Truss robot grabbing device

Abstract

The utility model discloses a truss robot gripping device, which relates to the technical field of truss robots and comprises a worktable, an opening is formed in the top surface of the worktable in a penetrating manner, a rack is fixedly mounted on the top surface of the worktable, an X-axis movement component is arranged on the top surface of the rack, and a Y-axis movement component is arranged on the top surface of the worktable. The pressure sensor is electrically connected with the control terminal, after the first pneumatic claw grabs a workpiece to be machined, the rotary air cylinder can drive the rotary frame to rotate so that the second pneumatic claw can rotate to the position of the first pneumatic claw, then another workpiece to be machined is grabbed, and when the rotary air cylinder drives the rotary frame to rotate, the barrier strip can rotate together with the rotary frame, so that the workpiece to be machined is clamped. When the second pneumatic claw rotates to the position of the first pneumatic claw, the abutting rod on the barrier strip can abut against the pressure sensor of the limiting protruding block installation groove, so that the movable block on the abutting rod compresses the spring, the abutting rod can abut against the pressure sensor, and after the pressure value of the pressure sensor is stable at the control terminal, positioning is completed.

Description

Technical Field

[0001] The utility model relates to the technical field of truss robots, and specifically relates to a grasping device for a truss robot. Background Art

[0002] A truss robot, also known as a truss manipulator or a gantry manipulator, is a fully automatic industrial device mainly used for functions such as workpiece station adjustment or trajectory movement on the basis of a right-angle X, Y, Z three-coordinate system.

[0003] When some existing columnar parts are being processed, a truss robot drives a grasping device to grasp the parts on a tray, and then moves them to the machining tool end for processing. After processing, the truss robot drives the grasping device to move to the blanking place for blanking again. However, the grasping device of a general truss robot is usually a manipulator, which is not only expensive, but also when performing vertical material taking and horizontal processing, the manipulator needs to be transformed from vertical to horizontal through complex positioning components, so it needs to be improved. Summary of the Utility Model

[0004] The purpose of the utility model is to make up for the deficiencies of the existing technology and provide a grasping device for a truss robot.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A grasping device for a truss robot, including a workbench, an opening is penetrated through the top surface of the workbench, a frame is fixedly installed on the top surface of the workbench, an X-axis movement component is arranged on the top surface of the frame, a Y-axis movement component is arranged on the top surface of the workbench, and a blanking component is arranged on the top surface of the workbench;

[0006] The X-axis movement component includes a mounting frame and an X-axis electric slide rail. The X-axis electric slide rail is fixedly installed on the top surface of the frame. The mounting frame is fixedly installed on the top surface of the moving block of the X-axis electric slide rail, and a Z-axis movement component is arranged on the inner wall of the mounting frame.

[0007] As described above, the Z-axis movement component includes a Z-axis electric slide rail and a gripper mounting plate. The moving block of the Z-axis electric slide rail is fixedly installed on the inner wall of the mounting frame. The bottom surface of the slide rail of the Z-axis electric slide rail is fixedly connected to the gripper mounting plate, and a rotating component is arranged on the bottom surface of the gripper mounting plate.

[0008] As described above, the Y-axis movement component includes a Y-axis electric slide rail and a first-order tray. The Y-axis electric slide rail is fixedly installed on the top surface of the workbench and covers the opening on the top surface of the workbench. The top surface of the moving block of the Y-axis electric slide rail is fixedly installed with the first-order tray, and a plurality of placement grooves are opened on the top surface of the first-order tray.

[0009] As described above, the rotating assembly includes a rotary cylinder, a rotating frame, a first gripper and a second gripper. The rotary cylinder is fixedly installed on the bottom surface of the gripper mounting plate. The movable part of the rotary cylinder is fixedly connected to the rotating frame. One end of the rotating frame is fixedly connected to the first gripper, and the other end of the rotating frame is fixedly connected to the second gripper. Positioning components are provided at one end of the bottom surface of the rotary cylinder and one end of the top surface of the rotating frame.

