Truss carrying manipulator

Abstract

The utility model discloses a truss carrying manipulator, and relates to the technical field of truss equipment. Comprising a truss main body, the truss main body is provided with a clamping mechanism used for track carrying, the clamping mechanism comprises a dismounting assembly, and the dismounting assembly comprises a movable seat which is slidably connected to the outer wall of the truss main body. Then a base of a second hydraulic rod rotates on the fixing plate through a first rotating shaft, so that the mounting bracket rotates on the mounting seat by an angle through a connecting shaft, angle adjustment work is performed on a clamping plate for clamping workpieces, the clamping device can adapt to the workpieces of different shapes, sizes and directions, the workpiece clamping flexibility is improved, and the working efficiency is improved. Workpieces at different angles can be rapidly clamped and carried, the manipulator can adapt to more complex and changeable production environments, and the overall adaptability of the manipulator is improved.

Description

Technical Field

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

[0002] A truss robot is a fully automated industrial device based on a rectangular X, Y, and Z coordinate system, capable of adjusting workpiece positions and achieving trajectory motion. Its control core is implemented by an industrial controller (such as a PLC, motion control system, or single-chip microcomputer). The controller analyzes and processes various input signals (such as sensors and buttons), makes logical judgments, and then issues execution commands to various output components (such as relays, motor drivers, and indicator lights), completing the coordinated movement of the X, Y, and Z axes, thereby achieving a fully automated operation process.

[0003] The reference patent (publication number: CN214352524U; publication date: 2021-10-08) discloses a truss-type handling robot, including a sliding assembly, a telescopic assembly and a clamping assembly; the clamping assembly is fixedly arranged below the telescopic assembly; the telescopic assembly is fixedly mounted on the sliding assembly.

[0004] The traditional truss handling robot has a single fixing method for the clamping plate, which is not convenient to replace to meet the needs of different workpieces. In addition, when the robot clamps the workpiece, the angle of the clamping plate is often fixed, which makes it difficult to adapt to workpieces of different shapes, sizes and directions for adjustable use, reducing the efficiency of the equipment. For this reason, the utility model provides a truss handling robot. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the utility model provides a truss handling robot, which solves the problems that the traditional truss handling robot has a single fixing method for the clamping plate, which is not convenient to replace to meet the needs of different workpieces, and when the robot clamps the workpiece, the angle of the clamping plate is often fixed, which makes it difficult to adapt to workpieces of different shapes, sizes and directions for adjustable use, thereby reducing the efficiency of equipment use.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A truss handling manipulator includes a truss body, on which a clamping mechanism for track handling is provided, the clamping mechanism including:

[0007] The disassembly assembly includes a movable seat slidably connected to the outer wall of the truss body, a lifting seat connected by a lifting assembly is provided inside the movable seat, a first slot is provided on the lower outer wall of the lifting seat, a mounting seat is affixed to the lower outer wall of the lifting seat, a second slot is provided on the upper end surface of the mounting seat, a connecting block is slidably connected to the inside of the second slot, and a locking block is fixedly connected to the inner wall of the connecting block;

[0008] The adjusting component comprises connecting shafts rotatably connected to both sides of the mounting seat, and the outer walls of the connecting shafts are movably connected to mounting brackets connected through the pushing component.

[0009] Preferably, the locking block and the first slot are correspondingly engaged with each other, and two groups of threaded bolts are provided inside the locking block.

[0010] Preferably, a mounting groove is provided inside the mounting seat, and the lower end of the lifting seat is located inside the mounting groove.

[0011] Preferably, the lifting assembly includes a movable seat, the upper end surface of which is fixedly connected to a first hydraulic rod, and the top end of the lifting seat is located at the telescopic end of the first hydraulic rod and is fixedly connected.

