Machining center truss manipulator

Abstract

The utility model discloses a machining center truss manipulator, and relates to the technical field of manipulators. The device comprises a U-shaped support, a transverse frame is fixedly connected to the inner top of the U-shaped support, a transverse moving sliding rail is arranged at one end of the transverse frame, a transverse moving sliding block is slidably connected to the interior of the transverse moving sliding rail, a connecting arm is fixedly connected to one end of the transverse moving sliding block, an adjusting arm is hinged to the bottom of the connecting arm, and a working arm is rotationally connected to one end of the adjusting arm; clamping sliding grooves are symmetrically formed in one end of the working arm, and clamping sliding plates are slidably connected into the clamping sliding grooves. The working arm and the clamping sliding plates are driven to rotate to be perpendicular to the connecting arm by driving the adjusting arm, the two clamping sliding plates are driven by the transferring mechanism and the clamping assembly to move close to each other in the length direction of the clamping sliding groove, and meanwhile a workpiece is clamped to move to a preset position; therefore, the influence of arranging a machine tool cover right above the clamping sliding plate and the machine tool is effectively reduced, and the application range of the device is widened.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a truss manipulator for a machining center. Background Art

[0002] With the rapid development of modern manufacturing, machining centers, as high-precision, high-efficiency machine tools, play a vital role in parts processing. However, with the expansion of production scale and the increase in product complexity, traditional manual loading and unloading methods can no longer meet the requirements of efficient and accurate production. Therefore, machining center truss robots have emerged as a key tool for improving production automation, reducing labor costs, and increasing production efficiency.

[0003] The machining center truss robot is a fully automatic industrial equipment based on the rectangular X, Y, and Z three-coordinate system. Its main function is to adjust the workpiece position or realize the trajectory movement of the workpiece, thereby completing the loading and unloading, handling, assembly and other tasks of the machining center.

[0004] In a highly automated and sophisticated modern manufacturing environment, some machine tools have machine covers directly above the grasping position, which makes it impossible to install a truss robot directly above the grasping position. As a result, after the truss robot is raised or lowered in the vertical direction, the grasping part of the truss robot cannot be coaxial with the grasping position, making it impossible for the robot to grasp objects at the grasping position, reducing the applicability of the device. Utility Model Content

[0005] The purpose of this application is to solve the problem that a truss robot cannot be installed directly above the grasping position of some machine tools because a machine tool cover is provided directly above the grasping position, resulting in the robot being unable to grasp objects located at the grasping position, thereby reducing the scope of application of the device. This application provides a truss robot for a machining center.

[0006] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0007] The top of the U-shaped bracket is fixedly connected to the cross frame, and one end of the cross frame is provided with a cross slide, and the cross slide is slidably connected to the cross slide. One end of the cross slide is fixedly connected to the connecting arm, and the bottom of the connecting arm is hinged with an adjusting arm, and one end of the adjusting arm is rotatably connected to the working arm. One end of the working arm is symmetrically provided with a clamping slide groove, and the inner sliding connection of the clamping slide groove is connected to the clamping slide plate. The hinged end of the adjusting arm is fixedly connected to the adjusting gear

[0008] By adopting the above technical solution, by setting the adjustment component in conjunction with the adjustment gear and the adjustment rack, it is convenient to drive the adjustment arm to drive the working arm and the clamping slide to rotate to a state perpendicular to the connecting arm, and use the transfer mechanism and the clamping component to drive the two clamping slides to move closer to each other along the length direction of the clamping slide, and at the same time clamp the workpiece and move it to the predetermined position, thereby effectively reducing the impact of the clamping slide and the machine tool cover set directly above the machine tool, thereby improving the applicability of the device.

[0009] Furthermore, the adjustment component includes an adjustment screw that is rotatably connected, one end of the connecting arm is fixedly connected to an adjustment motor, the output end of the adjustment motor is fixedly connected to the adjustment screw, and the top of the adjustment rack is provided with an adjustment screw groove that engages with the adjustment screw.