[0010] As described above, the positioning component includes a limit bump and a stop bar. The limit bump is fixedly installed at one end of the bottom surface of the rotary cylinder. An installation groove is formed at one end of the top surface of the rotating frame, and the inner wall of the installation groove is fixedly connected to the stop bar. Openings are formed at both ends of the front surface of the stop bar, and movable cavities are formed at both ends inside the stop bar. Installation grooves are formed on the front and back surfaces of the limit bump. Positioning auxiliary components are provided on the inner walls of the movable cavity of the stop bar and the installation groove of the limit bump.

[0011] As described above, the positioning auxiliary component includes a spring, a piston block, a resisting rod and a pressure sensor. The piston block is movably connected to the inner walls of the two movable cavities of the stop bar and is in contact with the inner walls of the movable cavities. An installation opening is formed through the front surface of the piston block, and the inner wall of the installation opening is fixedly connected to the resisting rod. Both ends of the resisting rod pass through the openings of the stop bar respectively. One end of the spring is fixedly connected to the front surface of the piston block, and the other end of the spring is fixedly connected to the inner wall of the movable cavity of the stop bar. The pressure sensor is fixedly installed on the inner wall of the installation groove of the limit bump.

[0012] As described above, the blanking component includes a conveyor belt, a slide plate and a blanking box. The conveyor belt is fixedly installed on the top surface of the workbench through a bracket. One end of the conveyor belt is fixedly connected to a slide plate. A chute is fixedly connected to the bottom surface of the bracket of the conveyor belt. Slide bars are fixedly connected to the front and back surfaces of the blanking box. The blanking box is movably connected to the inner wall of the chute through the slide bars. A feeding port is formed through the top surface of the blanking box. A number of leakage holes are formed through the top surface of the slide plate, and the leakage holes are aligned with the feeding port of the blanking box.

[0013] Compared with the prior art, the truss robot grasping device has the following beneficial effects:

[0014] 1. The utility model, through the rotation cylinder, rotating frame, limiting convex block, stop bar, resisting rod, spring, movable block and pressure sensor arranged, enables the pressure sensor to be electrically connected to the control terminal. After the first gripper grabs the workpiece to be processed, the rotation cylinder can drive the rotating frame to rotate, making the second gripper rotate to the position of the first gripper, and then grab another workpiece. When the rotation cylinder drives the rotating frame to rotate, the stop bar will rotate together. When the second gripper rotates to the position of the first gripper, the resisting rod on the stop bar will press against the pressure sensor in the limiting convex block installation groove, so that the movable block on the resisting rod compresses the spring, enabling the resisting rod to press against the pressure sensor. After the pressure value of the pressure sensor stabilizes at the control terminal, the positioning is completed. After grabbing the workpiece, the first gripper and the second gripper can be moved to the processing location for processing respectively.

[0015] 2. The utility model, through the conveyor belt, slide plate and blanking box arranged, enables the processed workpiece to be conveyed through the conveyor belt. When it is conveyed to the slide plate, the workpiece will slide down due to gravity for blanking. And when blanking, the debris generated by the processing of the workpiece will fall into the blanking box through the leakage holes of the slide plate for collection, so that the debris is not easily mixed with the workpiece for blanking.

[0016] Other advantages, objectives and features of the utility model will be elaborated to some extent in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the three-dimensional structure schematic diagram of the utility model;

[0018] Figure 2 is the side view structure schematic diagram of the Z-axis electric slide rail of the utility model;

[0019] Figure 3 is the exploded structure schematic diagram of the rotating component of the utility model;

[0020] Figure 4 is the cross-sectional view structure schematic diagram of the stop bar of the utility model;

[0021] Figure 5 is the side view structure schematic diagram of the blanking component of the utility model.

