Truss manipulator capable of being quickly built

Abstract

The utility model relates to the technical field of manipulators, in particular to a truss manipulator capable of being quickly built, which comprises a plurality of supporting frames, a transverse frame is slidably connected onto the supporting frames along the X-axis direction, a longitudinal frame is slidably connected onto the transverse frame along the Y-axis direction, and a mounting frame is slidably connected onto the longitudinal frame along the Z-axis direction. The supporting frame comprises a bottom frame, universal wheels are arranged at the bottom of the bottom frame, the top of the bottom frame is connected with a supporting beam through a first electric push rod, the first electric push rod is used for pushing the supporting beam to move along the Z axis, and an inserting block is arranged at one end of the supporting beam. The other end of the supporting beam is provided with an inserting hole matched with the inserting block in an inserting mode in the Z-axis direction. Through cooperative use of the bottom frame, the universal wheels, the first electric push rods, the supporting beams, the inserting blocks and the inserting holes, every two adjacent supporting frames can be rapidly assembled together, and the overall assembling efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, concretely is a truss mechanical hand of quick erection. BACKGROUND

[0002] Truss mechanical hand is a full -automatic industrial equipment based on right angle X, Y, Z three coordinate system, is used to carry out accurate station adjustment or realizes specific track movement to work piece. The structural framework of traditional truss mechanical hand is mainly composed of column and cross bar etc., and its purpose is to hoist each movement axle to a certain height, to ensure enough operation space and flexibility. The structural framework usually adopts aluminium section bar or square tube, rectangular tube, round tube etc. welding piece constructs, and is assembled through bolt connection, ensures the detachability of structural framework.

[0003] However, the structural framework of the existing truss mechanical hand has the problem of low installation and disassembly efficiency. Specifically, since the number of structural parts is large, and part of the structural parts is heavy, a lot of time and manpower is needed in the installation and disassembly process, resulting in low overall assembly efficiency. In view of the above problem, the utility model provides a truss mechanical hand that can be quickly built. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a truss mechanical hand that can be quickly built to solve the problems raised in the background art.

[0005] The utility model is realized by the following technical solutions:

[0006] A truss mechanical hand that can be quickly built, comprising a plurality of support frames, a horizontal frame is slidably connected to each support frame along the X-axis direction, a vertical frame is slidably connected to the horizontal frame along the Y-axis direction, and a mounting frame is slidably connected to the vertical frame along the Z-axis direction. A vacuum chuck is fixedly arranged at the lower end of the mounting frame. Each support frame comprises a base frame, a universal wheel is arranged at the bottom of the base frame, a support beam is connected to the top of the base frame through a first electric push rod, the first electric push rod is used to push the support beam to move along the Z-axis, one end of the support beam is provided with a plug-in block, and the other end of the support beam is provided with a plug-in hole that is plug-in matched with the plug-in block in the Z-axis direction.

[0007] Optionally, each support frame comprises two base frames, the two base frames are fixedly connected through a connecting rod, and one support beam is arranged at the top of each base frame. The two ends of the horizontal frame are slidably connected to two support beams respectively.

[0008] Optionally, a folding leg is rotatably connected to each side of the base frame through a first rotating shaft, the universal wheel is installed at the free end of the folding leg, and a second electric push rod is installed on the base frame to drive the folding leg to flip up and down.

[0009] Optionally, the rotating shaft is fixedly connected with the folding leg, a connecting piece is arranged on the bottom frame and rotationally connected with the first rotating shaft, one end of the rotating shaft is fixedly connected with an L-shaped connecting rod, and the output end of the second electric push rod is fixedly provided with a connecting seat, and the connecting seat is rotationally connected with the connecting rod through a second rotating shaft.

[0010] Optionally, two parallel light rods are fixedly arranged at the bottom of the supporting beam on both sides of the first electric push rod, and the lower end of the light rod is slidingly inserted with the top end of the bottom frame.

[0011] Optionally, the transverse frame and the supporting beam, the transverse frame and the longitudinal frame, and the longitudinal frame and the mounting frame are slidingly connected through a sliding block and a sliding rail and are relatively moved through a rack and a pinion.

[0012] Compared with the prior art, the truss manipulator provided by the utility model can be quickly built and has the following beneficial effects:

[0013] 1. The utility model discloses a bottom frame, universal wheel, first electric push rod, supporting beam, insert block and insert hole are used in cooperation, so that two adjacent supporting frames can be quickly assembled together, compared with the bolt connection mode in the prior art, the time and labor input in the installation and disassembly process is effectively reduced, and the overall assembly efficiency is improved.

[0014] 2. The utility model discloses the cooperation of folding leg, universal wheel and second electric push rod, the folding leg is controlled through the second electric push rod, and when needing to move the supporting frame, the folding leg can be unfolded, so that the universal wheel falls to the ground, facilitating the movement of the supporting frame.