[0010] By adopting the above technical solution and setting the coordinated use of the adjusting screw and the adjusting groove, it is convenient to utilize the self-locking characteristics of the adjusting screw and the adjusting groove, so that after starting the adjusting motor to drive the adjusting screw to drive the adjusting rack to move to the specified position along the length direction of the adjusting groove, the deflection angle of the adjusting arm is fixed by utilizing the engagement of the adjusting rack and the adjusting gear, thereby effectively improving the practicality of the device.

[0011] Furthermore, the clamping assembly includes a clamping electric push rod fixedly connected to the inside of the working arm, and the output end of the clamping electric push rod is symmetrically hinged with a transmission rod, and the two transmission rods are respectively hinged to the opposite sides of the two clamping slides.

[0012] By adopting the above technical solution and setting up the coordinated use of the clamping electric push rod and the transmission rod, starting the clamping electric push rod can drive the two transmission rods to move towards or away from each other around the hinge axis, and drive the two clamping slides to move towards or away from each other along the length direction of the clamping slide groove, thereby improving the practicality of the device.

[0013] Furthermore, rubber pads are fixedly connected to opposite sides of the two clamping slides.

[0014] By adopting the above technical solution, by arranging the rubber pad and the clamping slide for use in conjunction, a flexible resistance is formed between the clamping slide and the workpiece, thereby effectively reducing the wear between the clamping slide and the workpiece.

[0015] Furthermore, the transfer mechanism includes a transverse rack fixedly connected to the bottom of the transverse frame, one end of the connecting arm is rotatably connected to a transverse gear engaged with the transverse rack, one end of the connecting arm is fixedly connected to a transverse motor, the output end of the transverse motor is fixedly connected to the transverse gear, and one end of the U-shaped bracket is installed with a lifting component for driving the transverse frame to move up and down.

[0016] By adopting the above technical solution, by setting up the lifting assembly for use with the transverse gear and transverse rack, starting the transverse motor and the lifting assembly can drive the connecting arm to drive the clamping slide to move along the length direction of the transverse slide rail and the lifting slide, thereby achieving precise positioning of the workpiece clamped by the clamping slide in three-dimensional space, thereby improving the practicality of the device.

[0017] Furthermore, the lifting assembly includes a lifting slot symmetrically opened at one end of the U-shaped bracket, the lifting slot is internally rotatably connected to a lifting screw threadedly connected to the cross frame, the top of the lifting screw is fixedly connected to bevel gear 1, the top of the U-shaped bracket is rotatably connected to a synchronization rod, one end of the synchronization rod is symmetrically fixedly connected to bevel gear 2 meshing with bevel gear 1, one end of the U-shaped bracket is fixedly connected to a lifting motor, and the output end of the lifting motor is fixedly connected to the synchronization rod.

[0018] By adopting the above technical solution, by setting the synchronization rod and the coordinated use of bevel gear 2 and bevel gear 1, starting the lifting motor can drive the two bevel gears 2 to synchronously engage with bevel gear 1, and drive bevel gear 1 to rotate. At the same time, driving bevel gear 1 drives the two lifting screws to form a synchronous threaded connection with the cross frame, and drives the cross frame to move along the length direction of the lifting slide, thereby further improving the practicality of the device.

[0019] Furthermore, an installation compartment is provided inside the adjusting arm, and the interior of the installation compartment is rotatably connected to bevel gear three. One end of the working arm extends to the interior of the installation compartment and is fixedly connected to bevel gear four that meshes with bevel gear three. One end of the adjusting arm is fixedly connected to a steering motor, and the output end of the steering motor is fixedly connected to bevel gear three.

[0020] By adopting the above technical solution and arranging the coordinated use of bevel gear three and bevel gear four, starting the steering motor can drive bevel gear three to engage with bevel gear four and drive the working arm to rotate around the hinge shaft, thereby further improving the applicability of the device.