[0022] In the figure: 1, workbench; 2, Y-axis electric slide rail; 3, first-process tray; 4, frame; 5, X-axis electric slide rail; 6, Z-axis electric slide rail; 7, conveyor belt; 8, slide plate; 9, blanking box; 10, gripper mounting plate; 11, rotation cylinder; 12, rotating frame; 13, first gripper; 14, second gripper; 15, resisting rod; 16, stop bar; 17, spring; 18, piston block; 19, pressure sensor; 20, mounting frame; 21, limiting convex block. Detailed implementation mode

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0024] As Figures 1-5 shown, the present utility model provides a technical solution: a truss robot grasping device, including a workbench 1, an opening is formed through the top surface of the workbench 1, a frame 4 is fixedly installed on the top surface of the workbench 1, an X-axis movement component is arranged on the top surface of the frame 4, a Y-axis movement component is arranged on the top surface of the workbench 1, and a blanking component is arranged on the top surface of the workbench 1;

[0025] The X-axis movement component includes a mounting frame 20 and an X-axis electric slide rail 5. The X-axis electric slide rail 5 is fixedly installed on the top surface of the frame 4, the mounting frame 20 is fixedly installed on the top surface of the movable block of the X-axis electric slide rail 5, and a Z-axis movement component is arranged on the inner wall of the mounting frame 20.

[0026] According to the overall structure of the device, the workpiece to be processed is placed in the placement groove of the first-stage tray 3. Then, the X-axis electric slide rail 5 and the Z-axis electric slide rail 6 are used to drive the gripper mounting plate 10 to move, and the Y-axis electric slide rail 2 is used to drive the first-stage tray 3 to move, so that the first gripper 13 can move to the grasping position to grasp the workpiece. After grasping, the rotary cylinder 11 is used to drive the rotary frame 12 to rotate, so that the second gripper 14 rotates to the position of the first gripper 13. Then, the X-axis electric slide rail 5 and the Z-axis electric slide rail 6 are used to drive the gripper mounting plate 10 to move, and the Y-axis electric slide rail 2 is used to drive the first-stage tray 3 to move, so that the second gripper 14 moves to another grasping position, and then another workpiece is grasped. When the rotary cylinder 11 drives the rotary frame 12 to rotate, the stop bar 16 will rotate together. When the second gripper 14 rotates to the position of the first gripper 13, the abutting rod 15 on the stop bar 16 will abut against the pressure sensor 19 in the mounting groove of the limit projection 21, so that the piston block 18 on the abutting rod 15 compresses the spring 17, and the abutting rod 15 can abut against the pressure sensor 19. When the pressure value of the pressure sensor 19 is stable at the control terminal, the positioning is completed. After the first gripper 13 and the second gripper 14 complete the grasping, they are moved to the processing position, and the workpieces grasped by the first gripper 13 and the second gripper 14 are processed respectively. After the processing is completed, the first gripper 13 and the second gripper 14 are respectively moved above the conveyor belt 7 for blanking, so that the processed workpieces are conveyed through the conveyor belt 7. When the workpieces are conveyed to the slide plate 8, they will slide down due to gravity for blanking, and the debris generated during the processing of the workpieces during blanking will fall into the blanking box 9 through the leakage holes of the slide plate 8 for collection, so that the debris is not easily mixed with the workpieces during blanking.

[0027] As Figure 2 shown, the Z-axis motion assembly includes the Z-axis electric slide rail 6 and the gripper mounting plate 10. The moving block of the Z-axis electric slide rail 6 is fixedly installed on the inner wall of the mounting frame 20, and the bottom surface of the slide rail of the Z-axis electric slide rail 6 is fixedly connected to the gripper mounting plate 10. The bottom surface of the gripper mounting plate 10 is provided with a rotating assembly. The Y-axis motion assembly includes the Y-axis electric slide rail 2 and the first-stage tray 3. The Y-axis electric slide rail 2 is fixedly installed on the top surface of the workbench 1 and covers the opening on the top surface of the workbench 1. The top surface of the moving block of the Y-axis electric slide rail 2 is fixedly installed with the first-stage tray 3, and a plurality of placement grooves are opened on the top surface of the first-stage tray 3.

