the ventilation hole 5 through the shunt pipe 7.

[0026] As an alternative technical solution of the present utility model, the position of the adjustment bolt 1202 corresponds to that of the adjustment jack 1204, and the size of the adjustment bolt 1202 is adapted to that of the adjustment jack 1204, so that the adjustment bolt 1202 can be smoothly connected to the adjustment jack 1204.

[0027] A high-speed and stable truss manipulator has the following working principle:

[0028] Before adsorbing the workpiece, start the hydraulic cylinder 1206 to drive the connecting frame 11 and the mounting plate 2 to move. At this time, the suction cup 4 will move accordingly, adjust the suction cup 4 above the workpiece, and then start the air pump 10. The gas generated by the air pump 10 is transported to the inside of several shunt pipes 7 through the air delivery hose 9 and the multi-way pipe 8, and then ejected through several air jet pipes 6 and the air flow is transported to the inside of the ventilation holes 5. The dust on the surface of the workpiece is removed by the air flow flowing inside the ventilation holes 5. After removing the dust, start the hydraulic cylinder 1206 to drive the connecting frame 11 and the mounting plate 2 to move. At this time, the suction cup 4 will move accordingly, so that several suction cups 4 are closely attached to the surface of the workpiece. Then, the height adjustment mechanism 12 can be driven to move by the first linear module 101, the support column 102, the second linear module 103 and the moving seat 104. At this time, the suction cup 4 will drive the workpiece to move, so as to move the workpiece to a suitable position.

[0029] In summary, for this high-speed and stable truss manipulator, through the cooperative setting of the displacement structure 1, the mounting plate 2, the connecting plate 3, the suction cup 4, the ventilation holes 5, the air jet pipes 6, the shunt pipes 7, the multi-way pipe 8, the air delivery hose 9, the air pump 10 and the connecting frame 11, it is possible to blow the surface of the workpiece before adsorbing the workpiece by this truss manipulator, and the dust on the surface of the workpiece can be removed, so as to avoid the situation that dust adheres to the suction cup 4, making the suction cup 4 able to stably adsorb the workpiece, and avoiding the situation that the workpiece falls during the process of driving the workpiece to move by this truss manipulator, so that this truss manipulator can stably drive the workpiece to move. Through the cooperative setting of the adjusting shell 1201, the adjusting bolt 1202, the extension rod 1203, the adjusting jack 1204, the mounting frame 1205 and the hydraulic cylinder 1206, the range for this truss manipulator to adjust the height of the suction cup 4 is large, making this truss manipulator able to adsorb workpieces at more heights, and improving the practicability of this truss manipulator.

Claims

1. A high-speed and stable truss manipulator, characterized in that: The invention comprises a displacement mechanism (1) and a plurality of mounting plates (2), wherein a connection plate (3) is fixedly connected between the plurality of mounting plates (2), a plurality of suction cups (4) are fixedly installed on the bottom sides of the plurality of mounting plates (2), a ventilation hole (5) is opened on one side of the plurality of mounting plates (2), a jet pipe (6) is fixedly connected on the top sides of the plurality of mounting plates (2), a diverter pipe (7) is fixedly connected to the top ends of the plurality of jet pipes (6), a multi-way pipe (8) is fixedly connected to one end of the multi-way pipe (8), a gas delivery hose (9) is fixedly connected to one connection port of the multi-way pipe (8), an air pump (10) is fixedly installed on one end of the gas delivery hose (9) away from the multi-way pipe (8), a connecting frame (11) is fixedly connected to one side of one of the mounting plates (2), and a height adjustment mechanism (12) for adjusting the height of the connecting frame (11) is provided on the displacement mechanism (1).

2. A high-speed and stable truss manipulator according to claim 1, characterized in that: The displacement mechanism (1) comprises a first linear module (101), a supporting column (102), a second linear module (103) and a moving seat (104); there are two first linear modules (101); a plurality of supporting columns (102) are fixedly connected to the bottom sides of the two first linear modules (101); a second linear module (103) is arranged on the first linear module (101); a moving seat (104) is arranged on the second linear module (103); and the air pump (10) is fixedly mounted on the top side of the moving seat (104).

3. A high-speed and stable truss manipulator according to claim 2, characterized in that: The height adjustment mechanism (12) comprises an adjustment shell (1201), an adjustment bolt (1202), an extension rod (1203), an adjustment socket (1204), a mounting frame (1205) and a hydraulic cylinder (1206); one side of the movable seat (104) is fixedly connected to the adjustment shell (1201); one side of the adjustment shell (1201) is threadedly connected to the adjustment bolt (1202); the interior of the adjustment shell (1201) is slidably connected to the extension rod (1203); one side of the extension rod (1203) is provided with a plurality of adjustment sockets (1204); the bottom end of the extension rod (1203) is fixedly connected to the mounting frame (1205); one side of the interior of the mounting frame (1205) is fixedly mounted with a hydraulic cylinder (1206); and the output end of the hydraulic cylinder (1206) is fixedly connected to the connecting frame (11).

4. A high-speed and stable truss manipulator according to claim 3, characterized in that: The mounting frame (1205) has two symmetrical side surfaces each provided with a limiting slide groove (13), the inner walls of the two limiting slide grooves (13) are slidably connected to a limiting slide plate (14) fixedly connected to the connecting frame (11), and the limiting slide groove (13) and the limiting slide plate (14) are both T-shaped.

5. A high-speed and stable truss manipulator according to claim 4, characterized in that: The positions of the shunt pipe (7) and the vent hole (5) correspond to each other, the sizes of the shunt pipe (7) and the vent hole (5) are adapted to each other, and the shunt pipe (7) and the vent hole (5) are spaced apart and distributed on one side of the mounting plate (2).

6. A high-speed and stable truss manipulator according to claim 5, characterized in that: The positions of the adjusting bolt (1202) and the adjusting socket (1204) correspond to each other, and the sizes of the adjusting bolt (1202) and the adjusting socket (1204) are adapted to each other.

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