Truss manipulator device

Abstract

The utility model provides a truss manipulator device, and belongs to the technical field of truss manipulators. Comprising a truss body, a moving assembly is slidably connected to the truss body, an electric push rod is fixed to the lower end of the moving assembly, a grabbing assembly is connected to the lower end of the electric push rod and comprises a three-jaw air cylinder and a positioning block, a rotating air cylinder is fixed to the grabbing assembly, and the three-jaw air cylinder is connected with an output shaft of the rotating air cylinder; three adjusting blocks are fixed to the outer wall of the positioning block and located between every two adjacent claws installed on the three-claw air cylinder, guide rods are fixed to the tops of the adjusting blocks, three protruding blocks are fixed to the outer wall of the three-claw air cylinder, through holes are formed in the protruding blocks, check blocks are fixed to the ends, penetrating through the through holes, of the guide rods, and springs are arranged on the guide rods in a sleeving mode. The two ends of the spring abut against the protruding block and the adjusting blocks respectively, an air pump is fixed to one adjusting block, and one end of the air pump is connected with an air pipe. According to the utility model, the grabbing and placing effects of the three-jaw cylinder on the flange plate can be effectively improved.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology and relates to a gantry robot device. Background Technology

[0002] In automated production lines, gantry robots are not only structurally stable, highly precise, and fast, but they can also replace manual labor, thereby improving production efficiency and enhancing corporate competitiveness. They are also commonly used equipment on flange production lines.

[0003] Patent document CN217702546U discloses a CNC lathe machining gantry robot device, comprising a first servo motor, a first guide rail, a first slider, a second servo motor, a second guide rail, and a second slider. The second slider is disposed on the second guide rail and on a base plate. The first servo motor and the second servo motor are disposed on the base plate. The first servo motor acts on the second guide rail, and the second servo motor acts on the first guide rail. The first slider is disposed on the first guide rail and on the base plate. A robot is disposed on the first guide rail facing the material placement rack. The robot is connected to the drive end of a rotary cylinder. The first guide rail and the second guide rail are not parallel in space.

[0004] However, the aforementioned existing technologies still have the following problems:

[0005] Existing robotic arms are used to directly grasp flanges, but the surface of the processed flanges is often covered with debris and lubricant, which makes the robotic arm prone to slipping during grasping, affecting the grasping efficiency. In addition, when the robotic arm places the flange, sometimes the flange is placed at an inclined angle. When the robotic arm releases, there is no auxiliary limit during the process of the flange leaving the robotic arm, which will cause displacement and thus affect the processing quality. Summary of the Invention

[0006] The purpose of this utility model is to address the shortcomings of existing technologies by proposing a truss manipulator device to solve the technical problem mentioned in the background art that the existing manipulators are not effective in grasping and placing flanges. To achieve the above objectives, the present invention adopts the following technical solution: a truss manipulator device, comprising a truss body, a movable component slidably connected to the truss body, an electric push rod fixed to the lower end of the movable component, a gripping component connected to the lower end of the electric push rod, the gripping component comprising a three-jaw cylinder and a positioning block, a rotary cylinder fixed to the gripping component, the three-jaw cylinder being connected to the output shaft of the rotary cylinder, three annular and equally spaced adjusting blocks fixed to the outer wall of the positioning block, the three adjusting blocks being respectively located between two adjacent jaws mounted on the three-jaw cylinder, a guide rod fixed to the top of the adjusting block, three protrusions corresponding to the three guide rods fixed to the outer wall of the three-jaw cylinder, the protrusions having through holes for the guide rods to pass through, a stop block fixed to one end of the guide rod passing through the through hole, a spring sleeved on the guide rod, the two ends of the spring abutting against the protrusions and adjusting blocks respectively, an air pump fixed to one of the adjusting blocks, and an air pipe connected to one end of the air pump.