[0028] By setting the Z-axis electric slide rail 6, the gripper mounting plate 10, the Y-axis electric slide rail 2 and the first-stage tray 3, the workpiece to be processed is placed in the placement groove of the first-stage tray 3. Then, the X-axis electric slide rail 5 and the Z-axis electric slide rail 6 are used to drive the gripper mounting plate 10 to move, and the Y-axis electric slide rail 2 is used to drive the first-stage tray 3 to move, so that the gripper mounting plate 10 can move above the grasping position.

[0029] As Figures 3-4As shown in the figure, the rotating assembly includes a rotary cylinder 11, a rotating frame 12, a first gripper 13 and a second gripper 14. The rotary cylinder 11 is fixedly installed on the bottom surface of the gripper mounting plate 10. The movable part of the rotary cylinder 11 is fixedly connected to the rotating frame 12. One end of the rotating frame 12 is fixedly connected to the first gripper 13, and the other end of the rotating frame 12 is fixedly connected to the second gripper 14. A positioning assembly is provided at one end of the bottom surface of the rotary cylinder 11 and one end of the top surface of the rotating frame 12. The positioning assembly includes a limit bump 21 and a retaining strip 16. The limit bump 21 is fixedly installed at one end of the bottom surface of the rotary cylinder 11. An installation groove is provided at one end of the top surface of the rotating frame 12, and the inner wall of the installation groove is fixedly connected to the retaining strip 16. Openings are provided at both ends of the front surface of the retaining strip 16, and movable cavities are provided at both ends inside the retaining strip 16. Installation grooves are provided on both the front and back surfaces of the limit bump 21. A positioning auxiliary assembly is provided on both the inner wall of the movable cavity of the retaining strip 16 and the inner wall of the installation groove of the limit bump 21. The positioning auxiliary assembly includes a spring 17, a piston block 18, a resisting rod 15 and a pressure sensor 19. The piston block 18 is movably connected to the inner walls of the two movable cavities of the retaining strip 16 and is in contact with the inner walls of the movable cavities. An installation opening is provided through the front surface of the piston block 18, and the inner wall of the installation opening is fixedly connected to the resisting rod 15. Both ends of the resisting rod 15 pass through the openings of the retaining strip 16 respectively. One end of the spring 17 is fixedly connected to the front surface of the piston block 18, and the other end of the spring 17 is fixedly connected to the inner wall of the movable cavity of the retaining strip 16. The pressure sensor 19 is fixedly installed on the inner wall of the installation groove of the limit bump 21.

[0030] By providing the rotary cylinder 11, the rotating frame 12, the first gripper 13, the second gripper 14, the limit bump 21, the retaining strip 16, the spring 17, the piston block 18, the resisting rod 15 and the pressure sensor 19, the gripper mounting plate 10 can be driven to move by the X-axis electric slide rail 5 and the Z-axis electric slide rail 6, and the first-stage tray 3 can be driven to move by the Y-axis electric slide rail 2, so that the first gripper 13 can move to the grasping position to grasp the workpiece. After grasping, the rotary cylinder 11 is used to drive the rotating frame 12 to rotate, so that the second gripper 14 rotates to the position of the first gripper 13. Then, the gripper mounting plate 10 is driven to move by the X-axis electric slide rail 5 and the Z-axis electric slide rail 6, and the first-stage tray 3 is driven to move by the Y-axis electric slide rail 2, so that the second gripper 14 moves to another grasping position to grasp another workpiece. When the rotary cylinder 11 drives the rotating frame 12 to rotate, the retaining strip 16 will rotate together. When the second gripper 14 rotates to the position of the first gripper 13, the resisting rod 15 on the retaining strip 16 will press against the pressure sensor 19 in the installation groove of the limit bump 21, so that the piston block 18 on the resisting rod 15 compresses the spring 17, and the resisting rod 15 can press against the pressure sensor 19. When the pressure value of the pressure sensor 19 is stable at the control terminal, the positioning is completed.