[0015] 3. The utility model discloses two supporting beams arranged at the top of each supporting frame, and the two ends of the transverse frame are slidingly connected with the two supporting beams, so that the two supporting beams simultaneously support the two ends of the transverse frame, and the stability of the overall structure frame is improved. DRAWINGS

[0016] Figure 1 It is the whole structure schematic diagram of the utility model;

[0017] Figure 2 It is the connecting structure schematic diagram of the transverse frame and the mounting frame of the utility model;

[0018] Figure 3 It is the connecting structure schematic diagram of the mounting frame and the longitudinal frame of the utility model;

[0019] Figure 4 The supporting frame structure schematic view of the utility model;

[0020] Figure 5 The supporting frame structure schematic view of the utility model; Figure 1 The A place enlarged structure schematic view of the utility model.

[0021] In the drawing: 1, transverse frame; 2, longitudinal frame; 3, mounting frame; 4, vacuum chuck; 5, bottom frame; 6, universal wheel; 7, first electric push rod; 8, supporting beam; 9, plug-in block; 10, plug-in hole; 11, connecting rod; 12, first rotating shaft; 13, second rotating shaft; 14, folding leg; 15, second electric push rod; 16, connecting rod; 17, connecting seat; 18, polished rod; 19, first sliding rail; 20, second sliding rail; 21, third sliding rail; 22, first rack; 23, second rack; 24, third rack; 25, first motor; 26, second motor; 27, third motor; 28, first sliding block; 29, second sliding block; 30, third sliding block; 31, connecting sheet. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0023] Embodiment: please refer to Figures 1 to 5 According to the embodiment of the utility model, a truss manipulator capable of being quickly built is provided, which comprises a plurality of supporting frames, the plurality of supporting frames can be assembled to form a structural frame of the truss manipulator, a transverse frame 1 is slidably connected on the supporting frame along an X-axis direction, a longitudinal frame 2 is slidably connected on the transverse frame 1 along a Y-axis direction, a mounting frame 3 is slidably connected on the longitudinal frame 2 along a Z-axis direction, a vacuum chuck 4 is fixedly arranged at the lower end of the mounting frame 3, the supporting frame comprises a bottom frame 5, a universal wheel 6 is arranged at the bottom of the bottom frame 5, a supporting beam 8 is connected to the top of the bottom frame 5 through a first electric push rod 7, the first electric push rod 7 is used to drive the supporting beam 8 to move along the Z-axis, a plug-in block 9 is arranged at one end of the supporting beam 8, and a plug-in hole 10 matched with the plug-in block 9 in the Z-axis direction is arranged at the other end of the supporting beam 8.

[0024] The truss manipulator with the above structure can be quickly assembled, the structural frame of the truss manipulator can be split into a plurality of support frames, when adjacent support frames are assembled, the support beam 8 of one of the support frames is lifted by the first electric push rod 7, then the plug-in block 9 on the lifted support beam 8 is aligned with the plug-in hole 10 of the support beam 8 of the other support frame and is inserted into the plug-in hole 10, so that the two support frames can be quickly assembled together, and the support frames are sequentially assembled together in the above manner to complete the assembly of the structural frame of the truss manipulator, compared with the bolt connection in the prior art, the time and labor input in the installation and disassembly process is effectively reduced, and the overall assembly efficiency is improved.

[0025] In the example embodiment, each support frame includes two bottom frames 5, the two bottom frames 5 are fixedly connected by a connecting rod 11, one support beam 8 is arranged at the top of each bottom frame 5, and the two ends of the transverse frame 1 are respectively connected with the two support beams 8 in a sliding manner. In this way, the two support beams 8 are used to support the two ends of the transverse frame 1, which can improve the stability of the overall structural frame.

[0026] In the example embodiment, the bottom frame 5 is rotatably connected with a folding leg 14 through a first rotating shaft 12 at both sides, the universal wheel 6 is installed at the free end of the folding leg 14, and the second electric push rod 15 for driving the folding leg 14 to flip up and down is installed on the bottom frame 5. In this way, the folding leg 14 can be controlled to fold and unfold by the second electric push rod 15, when the support frame needs to be moved, the folding leg 14 can be unfolded, and the universal wheel 6 can be placed on the ground to facilitate the movement of the support frame, when all the support frames are connected to form the structural frame, the folding leg 14 can be folded, and the universal wheel 6 is away from the ground, which not only reduces the occupied space of the folding leg 14, but also ensures that the bottom of the bottom frame 5 contacts the ground, thereby ensuring the stability of the position of the structural frame.

