One-to-two truss manipulator equipment

Abstract

The embodiment of the utility model provides one-to-two truss manipulator equipment which comprises a supporting truss, a translation mechanism, a lifting mechanism and a clamping mechanism. The translation mechanism comprises a sliding block, a first rotary driving part, a gear and a rack, the rack is arranged on one side of the supporting truss, the sliding block is in sliding fit with the supporting truss, the first rotary driving part is arranged on the sliding block and connected with the gear, the gear is meshed with the rack, and the first rotary driving part can drive the gear to rotate; the sliding block can slide on the supporting truss; the lifting mechanism comprises a lifting driving part and a second rotating driving part, the lifting driving part is connected with the sliding block, the bottom of the lifting driving part is connected with the second rotating driving part, and the lifting driving part can stretch out and draw back so that the second rotating driving part can be close to or away from the sliding block; the clamping mechanism is arranged on the second rotation driving piece and used for clamping the workpiece. And the device is convenient and efficient to use by a worker and has enough safety.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a one-to-two truss robotic arm device. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Its key feature is its ability to perform various pre-planned tasks through programming. It combines the advantages of both humans and machines in its construction and performance. As one of the earliest industrial robots and the first modern robots, the robotic arm can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and is therefore widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors. Furthermore, robotic arms can work continuously for 24 hours without fatigue or rest periods, further improving production efficiency and reducing costs. During loading operations, robotic arms avoid the risk of accidental injury associated with manual operation, improving workplace safety. With high-precision positioning and safety protection functions, robotic arms ensure stable and reliable loading operations, reducing accidents and losses.

[0003] In related technologies, two robotic hands are installed on a robotic arm. The two robotic hands are controlled by different structures, making it difficult to ensure the synchronization of their movements and resulting in a complex structure. Furthermore, the complex structure of the robotic hands leads to poor stability.

[0004] In view of this, there is an urgent need in the market for a one-to-two gantry robot that is easy to operate and has good synchronization. Utility Model Content

[0005] This application provides a one-to-two gantry robot device, which solves the problems of poor synchronization and stability of robot movements in the prior art, aiming to facilitate use by workers and improve work efficiency. The technical solution is as follows:

[0006] This utility model provides a one-to-two truss manipulator device, including a support truss, a translation mechanism, a lifting mechanism, and a clamping mechanism.

[0007] The translation mechanism includes a slider, a first rotary drive, a gear, and a rack. The rack is disposed on one side of the supporting truss. The slider is slidably engaged with the supporting truss, and the first rotary drive is disposed on the slider. The first rotary drive is connected to the gear, and the gear meshes with the rack. The first rotary drive can drive the gear to rotate, so that the slider can slide on the supporting truss. The lifting mechanism includes a lifting drive and a second rotary drive. The lifting drive is connected to the slider, and the bottom of the lifting drive is connected to the second rotary drive. The lifting drive can extend and retract, so that the second rotary drive moves closer to or away from the slider. The clamping mechanism is disposed on the second rotary drive and is used to clamp the workpiece.

[0008] Furthermore, the translation mechanism includes a guide shaft and a positioning block. A guide groove is formed on the support truss, the guide shaft is disposed in the guide groove, the positioning block is disposed on the slider, and the guide shaft passes through the positioning block. The positioning block slides in cooperation with the wall of the guide groove.

[0009] Furthermore, the clamping mechanism includes a bidirectional cylinder, a piston rod, and grippers. The bidirectional cylinder is connected to the output shaft of the second rotary drive member, which can drive the bidirectional cylinder to rotate. One end of the piston rod is connected to the bidirectional cylinder, and the other end is connected to the grippers. The piston rod can extend or retract into the bidirectional cylinder so that the grippers move closer or further apart.

[0010] Furthermore, the translation mechanism includes an extension plate, one end of which is connected to the slider and the other end of which is connected to the lifting drive.