[0021] Furthermore, the surfaces of the U-shaped bracket, the cross frame, the connecting arm, the adjusting arm, the working arm, and the clamping slide are all coated with a silicone waterproof coating.

[0022] By adopting the above technical solution and providing an organic silicon waterproof coating, the corrosion resistance of the device is effectively improved and the service life of the device is extended.

[0023] In summary, this application has at least one of the following beneficial effects:

[0024] 1. By setting the adjustment component in conjunction with the adjustment gear and the adjustment rack, it is convenient to drive the adjustment arm to drive the working arm and the clamping slide to rotate to a state perpendicular to the connecting arm, and use the transfer mechanism and the clamping component to drive the two clamping slides to move closer to each other along the length direction of the clamping slide, and at the same time clamp the workpiece and move it to the predetermined position, thereby effectively reducing the influence of the clamping slide and the machine tool cover set directly above the machine tool, and improving the applicability of the device.

[0025] 2. By setting up the lifting assembly in conjunction with the transverse gear and transverse rack, starting the transverse motor and the lifting assembly can drive the connecting arm to drive the clamping slide to move along the length direction of the transverse slide rail and the lifting slide, thereby achieving precise positioning of the workpiece clamped by the clamping slide in three-dimensional space, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the device body in this application.

[0027] Figure 2 It is an exploded view of the internal structure of the lifting chute in this application.

[0028] Figure 3 It is a schematic diagram of the connection structure between the connecting arm and the adjusting arm in this application.

[0029] Description of reference numerals:

[0030] 1. U-shaped bracket; 2. Cross frame; 3. Transverse slide rail; 4. Transverse slider; 5. Connecting arm; 6. Adjusting arm; 7. Working arm; 8. Clamping slide; 9. Clamping slide; 10. Adjusting gear; 11. Adjusting slide; 12. Adjusting rack; 13. Adjusting screw; 14. Adjusting motor; 15. Adjusting screw groove; 16. Clamping electric push rod; 17. Transmission rod; 18. Rubber pad; 19. Transverse rack; 20. Transverse gear; 21. Transverse motor; 22. Lifting slide; 23. Lifting screw; 24. Bevel gear 1; 25. Bevel gear 2; 26. Lifting motor; 27. Mounting compartment; 28. Bevel gear 3; 29. ​​Bevel gear 4; 30. Steering motor; 31. Synchronizing rod. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-3 This application is described in further detail.

[0032] The embodiments of the present application disclose a truss robot for a machining center.

[0033] Reference Figure 1-Figure 3 The truss manipulator of the machining center includes a U-shaped bracket 1, the inner top of the U-shaped bracket 1 is fixedly connected to the cross frame 2, one end of the cross frame 2 is provided with a cross slide rail 3, the internal sliding connection of the cross slide rail 3 is provided with a cross slider 4, one end of the cross slider 4 is fixedly connected to a connecting arm 5, the bottom of the connecting arm 5 is hinged with an adjusting arm 6, one end of the adjusting arm 6 is rotatably connected to a working arm 7, one end of the working arm 7 is symmetrically provided with a clamping slide groove 8, the internal sliding connection of the clamping slide 8 is provided with a clamping slide 9, the hinged end of the adjusting arm 6 is fixedly connected to an adjusting gear 10, one side of the connecting arm 5 is provided with an adjusting slide groove 11, the internal sliding connection of the adjusting slide groove 11 is provided with an adjusting rack 12 meshing with the adjusting gear 10, an adjusting component for driving the adjusting rack 12 to mesh with the adjusting gear 10 is installed on one side of the connecting arm 5, one end of the working arm 7 is provided with a clamping component for driving the clamping slide 9 to move along the length direction of the clamping slide groove 8, and a transfer mechanism is installed at one end of the cross frame 2;