[0012] Preferably, the pushing assembly includes a fixed plate fixedly connected to the rear side wall of the mounting seat, the lower end face of the fixed plate is provided with a first rotating shaft, the outer wall of the first rotating shaft is provided with a second hydraulic rod through a support block, the rear side wall of the mounting bracket is fixedly connected to a guide rod, the upper end face of the guide rod is provided with a second rotating shaft, the telescopic end of the second hydraulic rod is rotatably connected to the guide rod through the second rotating shaft, and the mounting bracket is located on the outer wall of the connecting shaft and forms a rotating structure with the mounting seat.

[0013] Preferably, the mounting bracket is in an L-shaped structure, a third hydraulic rod is fixedly connected to the interior of the mounting bracket, a splint is fixedly connected to the telescopic end of the third hydraulic rod, and rubber strips are evenly distributed on the inner wall of the splint.

[0014] Beneficial effects

[0015] The utility model provides a truss handling manipulator. Compared with the existing technology, it has the following advantages:

[0016] First, the utility model moves the two sets of locking blocks away from each other on the mounting base along the second slot through the connecting block, and then the mounting base is engaged with the bottom of the lifting base through the mounting slot, and then the two sets of locking blocks are slid closer to each other along the second slot, and the locking blocks are fitted on the first slot, and finally the two sets of locking blocks are locked on the first slots on both sides of the lifting base through the threaded bolts, and finally the threaded bolts are loosened for disassembly, thereby realizing the installation and disassembly between the mounting base and the lifting base, facilitating the replacement and use of the splint, so that the manipulator can flexibly adapt to workpieces of different sizes, shapes and weights. By replacing splints of different specifications or types, it is easy to carry and grasp different workpieces, thereby improving the versatility and flexibility of the manipulator.

[0017] Secondly, when the second hydraulic rod provided in the utility model is pushing, the telescopic end of the second hydraulic rod is rotated through the second rotating shaft and the guide rod, and then the base of the second hydraulic rod is rotated on the fixed plate through the first rotating shaft, so that the mounting bracket is rotated on the mounting seat through the connecting shaft, thereby adjusting the angle of the clamping plate for clamping the workpiece, which can adapt to workpieces of different shapes, sizes and directions, thereby improving the flexibility of workpiece clamping, quickly clamping and transporting workpieces of different angles, and can cope with more complex and changeable production environments, thereby improving the overall adaptability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the connection structure between the lifting seat and the mounting seat of the utility model;

[0020] Figure 3 This is a schematic diagram of the splint connection structure of the utility model;

[0021] Figure 4 This is a schematic diagram of the mounting bracket adjustment structure of the present utility model.

[0022] In the figure: 1. Truss body; 2. Movable seat; 201. Lifting seat; 3. First hydraulic rod; 4. First slot; 5. Mounting seat; 501. Second slot; 502. Connecting block; 503. Locking block; 504. Threaded bolt; 505. Mounting slot; 6. Connecting shaft; 601. Mounting bracket; 7. Fixed plate; 701. First rotating shaft; 702. Second hydraulic rod; 703. Second rotating shaft; 704. Guide rod; 8. Third hydraulic rod; 801. Clamp; 802. Rubber strip. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Example 1

[0025] See also Figure 1-4 The utility model provides a technical solution: a truss handling manipulator, comprising a truss body 1, on which a clamping mechanism for track handling is provided, the clamping mechanism comprising:

[0026] The disassembly assembly includes a movable seat 2 slidably connected to the outer wall of the truss body 1, a lifting seat 201 connected via a lifting assembly is provided inside the movable seat 2, a first slot 4 is provided on the lower outer wall of the lifting seat 201, a mounting seat 5 is attached to the lower outer wall of the lifting seat 201, a second slot 501 is provided on the upper end surface of the mounting seat 5, a connecting block 502 is slidably connected to the interior of the second slot 501, and a locking block 503 is fixedly connected to the inner wall of the connecting block 502;

[0027] The adjustment assembly includes a mounting seat 5 with connecting shafts 6 rotatably connected on both sides, and an outer wall of the connecting shaft 6 is movably connected to a mounting bracket 601 connected through a pushing assembly.