[0027] In the example embodiment, the rotating shaft is fixedly connected with the folding leg 14, the bottom frame 5 is provided with a connecting piece 31 rotatably connected with the first rotating shaft 12, one end of the rotating shaft is fixedly connected with an L-shaped connecting rod 16, the output end of the second electric push rod 15 is fixedly provided with a connecting seat 17, and the connecting seat 17 is rotatably connected with the connecting rod 16 through a second rotating shaft 13. Of course, as long as the folding leg 14 can be driven to flip up and down, the specific connection form between the second electric push rod 15 and the bottom frame 5 and the folding leg 14 is not particularly limited.

[0028] In the example embodiment, two parallel light rods 18 are fixedly arranged at the bottom of the support beam 8 located on both sides of the first electric push rod 7, and the lower ends of the light rods 18 are slidably inserted into the top end of the bottom frame 5. In this way, the stability of the movement of the support beam 8 along the Z axis can be improved.

[0029] In the present exemplary embodiment, the relative movement between the transverse frame 1 and the support beam 8, between the transverse frame 1 and the longitudinal frame 2, and between the longitudinal frame 2 and the mounting frame 3 is formed by a sliding connection through a sliding block and a sliding rail and a driving through a rack and pinion. Specifically, the top of the support beam 8 is provided with parallel first sliding rails 19 and first racks 22, the transverse frame 1 is provided with a first sliding block 28 and a first motor 25, the first sliding block 28 is in sliding fit with the first sliding rails 19, and the output end of the first motor 25 is in driving fit with the first racks 22 through a gear; the side of the transverse frame 1 is provided with parallel second sliding rails 20 and second racks 23, the longitudinal frame 2 is provided with a second sliding block 29 and a second motor 26, the second sliding block 29 is in sliding fit with the second sliding rails 20, and the output end of the second motor 26 is in driving fit with the second racks 23 through a gear; the side of the mounting frame 3 is provided with parallel third sliding rails 21 and third racks 24, the longitudinal frame 2 is provided with a third sliding block 30 and a third motor 27, the third sliding block 30 is in sliding fit with the third sliding rails 21, and the output end of the third motor 27 is in driving fit with the third racks 24 through a gear. In this way, the movement of the vacuum chuck 4 in the X-axis direction, the Y-axis direction and the Z-axis direction can be controlled.

[0030] Although the embodiments of the present application have been shown and described, it is to 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 application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A quickly erectable truss manipulator characterized by, The utility model provides a kind of vacuum adsorption device, including several support frames, the support frame is slidably connected with transverse frame (1) along X axis direction, the transverse frame (1) is slidably connected with longitudinal frame (2) along Y axis direction, the longitudinal frame (2) is slidably connected with mounting frame (3) along Z axis direction, vacuum chuck (4) is fixedly arranged in the lower end of mounting frame (3), the support frame includes chassis (5), the bottom of chassis (5) is provided with universal wheel (6), the top of chassis (5) is connected with support beam (8) by first electric push rod (7), the first electric push rod (7) is used to push support beam (8) and move along Z axis, one end of support beam (8) is provided with insertion block (9), the other end of support beam (8) is provided with insertion hole (10) and is inserted with insertion block (9) in Z axis direction.

2. The quickly erectable truss handler of claim 1, wherein: Each of the support frames includes two chassis (5), which are fixedly connected by a connecting rod (11). The top of each chassis (5) is provided with one of the support beams (8). The two ends of the transverse frame (1) are slidably connected with the two support beams (8) respectively.

3. The quickly erectable truss handler of claim 2, wherein: The two sides of the chassis (5) are rotatably connected with folding legs (14) by first rotation shafts (12). The universal wheels (6) are installed on the free ends of the folding legs (14). The second electric push rods (15) are installed on the chassis (5) to drive the folding legs (14) to flip up and down.

4. The quickly erectable truss handler of claim 3, wherein: The rotation shafts are fixedly connected with the folding legs (14). The chassis (5) is provided with connecting plates (31) rotatably connected with the first rotation shafts (12). One end of the rotation shaft is fixedly connected with an L-shaped connecting rod (16). The output end of the second electric push rod (15) is fixedly provided with a connecting seat (17). The connecting seat (17) is rotatably connected with the connecting rod (16) by a second rotation shaft (13).

5. The quickly erectable truss handler of claim 1, wherein: Two parallel light rods (18) are fixedly arranged at the bottom of the support beams (8) on both sides of the first electric push rod (7). The lower ends of the light rods (18) are slidably inserted with the top ends of the chassis (5).

6. The quickly erectable truss handler of claim 1, wherein: The transverse frame (1), the longitudinal frame (2) and the mounting frame (3) are slidably connected by sliders and sliding rails and are driven to move relatively by racks and pinions.

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