[0034] The adjustment assembly includes an adjustment screw 13 that is rotatably connected, one end of the connecting arm 5 is fixedly connected to an adjustment motor 14, the output end of the adjustment motor 14 is fixedly connected to the adjustment screw 13, and the top of the adjustment rack 12 is provided with an adjustment screw groove 15 that engages with the adjustment screw 13;

[0035] Moreover, the clamping assembly includes a clamping electric push rod 16 fixedly connected to the inside of the working arm 7, and the output end of the clamping electric push rod 16 is symmetrically hinged with a transmission rod 17, and the two transmission rods 17 are respectively hinged to the opposite sides of the two clamping slides 9;

[0036] Furthermore, rubber pads 18 are fixedly connected to opposite sides of the two clamping slides 9 .

[0037] When in use, first start the adjusting motor 14 to drive the adjusting screw 13 to form a threaded connection with the adjusting screw groove 15, and drive the adjusting rack 12 to move along the length direction of the adjusting slide 11, and at the same time drive the adjusting rack 12 to engage with the adjusting gear 10, and make the adjusting gear 10 drive the adjusting arm 6 to rotate around the hinge axis, and at the same time make the adjusting arm 6 drive the working arm 7 and the clamping slide 9 to rotate to form a right angle with the connecting arm 5, and drive the two working arms 7 to move closer to each other around the hinge axis by starting the clamping electric push rod 16, and drive the two clamping slides 9 to move closer to each other along the length direction of the clamping slide 8, and at the same time make the two clamping slides 9 push the rubber pad 18 to form a flexible contact clamp with the workpiece to be clamped, so as to facilitate driving the adjusting arm 6 to drive the working arm 7 and the clamping slide 9 to rotate to an angle perpendicular to the connecting arm 5, thereby effectively reducing the influence of the clamping slide 9 and the machine tool cover set directly above the machine tool, thereby improving the applicability of the device.

[0038] Reference Figure 1-Figure 3 The transfer mechanism includes a transverse rack 19 fixedly connected to the bottom of the cross frame 2, one end of the connecting arm 5 is rotatably connected to a transverse gear 20 meshing with the transverse rack 19, one end of the connecting arm 5 is fixedly connected to a transverse motor 21, and the output end of the transverse motor 21 is fixedly connected to the transverse gear 20. One end of the U-shaped bracket 1 is equipped with a lifting assembly for driving the cross frame 2 to move up and down;

[0039] Among them, the lifting component includes a lifting slot 22 symmetrically opened at one end of the U-shaped bracket 1, the internal rotation connection of the lifting slot 22 is connected to the lifting screw 23 threadedly connected to the cross frame 2, the top of the lifting screw 23 is fixedly connected to the bevel gear 1 24, the top of the U-shaped bracket 1 is rotatably connected to the synchronization rod 31, one end of the synchronization rod 31 is symmetrically fixedly connected to the bevel gear 2 25 meshing with the bevel gear 1 24, one end of the U-shaped bracket 1 is fixedly connected to the lifting motor 26, and the output end of the lifting motor 26 is fixedly connected to the synchronization rod 31.

[0040] When in use, first, the traverse motor 21 is started to drive the traverse gear 20 to engage with the traverse rack 19, and the traverse gear 20 drives the connecting arm 5 to move along the length direction of the traverse rail 3, and at the same time drives the adjusting arm 6, the working arm 7, and the clamping slide 9 to move along the length direction of the traverse rail 3, so that the clamping slide 9 can be driven to clamp the workpiece and move along the length direction of the traverse rail 3;

[0041] Then, by starting the lifting motor 26, the synchronization rod 31 drives the two bevel gears 25 to engage with the two bevel gears 1 24 at the same time, and drives the bevel gear 1 24 to drive the lifting screw 23 to form a threaded connection with the cross frame 2, and at the same time drives the cross frame 2 to drive the connecting arm 5 to move along the length direction of the lifting slide 22, so that the clamping slide 9 can be driven to clamp the workpiece and move along the length direction of the lifting slide 22. This makes it easier to drive the clamping slide 9 to drive the workpiece to move along the length direction of the transverse slide 3 and the lifting slide 22 respectively, thereby realizing the precise positioning of the workpiece clamped by the clamping slide 9 in three-dimensional space, thereby improving the practicality of the device.

