阅读说明：本技术 一种基于搬运的桁架机械手 (Truss manipulator based on transport ) 是由 朱燕明 吴瑜华 于 2020-07-23 设计创作，主要内容包括：本发明涉及一种基于搬运的桁架机械手,包括桁架机械手支承框架、X轴行走梁架、Y1行走梁、Y2行走梁、Z轴行走柱和转轴支架；Y2行走梁安装在X轴行走梁架上,Y2行走梁可沿桁架机械手支承框架的Y轴方向滑动；Z轴行走柱和Y2行走梁连接,Z轴行走柱可沿桁架机械手支承框架的Z轴方向滑动；Y1行走梁可沿桁架机械手支承框架的Y轴方向滑动；X轴行走梁架和Y2行走梁连接,X轴行走梁架可沿桁架机械手支承框架的X轴方向滑动；Z轴行走柱的底部安装挂架；挂架上安装多组抓取组件；转轴支架固定在挂架上；转轴支架上安装转轴旋转组件,转轴旋转组件驱动挂架沿桁架机械手支承框架的A轴旋转。本发明节省人工,提高搬运效率。(The invention relates to a truss manipulator based on carrying, which comprises a truss manipulator supporting frame, an X-axis walking beam frame, a Y1 walking beam, a Y2 walking beam, a Z-axis walking column and a rotating shaft support, wherein the X-axis walking beam frame is arranged on the truss manipulator supporting frame; the Y2 walking beam is arranged on the X-axis walking beam frame, and the Y2 walking beam can slide along the Y-axis direction of the truss manipulator supporting frame; the Z-axis walking column is connected with the Y2 walking beam and can slide along the Z-axis direction of the truss manipulator supporting frame; the Y1 walking beam can slide along the Y-axis direction of the truss manipulator supporting frame; the X-axis walking beam frame is connected with the Y2 walking beam, and can slide along the X-axis direction of the truss manipulator supporting frame; a hanging frame is arranged at the bottom of the Z-axis travelling column; a plurality of groups of grabbing components are arranged on the hanging bracket; the rotating shaft bracket is fixed on the hanging frame; and a rotating shaft rotating assembly is arranged on the rotating shaft support and drives the support to rotate along the A axis of the truss manipulator support frame. The invention saves labor and improves the carrying efficiency.)

1. The utility model provides a truss manipulator based on transport which characterized in that: the device comprises a truss manipulator supporting frame (101), an X-axis walking beam frame (102), a Y1 walking beam (103), a Y2 walking beam (104), a Z-axis walking column (105) and a rotating shaft support (106);

the Y2 walking beam (104) is mounted on the X-axis walking beam frame (102) through a Y2 shaft transmission assembly (400), and the Y2 walking beam (104) can slide along the Y-axis direction of the truss manipulator supporting frame (101);

the Z-axis travelling column (105) is connected with the Y2 travelling beam (104) through a Z-axis transmission assembly (500), and the Z-axis travelling column (105) can slide along the Z-axis direction of the truss manipulator supporting frame (101);

the Y1 walking beam (103) is connected with the Z-axis walking column (105) through a Y1-axis transmission assembly (300), and the Y1 walking beam (103) can slide along the Y-axis direction of the truss manipulator supporting frame (101);

the X-axis walking beam frame (102) is connected with the Y2 walking beam (104) through an X-axis transmission assembly (200), and the X-axis walking beam frame (102) can slide along the X-axis direction of the truss manipulator supporting frame (101);

a hanging rack (107) is arranged at the bottom of the Y1 walking beam (103); a plurality of groups of grabbing components (700) are arranged on the hanging rack (107); the rotating shaft bracket (106) is fixed on the hanging rack (107); and a rotating shaft rotating assembly (600) is arranged on the rotating shaft bracket (106), and the rotating shaft rotating assembly (600) drives the hanging rack (107) to rotate along the A axis of the truss manipulator supporting frame (101).