[0031] As Figure 5As shown in the figure, the blanking assembly includes a conveyor belt 7, a slide plate 8, and a blanking box 9. The conveyor belt 7 is fixedly installed on the top surface of the workbench 1 through a bracket. One end of the conveyor belt 7 is fixedly connected to the slide plate 8. A chute is fixedly connected to the bottom surface of the bracket of the conveyor belt 7. Slide bars are fixedly connected to both the front and back of the blanking box 9. The blanking box 9 is movably connected to the inner wall of the chute through the slide bars. A feed port is formed through the top surface of the blanking box 9. A number of leakage holes are formed through the top surface of the slide plate 8, and the leakage holes are aligned with the feed port of the blanking box 9.

[0032] By providing the conveyor belt 7, the slide plate 8, and the blanking box 9, after the processing is completed, the first gripper 13 and the second gripper 14 are respectively moved above the conveyor belt 7 for blanking. The processed workpieces are conveyed through the conveyor belt 7. When the workpieces are conveyed to the slide plate 8, they will slide down due to gravity for blanking. And when blanking, the debris generated during the processing of the workpieces will fall into the blanking box 9 through the leakage holes of the slide plate 8 for collection, so that the debris is not easily mixed with the workpieces for blanking.

[0033] Working principle: Place the workpieces to be processed in the placement groove of the first-stage tray 3. Then, drive the gripper mounting plate 10 to move through the X-axis electric slide rail 5 and the Z-axis electric slide rail 6, and drive the first-stage tray 3 to move through the Y-axis electric slide rail 2, so that the first gripper 13 can move to the grasping position to grasp the workpieces. After grasping, drive the rotating frame 12 to rotate through the rotary cylinder 11 to make the second gripper 14 rotate to the position of the first gripper 13. Then, drive the gripper mounting plate 10 to move through the X-axis electric slide rail 5 and the Z-axis electric slide rail 6, and drive the first-stage tray 3 to move through the Y-axis electric slide rail 2, so that the second gripper 14 moves to another grasping position to grasp another workpiece. When the rotary cylinder 11 drives the rotating frame 12 to rotate, the blocking bar 16 will rotate together. When the second gripper 14 rotates to the position of the first gripper 13, the abutting rod 15 on the blocking bar 16 will abut on the pressure sensor 19 in the mounting groove of the limit lug 21. Thus, the piston block 18 on the abutting rod 15 compresses the spring 17, so that the abutting rod 15 can abut on the pressure sensor 19. When the pressure value of the pressure sensor 19 is stable at the control terminal, the positioning is completed. After the first gripper 13 and the second gripper 14 finish grasping, move them to the processing position to process the workpieces grasped by the first gripper 13 and the second gripper 14 respectively. After the processing is completed, let the first gripper 13 and the second gripper 14 respectively move above the conveyor belt 7 for blanking. The processed workpieces are conveyed through the conveyor belt 7. When the workpieces are conveyed to the slide plate 8, they will slide down due to gravity for blanking. And when blanking, the debris generated during the processing of the workpieces will fall into the blanking box 9 through the leakage holes of the slide plate 8 for collection, so that the debris is not easily mixed with the workpieces for blanking.

[0034] It should be noted that in this text, the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and defined, the terms "fixedly installed", "installed", "connected", "connected to" should be understood in a broad sense. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "connected to" can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0035] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A truss robot grasping device, comprising a workbench (1), characterized in that: The top surface of the workbench (1) is penetrated with an opening. A frame (4) is fixedly installed on the top surface of the workbench (1). An X-axis movement component is arranged on the top surface of the frame (4). A Y-axis movement component is arranged on the top surface of the workbench (1). A blanking component is arranged on the top surface of the workbench (1). The X-axis movement component includes a mounting frame (20) and an X-axis electric slide rail (5). The X-axis electric slide rail (5) is fixedly installed on the top surface of the frame (4). The mounting frame (20) is fixedly installed on the top surface of the moving block of the X-axis electric slide rail (5). A Z-axis movement component is arranged on the inner wall of the mounting frame (20).