[0042] Reference Figure 1-Figure 3 A mounting chamber 27 is provided inside the adjusting arm 6, and a bevel gear three 28 is rotatably connected to the inside of the mounting chamber 27. One end of the working arm 7 extends to the inside of the mounting chamber 27 and is fixedly connected to a bevel gear four 29 that meshes with the bevel gear three 28. One end of the adjusting arm 6 is fixedly connected to a steering motor 30, and the output end of the steering motor 30 is fixedly connected to the bevel gear three 28.

[0043] When in use, first start the steering motor 30 to drive the bevel gear three 28 to engage with the bevel gear four 29, and make the bevel gear four 29 drive the working arm 7 to rotate, and at the same time make the working arm 7 drive the two clamping slides 9 to rotate around the hinge axis, so as to facilitate driving the clamping slide 9 to drive the clamped workpiece to rotate, further improving the scope of application of the device.

[0044] Reference Figure 1-Figure 3 The surfaces of the U-shaped bracket 1, the cross frame 2, the connecting arm 5, the adjusting arm 6, the working arm 7, and the clamping slide 9 are all coated with a silicone waterproof coating.

[0045] When in use, a silicone waterproof coating is applied to the surfaces of the U-shaped bracket 1 and the cross frame 2, the connecting arm 5, the adjusting arm 6, the working arm 7, and the clamping slide 9, so that a waterproof layer is formed on the surfaces of the U-shaped bracket 1 and the cross frame 2, the connecting arm 5, the adjusting arm 6, the working arm 7, and the clamping slide 9, thereby effectively improving the corrosion resistance of the device and extending the service life of the device.

[0046] The operating principle of the truss manipulator for a machining center in this embodiment is as follows: First, the traverse motor 21 is activated to drive the traverse gear 20 to engage with the traverse rack 19, causing the traverse gear 20 to drive the connecting arm 5 to move along the length of the traverse rail 3, while simultaneously driving the adjustment arm 6, the working arm 7, and the clamping slide 9 to move along the length of the traverse rail 3. Then, the lifting motor 26 is activated to drive the synchronization rod 31 to drive the two bevel gears 25 to simultaneously engage with the two bevel gears 1 24, and drive the bevel gear 1 24 to drive the lifting screw 23 to form a threaded connection with the cross frame 2, while driving the cross frame 2 to drive the connecting arm 5 to move along the length of the lifting slot 22.

[0047] Then, by starting the adjusting motor 14, the adjusting screw 13 is driven to form a threaded connection with the adjusting groove 15, and the adjusting rack 12 is driven to move along the length direction of the adjusting slot 11, and at the same time, the adjusting rack 12 is driven to engage with the adjusting gear 10, and the adjusting gear 10 drives the adjusting arm 6 to rotate around the hinge axis, and at the same time, the adjusting arm 6 drives the working arm 7 and the clamping slide 9 to rotate to form a right angle with the connecting arm 5, and by starting the clamping electric push rod 16, the two working arms 7 are driven to move closer to each other around the hinge axis, and the two clamping slides 9 are driven to move closer to each other along the length direction of the clamping slot 8, and at the same time, the two clamping slides 9 push the rubber pad 18 to form a flexible contact clamp with the workpiece to be clamped.