[0011] Furthermore, the lifting mechanism includes a stabilizing block, which passes through the extension plate. The bottom of the stabilizing block is connected to the second rotary drive member, and the stabilizing block slides in cooperation with the extension plate.

[0012] Furthermore, the translation mechanism includes a partition plate disposed in the middle of the guide groove, and the guide shaft passes through the partition plate and is connected to the wall of the guide groove.

[0013] Furthermore, the mounting base is vertically provided at the bottom of the support truss.

[0014] The beneficial effects of the technical solutions provided in this application include at least the following:

[0015] When the gears rotate, they drive the slider to slide relative to the crossbeam, achieving horizontal translation. The lifting drive unit connects to the second rotary drive unit, which is extendable and retractable, allowing the second rotary drive unit to rise and fall along the height of the support frame. This adjusts the height of the clamping mechanism, ensuring it is at an appropriate height for transferring the workpiece to a suitable position. This makes the operation convenient, efficient, and safe for operators. The second rotary drive unit drives a bidirectional cylinder to rotate, flipping the workpiece and ensuring good synchronization of this one-to-two gantry robot, adapting to various processing scenarios.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the one-to-two truss manipulator provided in the embodiment of this application;

[0019] Figure 2 yes Figure 1 The front view of the one-to-two truss manipulator is shown.

[0020] Figure 3 yes Figure 1 A top view of a one-to-two truss manipulator device is shown.

[0021] Figure 4 yes Figure 1 The diagram shows the structure of the clamping mechanism.

[0022] Figure 5 yes Figure 4 The main view;

[0023] Figure 6 yes Figure 1 The image shows a side view of the slider, the first rotary drive, the gear, and the positioning block.

[0024] Figure Labels

[0025] Support truss 100; crossbeam 110; guide groove 111; support frame 120; mounting base 130;

[0026] Translation mechanism 200; slider 210; first rotary drive component 220; gear 230; rack 240; guide shaft 250; positioning block 260; extension plate 270; partition plate 280;

[0027] Lifting mechanism 300; lifting drive component 310; second rotation drive component 320; stabilizing block 330;

[0028] Clamping mechanism 400, bidirectional cylinder 410; piston rod 420; gripper 430. Detailed Implementation

[0029] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0030] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, left, right, front, and back, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0032] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0033] refer to Figures 1 to 6 This utility model embodiment provides a one-to-two truss manipulator device, including a support truss 100, a translation mechanism 200, a lifting mechanism 300, and a clamping mechanism 400.

[0034] The translation mechanism 200 includes a slider 210, a first rotary drive 220, a gear 230, and a rack 240. The rack 240 is disposed on one side of the support truss 100. The slider 210 is slidably engaged with the support truss 100, and the first rotary drive 220 is disposed on the slider 210. The first rotary drive 220 is connected to the gear 230, and the gear 230 meshes with the rack 240. The first rotary drive 220 can drive the gear 230 to rotate, so that the slider 210 can slide on the support truss 100. The lifting mechanism 300 includes a lifting drive 310 and a second rotary drive 320. The lifting drive 310 is connected to the slider 210, and the bottom of the lifting drive 310 is connected to the second rotary drive 320. The lifting drive 310 can extend and retract, so that the second rotary drive 320 moves closer to or away from the slider 210. The clamping mechanism 400 is disposed on the second rotary drive 320 and is used to clamp the workpiece.

[0035] It should be noted that the support truss 100 includes a crossbeam 110 and a support frame 120. The top of the support frame 120 is connected to the crossbeam 110, and the crossbeam 110 is arranged perpendicularly to the support frame 120. There are multiple support frames 120. The support frame 120 is used to support the crossbeam 110. A first rotary drive component 220 is mounted on the slider 210. The first rotary drive component 220 is connected to a gear 230. A rack 240 is correspondingly arranged on the side wall of the crossbeam 110. The first rotary drive component 220 can drive the gear 230 to rotate, and the gear 230 meshes with the rack 240. Therefore, when the gear 230 rotates, it can drive the slider 210 to slide relative to the crossbeam 110, achieving a horizontal translation effect.