[0007] Working principle:

[0008] During gripping: The drive moving component moves the truss body to the required position. The electric push rod is activated to drive the gripping component to descend to the appropriate position. The air pump is activated, and the air pump blows air onto the outer wall of the flange through the air pipe. The rotary cylinder is activated, and the air pump is rotated through the three-jaw cylinder. This allows for a more comprehensive cleaning of the outer wall of the flange to be gripped, blowing away the debris and lubricant attached to the outer wall of the flange. Then, the three-jaw cylinder is activated to grip the flange. During the gripping process, the flange will abut against the positioning block. The electric push rod is activated to drive the three-jaw cylinder to descend. The flange presses against the positioning block. The positioning block moves the guide rod through the adjustment block and compresses the spring.

[0009] During placement, first drive the moving component to move the truss body to the required position, then activate the electric push rod to lift and lower the gripping component to the appropriate position, place one end of the flange on the external processing equipment, and then drive the three-jaw cylinder to release the jaws. At this time, under the action of three springs, the three springs, through three adjusting blocks and positioning blocks, hold the flange against the processing equipment to prevent the flange from shifting position, so that the flange can be placed stably and accurately on the processing equipment. Finally, drive the electric push rod to move the three-jaw cylinder away.

[0010] The beneficial effects of this utility model are as follows:

[0011] This utility model uses a combination of a rotary cylinder, an air pump, three adjusting blocks, three springs, and a positioning block. During clamping, the rotary cylinder and the air pump are driven simultaneously. The rotary cylinder drives the air pump to rotate through the three-jaw cylinder. The air pump blows air onto the outer wall of the flange through an air pipe, which can thoroughly clean the debris and lubricant adhering to the outer wall of the flange to be clamped, and effectively prevent slippage when the three-jaw cylinder clamps it.

[0012] During placement, the spring, through the adjusting block, presses the flange onto the processing equipment. The surface flange shifts when it disengages from the three-jaw cylinder, improving processing quality. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model;

[0014] Figure 2 This is an assembly diagram of the three-jaw cylinder, three adjusting blocks, positioning block and air pump of this utility model embodiment;

[0015] Figure 3 This is a bottom view of the assembly of the three-jaw cylinder, three adjusting blocks, positioning block and air pump according to an embodiment of the present utility model;

[0016] Figure 4 This is a bottom view of the three-jaw cylinder according to an embodiment of the present invention;

[0017] Figure 5 This is an assembly diagram of the moving component and the grasping component according to an embodiment of the present utility model;

[0018] Figure 6 This is a cross-sectional view of the movable component according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 1. Truss body; 2. Electric push rod; 3. Three-jaw cylinder; 4. Positioning block; 5. Rotary cylinder; 6. Adjusting block; 7. Guide rod; 8. Protrusion; 9. Through hole; 10. Stop block; 11. Spring; 12. Air pump; 13. Air pipe; 14. Adjusting motor one; 15. Adjusting motor two; 16. Mounting plate; 17. Mounting frame; 18. Adjusting frame; 19. Crossbar; 20. Support frame; 21. Moving frame; 22. Output motor; 23. Slide rail; 24. Slider; 25. Rack; 26. Gear; 27. Limit block. Detailed Implementation