[0028] In a preferred embodiment, the locking block 503 is engaged with the first slot 4 corresponding to each other, two sets of threaded bolts 504 are provided inside the locking block 503, and a mounting slot 505 is provided inside the mounting seat 5. The lower end of the lifting seat 201 is located inside the mounting slot 505. First, the two sets of locking blocks 503 are moved away from each other on the mounting seat 5 along the second slot 501 through the connecting block 502, and then the mounting seat 5 is engaged with the bottom of the lifting seat 201 through the mounting slot 505, and then the two sets of locking blocks 503 are slid closer to each other along the second slot 501. The two sets of locking blocks 503 are locked to the first slots 4 on both sides of the lifting seat 201 through the threaded bolts 504. Finally, the threaded bolts 504 are loosened for disassembly to realize the installation and disassembly between the mounting seat 5 and the lifting seat 201, which is convenient for the replacement and use of the splint 801, so that the manipulator can flexibly adapt to workpieces of different sizes, shapes and weights. By replacing splints 801 of different specifications or types, different workpieces can be easily transported and grasped, thereby improving the versatility and flexibility of the manipulator.

[0029] In a preferred embodiment, the lifting assembly includes a first hydraulic rod 3 fixedly connected to the upper end surface of the movable seat 2, the top end of the lifting seat 201 is located at the telescopic end of the first hydraulic rod 3 and is fixedly connected, and the set lifting seat 201 is lifted and lowered on the movable seat 2 by the first hydraulic rod 3.

[0030] In a preferred embodiment, the pushing assembly includes a fixing plate 7 fixedly connected to the rear side wall of the mounting seat 5, the lower end surface of the fixing plate 7 is provided with a first rotating shaft 701, the outer wall of the first rotating shaft 701 is provided with a second hydraulic rod 702 through a support block, the rear side wall of the mounting bracket 601 is fixedly connected to a guide rod 704, the upper end surface of the guide rod 704 is provided with a second rotating shaft 703, the telescopic end of the second hydraulic rod 702 is rotatably connected to the guide rod 704 through the second rotating shaft 703, the mounting bracket 601 is located on the outer wall of the connecting shaft 6 and the mounting seat 5 to form a rotating structure, and when the second hydraulic rod 702 is pushed, the second hydraulic rod 702 is provided. The telescopic end of the second hydraulic rod 702 is rotated through the second rotating shaft 703 and the guide rod 704, and then the base of the second hydraulic rod 702 is rotated on the fixed plate 7 through the first rotating shaft 701, so that the mounting bracket 601 is rotated on the mounting seat 5 through the connecting shaft 6, so that the angle of the clamping plate 801 for clamping the workpiece is adjusted, which can adapt to workpieces of different shapes, sizes and directions, thereby improving the flexibility of workpiece clamping, quickly clamping and transporting workpieces at different angles, and being able to cope with more complex and changeable production environments, improving the overall adaptability of the robot arm, and being simple and convenient to operate.

[0031] As a supplementary explanation, the truss body 1 is a prior art and will not be elaborated on in detail.

[0032] Embodiment 2: This embodiment differs from Embodiment 1 in that the technical solution includes:

[0033] In a preferred embodiment, the mounting bracket 601 has an L-shaped structure, and a third hydraulic rod 8 is fixedly connected to the interior of the mounting bracket 601, and a splint 801 is fixedly connected to the telescopic end of the third hydraulic rod 8. Rubber strips 802 are evenly distributed on the inner wall of the splint 801. The splint 801 is telescoped by the third hydraulic rod 8 and is used for clamping the workpiece, and the friction between the workpiece and the rubber strip 802 is increased to improve the stability during clamping.

[0034] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0035] During operation, the clamping plate 801 is extended and retracted by the third hydraulic rod 8 to clamp the workpiece. Then, when the second hydraulic rod 702 is pushed, the telescopic end of the second hydraulic rod 702 is rotated through the second rotating shaft 703 and the guide rod 704. Then, the base of the second hydraulic rod 702 is rotated on the fixed plate 7 through the first rotating shaft 701, thereby rotating the mounting bracket 601 on the mounting seat 5 through the connecting shaft 6, thereby adjusting the angle of the clamping plate 801 for clamping the workpiece. It can adapt to workpieces of different shapes, sizes and directions, thereby improving the flexibility of workpiece clamping, quickly clamping and transporting workpieces at different angles, and can cope with more complex and changeable production environments, thereby improving the overall adaptability of the manipulator.