[0036] The lifting drive component 310 is connected to the second rotary drive component 320. The lifting drive component 310 is telescopic, allowing the second rotary drive component 320 to rise and fall along the height direction of the support frame 120, thereby adjusting the height of the clamping mechanism 400 so that it can be at an appropriate height to facilitate the transfer of the workpiece to the appropriate position. After the slider 210 slides to the appropriate position, it is fixed to the crossbeam 110. Then, the lifting drive component 310 drives the second rotary drive component 320 to rise or fall. After the clamping mechanism 400 clamps the workpiece, the lifting drive component 310 drives the second rotary drive component 320 to rise, and the slider 210 begins to slide again, thus completing the workpiece clamping and transportation operation. This makes it more convenient, efficient, and safe for operators to use.

[0037] As an additional embodiment of this utility model, the number of sliders 210 is set to two. Correspondingly, a first rotary drive 220 and a gear 230 are installed on each slider 210. The two first rotary drive 220 rotate in opposite directions so that the two sliders 210 can move closer to each other or further away from each other along the length of the crossbeam 110.

[0038] According to the embodiment of the present utility model, the translation mechanism 200 includes a guide shaft 250 and a positioning block 260. A guide groove 111 is opened on the support truss 100, and the guide shaft 250 is arranged in the guide groove 111. The positioning block 260 is arranged on the slider 210, and the guide shaft 250 passes through the positioning block 260. The positioning block 260 slides with the wall of the guide groove 111.

[0039] It should be understood that a guide groove 111 is provided at the top of the crossbeam 110, and the two ends of the guide groove 111 are fixed to the side wall of the guide groove 111. When the slider 210 slides, the positioning block 260 slides along the guide shaft 250, and the positioning block 260 slides with the wall of the guide groove 111, which increases the stability and smoothness of the slider when it slides.

[0040] According to the embodiment of this utility model, the clamping mechanism 400 of the one-to-two truss manipulator includes a bidirectional cylinder 410, a piston rod 420, and a gripper 430. The bidirectional cylinder 410 is connected to the output shaft of the second rotary drive 320, which can drive the bidirectional cylinder 410 to rotate. One end of the piston rod 420 is connected to the bidirectional cylinder 410, and the other end is connected to the gripper 430. The piston rod 420 can extend or retract into the bidirectional cylinder 410 so that the grippers 430 move closer or further away from each other.

[0041] It should be understood that piston rods 420 are provided at both ends of the bidirectional cylinder 410. The piston rods 420 can extend or retract synchronously into the bidirectional cylinder 410. The grippers 430 are fixed to the piston rods 420. When the bidirectional cylinder 410 drives the piston rods 420 to move, the grippers 430 can move closer or further away from each other to achieve the effect of clamping and releasing the workpiece. The second rotary drive 320 can drive the bidirectional cylinder 410 to rotate to achieve the effect of flipping the workpiece, so that this one-to-two gantry robot can adapt to various processing scenarios.

[0042] According to the embodiment of the present utility model, the translation mechanism 200 includes an extension plate 270, one end of which is connected to a slider 210, and the other end is connected to a lifting drive component 310.

[0043] It should be understood that the extension plate 270 is set perpendicular to the crossbeam 110 to increase the distance between the lifting mechanism 300 and the crossbeam 110, thereby preventing collisions between components during displacement and effectively protecting the components. In practical applications, the length of the extension plate 270 can be flexibly adjusted according to the processing and storage positions of the workpiece.

[0044] According to the embodiment of the present utility model, the lifting mechanism 300 includes a stabilizing block 330, an extension plate 270 is inserted through the stabilizing block 330, the bottom of the stabilizing block 330 is connected to the second rotary drive 320, and the stabilizing block 330 and the extension plate 270 are in sliding cooperation.