[0020] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0021] like Figure 1-3As shown, a truss manipulator device includes a truss body 1. A movable component is slidably connected to the truss body 1. An electric push rod 2 is fixed to the lower end of the movable component. A gripping component is connected to the lower end of the electric push rod 2. The electric push rod 2 can drive the gripping component to move up and down. The gripping component includes a three-jaw cylinder 3 and a positioning block 4. A rotary cylinder 5 is fixed to the gripping component. The rotary cylinder 5 is a pneumatic actuator that uses compressed air to drive the output shaft to reciprocate within a certain angle range. The three-jaw cylinder 3 is connected to the output shaft of the rotary cylinder 5. The structure of the three-jaw cylinder 3 mainly includes a cylinder body, a piston rod, a piston, and three claws. The working principle of the three-jaw cylinder 3 is to use the piston rod within the cylinder body to drive the output shaft to move up and down. The piston motion drives the three movable claws to open and close. The outer wall of the positioning block 4 is fixed with three ring-shaped and equally spaced adjusting blocks 6. The three adjusting blocks 6 are respectively located between two adjacent claws installed on the three-claw cylinder 3. The top of the adjusting block 6 is fixed with a guide rod 7. The outer wall of the three-claw cylinder 3 is fixed with three protrusions 8 corresponding to the three guide rods 7. The protrusions 8 have through holes 9 for the guide rods 7 to pass through. One end of the guide rod 7 passing through the through hole 9 is fixed with a stop block 10. A spring 11 is sleeved on the guide rod 7. The two ends of the spring 11 abut against the protrusions 8 and the adjusting blocks 6 respectively. One of the adjusting blocks 6 is fixed with an air pump 12. One end of the air pump 12 is connected to an air pipe 13.

[0022] like Figure 5 As shown, the gripping assembly also includes an adjusting motor 14, an adjusting motor 15, and a mounting plate 16. The adjusting motor 14 is fixed to the top of the mounting plate 16, and the top of the mounting plate 16 is connected to the electric push rod 2. The output shaft of the adjusting motor 14 passes through the mounting plate 16 and is fixed to a mounting frame 17 located on the lower side of the mounting plate 16. The adjusting motor 15 is fixed on the mounting frame 17, and the output shaft of the adjusting motor 15 is fixed to an adjusting frame 18. The rotary cylinder 5 is fixed on the adjusting frame 18. Driving the adjusting motor 14 can drive the adjusting motor 15 to rotate through the mounting frame 17. The adjusting motor 15 drives the adjusting frame 18 to rotate horizontally. Driving the adjusting motor 15 can drive the rotary cylinder 5 to rotate through the adjusting frame 18. The rotary cylinder 5 drives the three-jaw cylinder 3 to rotate, realizing multi-angle adjustment of the three-jaw cylinder 3, which is convenient for clamping flanges at different angles.

[0023] like Figure 1 , 6As shown, the truss body 1 includes a crossbar 19 and two support frames 20. The two support frames 20 are fixed to the lower end of the crossbar 19. The moving assembly includes a moving frame 21 and an output motor 22. Two symmetrically arranged slide rails 23 are fixed to one end of the crossbar 19. Slider blocks 24 are slidably installed on both slide rails 23. Both sliders 24 are fixed to one end of the moving frame 21. The output motor 22 is fixed inside the moving frame 21. A rack 25 located between the two slide rails 23 is fixed to one end of the crossbar 19. The output shaft of the output motor 22 is connected to a gear 26. The gear 26 meshes with the rack 25. Limit blocks 27 are fixed to both ends of the crossbar 19. When the output motor 22 is started, it drives the gear 26 to rotate. The gear 26 moves along the rack 25, thereby enabling the moving frame 21 to drive the sliders 24 to move along the slide rails 23.

[0024] The specific operation method of this utility model is as follows:

[0025] The drive output motor 22 drives the gear 26 to rotate, and the gear 26 moves along the rack 25, which in turn causes the moving frame 21 to move the slider 24 along the slide rail 23. The moving frame 21 drives the electric push rod 2 to move to the appropriate position, and the electric push rod 2 drives the mounting plate 16 to move to the appropriate position. The drive adjustment motor 14 drives the adjustment motor 25 to rotate to the appropriate position through the mounting frame 17. The adjustment motor 25 drives the adjustment frame 18 to rotate horizontally to the appropriate position. The drive adjustment motor 25 drives the rotary cylinder 5 to rotate to the appropriate position through the adjustment frame 18. The rotary cylinder 5 drives the three-jaw cylinder 3 to rotate to the required position. The rotary cylinder 5 is started, and the three-jaw cylinder 3 drives the air pump 12 to rotate. The air pump 12 blows air through the air pipe 13 to thoroughly clean the debris and lubricant adhering to the outer wall of the flange to be clamped. After cleaning, the three-jaw cylinder 3 is driven to clamp the flange. During clamping, the flange will abut against the positioning block 4. The electric push rod 2 is driven to lower the three-jaw cylinder 3, and the flange presses against the positioning block 4. The positioning block 4 moves the guide rod 7 through the adjusting block 6 and compresses the spring 11. The spring 11 is compressed and has a certain elastic potential energy. When placing the flange, the electric push rod 2 is started to raise and lower the gripping assembly to a suitable position, so that one end of the flange abuts against the external processing equipment. Then the three-jaw cylinder 3 is driven to release the jaws. At this time, under the action of the three springs 11, the three springs 11 abut against the processing equipment through the three adjusting blocks 6 and the positioning block 4, preventing the flange from shifting position, so that the flange can be placed stably and accurately on the external processing equipment. Finally, the electric push rod 2 is driven to move the three-jaw cylinder 3 away.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A gantry robot apparatus, characterized by comprising: The device includes a truss body (1), on which a moving component is slidably connected. An electric push rod (2) is fixed at the lower end of the moving component. A gripping component is connected at the lower end of the electric push rod (2). The gripping component includes a three-jaw cylinder (3) and a positioning block (4). A rotary cylinder (5) is fixed on the gripping component. The three-jaw cylinder (3) is connected to the output shaft of the rotary cylinder (5). Three adjusting blocks (6) arranged in a ring and evenly spaced are fixed on the outer wall of the positioning block (4). The three adjusting blocks (6) are respectively located between two adjacent jaws installed on the three-jaw cylinder (3). The top of the adjusting block (6) is fixed with a guide rod (7). The outer wall of the three-jaw cylinder (3) is fixed with three protrusions (8) corresponding to the three guide rods (7). The protrusions (8) have through holes (9) for the guide rods (7) to pass through. One end of the guide rod (7) passing through the through hole (9) is fixed with a stop block (10). A spring (11) is sleeved on the guide rod (7). The two ends of the spring (11) abut against the protrusions (8) and the adjusting block (6) respectively. One of the adjusting blocks (6) is fixed with an air pump (12). One end of the air pump (12) is connected to an air pipe (13).

2. The gantry robot apparatus according to claim 1, wherein The gripping assembly also includes an adjustment motor one (14), an adjustment motor two (15), and a mounting plate (16). The adjustment motor one (14) is fixed on the top of the mounting plate (16). The top of the mounting plate (16) is connected to the electric push rod (2). The output shaft of the adjustment motor one (14) passes through the mounting plate (16) and is fixed to a mounting frame (17) located on the lower side of the mounting plate (16). The adjustment motor two (15) is fixed on the mounting frame (17).

3. A gantry robot apparatus according to claim 2, wherein The output shaft of the second regulating motor (15) is fixed with an adjusting frame (18), and the rotary cylinder (5) is fixed on the adjusting frame (18).

4. The gantry robot apparatus of claim 1 wherein, The truss body (1) includes a crossbar (19) and two support frames (20), the two support frames (20) being fixed to the lower end of the crossbar (19).

5. A gantry robot apparatus according to claim 4, wherein The moving component includes a moving frame (21) and an output motor (22). Two symmetrically arranged slide rails (23) are fixed at one end of the crossbar (19). Slider blocks (24) are slidably installed on both slide rails (23). Both sliders (24) are fixed to one end of the moving frame (21). The output motor (22) is fixed inside the moving frame (21). A rack (25) located between the two slide rails (23) is fixed at one end of the crossbar (19). The output shaft of the output motor (22) is connected to a gear (26), and the gear (26) meshes with the rack (25).

6. A gantry robot apparatus according to claim 5, wherein Limiting blocks (27) are fixed at both ends of the crossbar (19).

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