2. The grasping device of a truss robot according to claim 1, wherein: The Z-axis movement component includes a Z-axis electric slide rail (6) and a gripper mounting plate (10). The moving block of the Z-axis electric slide rail (6) is fixedly installed on the inner wall of the mounting frame (20). The bottom surface of the slide rail of the Z-axis electric slide rail (6) is fixedly connected to the gripper mounting plate (10). A rotating component is arranged on the bottom surface of the gripper mounting plate (10).

3. The grasping device of a truss robot according to claim 1, characterized in that: The Y-axis movement component includes a Y-axis electric slide rail (2) and a first-stage tray (3). The Y-axis electric slide rail (2) is fixedly installed on the top surface of the workbench (1) and covers the opening on the top surface of the workbench (1). The top surface of the moving block of the Y-axis electric slide rail (2) is fixedly installed with the first-stage tray (3). A plurality of placement grooves are opened on the top surface of the first-stage tray (3).

4. A truss robot grasping device according to claim 2, characterized in that: The rotating component includes a swing cylinder (11), a rotating frame (12), a first gripper (13) and a second gripper (14). The swing cylinder (11) is fixedly installed on the bottom surface of the gripper mounting plate (10). The moving part of the swing cylinder (11) is fixedly connected to the rotating frame (12). One end of the rotating frame (12) is fixedly connected to the first gripper (13). The other end of the rotating frame (12) is fixedly connected to the second gripper (14). Positioning components are arranged at one end of the bottom surface of the swing cylinder (11) and at one end of the top surface of the rotating frame (12).

5. The grasping device of a truss robot according to claim 4, wherein: The positioning component includes a limiting convex block (21) and a retaining strip (16). The limiting convex block (21) is fixedly installed at one end of the bottom surface of the swing cylinder (11). An installation groove is opened at one end of the top surface of the rotating frame (12), and the inner wall of the installation groove is fixedly connected to the retaining strip (16). Openings are penetrated through both ends of the front surface of the retaining strip (16), and moving cavities are opened at both ends inside the retaining strip (16). Installation grooves are opened on both the front and back surfaces of the limiting convex block (21). Positioning auxiliary components are arranged on the inner walls of the moving cavity of the retaining strip (16) and the installation groove of the limiting convex block (21).

6. The grasping device of a truss robot according to claim 5, wherein: The positioning auxiliary component includes a spring (17), a piston block (18), a resisting rod (15), and a pressure sensor (19). The piston block (18) is movably connected to the inner walls of two movable cavities of the stop bar (16) and fits against the inner walls of the movable cavities. An installation opening is formed through the front surface of the piston block (18), and the resisting rod (15) is fixedly connected to the inner wall of the installation opening. Two ends of the resisting rod (15) respectively penetrate through the openings of the stop bar (16). One end of the spring (17) is fixedly connected to the front surface of the piston block (18), and the other end of the spring (17) is fixedly connected to the inner wall of the movable cavity of the stop bar (16). The pressure sensor (19) is fixedly installed on the inner wall of the installation groove of the limiting convex block (21).

7. A grasping device for a truss robot according to claim 1, characterized in that: The blanking component includes a conveyor belt (7), a sliding plate (8), and a blanking box (9). The conveyor belt (7) is fixedly installed on the top surface of the workbench (1) through a bracket. One end of the conveyor belt (7) is fixedly connected to the sliding plate (8). A chute is fixedly connected to the bottom surface of the bracket of the conveyor belt (7). Sliding bars are fixedly connected to both the front and back surfaces of the blanking box (9). The blanking box (9) is movably connected to the inner wall of the chute through the sliding bars. A feeding port is formed through the top surface of the blanking box (9). A plurality of leakage holes are formed through the top surface of the sliding plate (8), and the leakage holes are aligned with the feeding port of the blanking box (9).

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