[0036] The two sets of locking blocks 503 are moved away from each other on the mounting base 5 along the second slot 501 through the connecting block 502, and then the mounting base 5 is engaged with the bottom of the lifting base 201 through the mounting slot 505. The two sets of locking blocks 503 are then slid closer to each other along the second slot 501, and the locking blocks 503 are fitted on the first slot 4. Finally, the two sets of locking blocks 503 are locked on the first slot 4 on both sides of the lifting base 201 through the threaded bolts 504. Finally, the threaded bolts 504 are loosened for disassembly, thereby realizing the installation and disassembly between the mounting base 5 and the lifting base 201, facilitating the replacement and use of the splint 801, so that the manipulator can flexibly adapt to workpieces of different sizes, shapes and weights. By replacing splints 801 of different specifications or types, it is easy to carry and grasp different workpieces, thereby improving the versatility and flexibility of the manipulator.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A truss handling robot, comprising a truss body (1), characterized in that: The truss body (1) is provided with a clamping mechanism for track transport, the clamping mechanism comprising: The disassembly assembly comprises a movable seat (2) slidably connected to the outer wall of a truss body (1), a lifting seat (201) connected via a lifting assembly is provided inside the movable seat (2), a first slot (4) is provided on the outer wall of the lower end of the lifting seat (201), a mounting seat (5) is affixed to the outer wall of the lower end of the lifting seat (201), a second slot (501) is provided on the upper end surface of the mounting seat (5), a connecting block (502) is slidably connected inside the second slot (501), and a locking block (503) is fixedly connected to the inner wall of the connecting block (502); The adjustment assembly comprises a mounting seat (5) with connecting shafts (6) rotatably connected on both sides thereof, and an outer wall of the connecting shaft (6) is movably connected to a mounting bracket (601) connected via a pushing assembly.

2. A truss handling robot according to claim 1, characterized in that: The locking block (503) and the first clamping slot (4) are correspondingly engaged with each other, and two groups of threaded bolts (504) are provided inside the locking block (503).

3. The truss handling robot according to claim 1, characterized in that: A mounting groove (505) is provided inside the mounting seat (5), and the lower end of the lifting seat (201) is located inside the mounting groove (505).

4. The truss handling robot according to claim 1, characterized in that: The lifting assembly comprises a movable seat (2) whose upper end surface is fixedly connected to a first hydraulic rod (3), and the top end of the lifting seat (201) is located at the telescopic end of the first hydraulic rod (3) and is fixedly connected.

5. The truss handling robot according to claim 1, characterized in that: The pushing assembly includes a fixed plate (7) fixedly connected to the rear side wall of the mounting seat (5), the lower end surface of the fixed plate (7) is provided with a first rotating shaft (701), the outer wall of the first rotating shaft (701) is provided with a second hydraulic rod (702) through a support block, the rear side wall of the mounting bracket (601) is fixedly connected to a guide rod (704), the upper end surface of the guide rod (704) is provided with a second rotating shaft (703), the telescopic end of the second hydraulic rod (702) is rotatably connected to the guide rod (704) through the second rotating shaft (703), and the mounting bracket (601) is located on the outer wall of the connecting shaft (6) and forms a rotating structure with the mounting seat (5).

6. The truss handling robot according to claim 1, characterized in that: The mounting bracket (601) is an L-shaped structure, and a third hydraulic rod (8) is fixedly connected to the interior of the mounting bracket (601), and a clamping plate (801) is fixedly connected to the telescopic end of the third hydraulic rod (8), and rubber strips (802) are evenly distributed on the inner wall of the clamping plate (801).

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