[0045] It should be noted that the bottom ends of both the lifting drive component 310 and the stabilizing block 330 are connected to the second rotary drive component 320. At the same time, the lifting drive component 310 is fixed to the extension plate 270, and the stabilizing block 330 slides with the extension plate 270. The stabilizing block 330 increases the reliability of the connection between the lifting drive component 310 and the second rotary drive component 320, so that the lifting drive component 310 drives the second rotary drive component 320 more stably.

[0046] According to the embodiment of the present utility model, the translation mechanism 200 includes a partition 280, which is disposed in the middle of the guide groove 111. The guide shaft 250 passes through the partition 280 and is connected to the wall of the guide groove 111.

[0047] It should be noted that the partition 280 divides the guide groove 111 into two parts, and the guide shaft 250 passes through the partition 280, so it will not affect the sliding effect of the two sliders 210. The partition 280 is used to limit the sliding position of the sliders 210, restrict the minimum distance between the two sliders 210, and avoid collision between the translation mechanism 200 and the lifting mechanism 300.

[0048] According to the embodiment of the present utility model, a mounting base 130 is vertically provided at the bottom of the supporting truss 100.

[0049] The mounting base 130 is connected to the bottom of the support frame 120. The mounting base 130 increases the stability of the entire device, allowing the one-to-two truss robot to be placed stably on the ground, thus increasing safety and reliability.

[0050] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A one-to-two truss robotic arm device, comprising a supporting truss, characterized in that, Also includes: A translation mechanism includes a slider, a first rotary drive, a gear, and a rack. The rack is disposed on one side of the support truss. The slider is slidably engaged with the support truss. The first rotary drive is disposed on the slider. The first rotary drive is connected to the gear. The gear meshes with the rack. The first rotary drive can drive the gear to rotate so that the slider can slide on the support truss. A lifting mechanism, comprising a lifting drive and a second rotary drive, wherein the lifting drive is connected to the slider, the bottom of the lifting drive is connected to the second rotary drive, and the lifting drive is extendable to allow the second rotary drive to move closer to or further away from the slider. A clamping mechanism is disposed on the second rotary drive member and is used to clamp a workpiece.

2. The one-to-two truss manipulator device according to claim 1, characterized in that, The translation mechanism includes a guide shaft and a positioning block. A guide groove is formed on the support truss, and the guide shaft is disposed in the guide groove. The positioning block is disposed on the slider, and the guide shaft passes through the positioning block. The positioning block slides in cooperation with the wall of the guide groove.

3. The one-to-two truss manipulator device according to claim 2, characterized in that, The clamping mechanism includes a bidirectional cylinder, a piston rod, and grippers. The bidirectional cylinder is connected to the output shaft of the second rotary drive, which can drive the bidirectional cylinder to rotate. One end of the piston rod is connected to the bidirectional cylinder, and the other end is connected to the grippers. The piston rod can extend or retract into the bidirectional cylinder so that the grippers move closer or further apart.

4. The one-to-two truss manipulator device according to claim 3, characterized in that, The translation mechanism includes an extension plate, one end of which is connected to the slider and the other end of which is connected to the lifting drive component.

5. The one-to-two truss manipulator device according to claim 4, characterized in that, The lifting mechanism includes a stabilizing block, which passes through the extension plate. The bottom of the stabilizing block is connected to the second rotary drive member, and the stabilizing block slides in cooperation with the extension plate.

6. The one-to-two truss manipulator device according to claim 5, characterized in that, The translation mechanism includes a partition plate disposed in the middle of the guide groove, and the guide shaft passes through the partition plate and is connected to the wall of the guide groove.

7. The one-to-two truss manipulator device according to claim 2, characterized in that, The bottom of the support truss is vertically provided with a mounting base.

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