Claims

1. A truss manipulator for a machining center, comprising a U-shaped bracket (1), characterized in that: The top of the U-shaped bracket (1) is fixedly connected to a cross frame (2), one end of the cross frame (2) is provided with a cross slide rail (3), the inside of the cross slide rail (3) is slidably connected to a cross slider (4), one end of the cross slider (4) is fixedly connected to a connecting arm (5), the bottom of the connecting arm (5) is hinged to an adjusting arm (6), one end of the adjusting arm (6) is rotatably connected to a working arm (7), one end of the working arm (7) is symmetrically provided with a clamping slot (8), the inside of the clamping slot (8) is slidably connected to a clamping slide (9), the adjusting arm (5 ... the adjusting arm (6) is hinged to a working arm (7), the adjusting arm (6) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7) is hinged to a working arm (7), the adjusting arm (7 The hinged end of the arm (6) is fixedly connected to the adjusting gear (10), an adjusting slot (11) is provided on one side of the connecting arm (5), an adjusting rack (12) meshing with the adjusting gear (10) is slidably connected inside the adjusting slot (11), an adjusting assembly for driving the adjusting rack (12) to mesh with the adjusting gear (10) is installed on one side of the connecting arm (5), a clamping assembly for driving the clamping slide (9) to move along the length direction of the clamping slot (8) is installed on one end of the working arm (7), and a transfer mechanism is installed on one end of the cross frame (2).

2. The machining center truss manipulator according to claim 1, characterized in that: The adjustment assembly includes an adjustment screw (13) that is rotatably connected, one end of the connecting arm (5) is fixedly connected to an adjustment motor (14), the output end of the adjustment motor (14) is fixedly connected to the adjustment screw (13), and the top of the adjustment rack (12) is provided with an adjustment screw groove (15) that meshes with the adjustment screw (13).

3. The machining center truss manipulator according to claim 1, characterized in that: The clamping assembly comprises a clamping electric push rod (16) fixedly connected to the inside of the working arm (7), and the output end of the clamping electric push rod (16) is symmetrically hinged with a transmission rod (17), and the two transmission rods (17) are respectively hinged to the opposite sides of the two clamping slides (9).

4. The machining center truss manipulator according to claim 1, characterized in that: The two opposite sides of the clamping slides (9) are both fixedly connected with rubber pads (18).

5. The machining center truss manipulator according to claim 1, characterized in that: The transfer mechanism includes a transverse rack (19) fixedly connected to the bottom of the transverse frame (2), one end of the connecting arm (5) is rotatably connected to a transverse gear (20) meshing with the transverse rack (19), one end of the connecting arm (5) is fixedly connected to a transverse motor (21), the output end of the transverse motor (21) is fixedly connected to the transverse gear (20), and one end of the U-shaped bracket (1) is installed with a lifting component for driving the transverse frame (2) to move up and down.

6. The machining center truss manipulator according to claim 5, characterized in that: The lifting assembly includes a lifting slot (22) symmetrically opened at one end of the U-shaped bracket (1), the lifting slot (22) is internally rotatably connected to a lifting screw (23) threadedly connected to the cross frame (2), the top of the lifting screw (23) is fixedly connected to a bevel gear 1 (24), the top of the U-shaped bracket (1) is rotatably connected to a synchronization rod (31), one end of the synchronization rod (31) is symmetrically fixedly connected to a bevel gear 2 (25) meshing with the bevel gear 1 (24), one end of the U-shaped bracket (1) is fixedly connected to a lifting motor (26), and the output end of the lifting motor (26) is fixedly connected to the synchronization rod (31).

7. The machining center truss manipulator according to claim 1, characterized in that: The regulating arm (6) is provided with a mounting chamber (27) inside, and the mounting chamber (27) is rotatably connected to a bevel gear three (28). One end of the working arm (7) extends into the mounting chamber (27) and is fixedly connected to a bevel gear four (29) meshing with the bevel gear three (28). One end of the regulating arm (6) is fixedly connected to a steering motor (30), and the output end of the steering motor (30) is fixedly connected to the bevel gear three (28).

8. The machining center truss manipulator according to claim 1, characterized in that: The surfaces of the U-shaped bracket (1), the cross frame (2), the connecting arm (5), the adjusting arm (6), the working arm (7), and the clamping slide (9) are all coated with an organic silicone waterproof coating.

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