2. The carrier-based truss robot of claim 1, wherein: the X-axis transmission assembly (200) comprises a first connecting plate (201); an X-axis sliding guide rail (202) is horizontally laid on the first connecting plate (201); an X-axis transmission rack is arranged on the X-axis sliding guide rail (202) along the axis direction of the X-axis sliding guide rail, and an X-axis guide block (203) is also arranged on the X-axis sliding guide rail; the X-axis guide block (203) is fixedly connected with the X-axis walking beam frame (102);

the Y1 shaft transmission assembly (300) comprises a second connecting plate (301); the second connecting plate (301) is fixed at the bottom of the Z-axis walking column (105); a first Y-axis sliding guide rail (302) is arranged on the second connecting plate (301); a first Y-axis transmission rack is arranged on the first Y-axis sliding guide rail (302) along the axis direction of the first Y-axis sliding guide rail, and a first Y-axis guide block (303) is further arranged on the first Y-axis sliding guide rail (302); the Y1 walking beam (103) is arranged on the first Y-axis guide block (303);

the Y2 shaft transmission assembly (400) comprises a second Y shaft sliding guide rail (401); the second Y-axis sliding guide rail (401) is fixed on the X-axis walking beam frame (102); a second Y-axis transmission rack is arranged on the second Y-axis sliding guide rail (401) along the axis direction of the second Y-axis sliding guide rail, and a second Y-axis guide block (402) is further arranged on the second Y-axis sliding guide rail (401); the Y2 walking beam (104) is installed on the second Y-axis guide block (402);

the Z-axis transmission assembly (500) comprises a third connecting plate (501); a Z-axis linear guide rail (502) is fixed on the third connecting plate (501); two sides of the third connecting plate (501) are provided with Z-axis screw rods (503) through rolling bearings; a screw block is sleeved on the Z-axis lead screw (503), the Z-axis linear guide rail (502) is installed on two sides of the Z-axis lead screw (503) through bolts, one end of the screw block is installed on two sides of the Z-axis walking column (105) through bolts, and Z-axis guide sliders (504) corresponding to the Z-axis linear guide rail (502) components are installed on two sides of the Z-axis walking column (105) through bolts;

the rotating shaft rotating assembly (600) comprises a fifth servo motor (601), a driving wheel (602) and a driven wheel (603) which are meshed with each other; the output shaft of the fifth servo motor (601) passes through the center of the driving wheel (602).

3. The carrier-based truss robot of claim 2, wherein: the X-axis transmission assembly (200) further comprises a first servo motor (204) and a first speed reducer (205); an output shaft of the first servo motor (204) penetrates through the X-axis guide block (203), and the output shaft of the first servo motor (204) is connected with an output shaft of the first speed reducer (205) through a coupler.

4. The carrier-based truss robot of claim 2, wherein: the Y1 shaft transmission assembly (300) further comprises a second servo motor (304) and a second speed reducer (305); an output shaft of the second servo motor (304) penetrates through the first Y-axis guide block (303), and the output shaft of the second servo motor (304) is connected with an output shaft of the second speed reducer (305) through a coupler.

5. The carrier-based truss robot of claim 2, wherein: the Y2 shaft transmission assembly (400) further comprises a third servo motor (403) and a third speed reducer (404); an output shaft of the third servo motor (403) penetrates through the second Y-axis guide block (403), and the output shaft of the third servo motor (403) is connected with an output shaft of the third speed reducer (404) through a coupler.

6. The carrier-based truss robot of claim 2, wherein: the Z-axis transmission assembly (500) further comprises a fourth servo motor (505) and a fourth speed reducer (506); an output shaft of the fourth servo motor (505) is connected with the Z-axis screw rod (503) through a coupler, and an output shaft of the fourth servo motor (505) is connected with an output shaft of the fourth speed reducer (506) through a coupler.

7. The carrier-based truss robot of claim 1, wherein: the grasping assembly (700) comprises a first clamp (701) and a second clamp (702); the first clamp is a clamping cylinder; the first clamp (701) is fixed on the hanging rack (107); the second clamp (702) comprises a vacuum chuck; the vacuum chuck is fixed on the fourth connecting plate (703); a guide rail (704) is installed on one side of the fourth connecting plate (703), and the fourth connecting plate (703) slides along the guide rail (704); the vacuum chuck is communicated with a vacuum generator through a spray pipe.

Technical Field

The invention relates to the technical field of automatic control, in particular to a truss manipulator based on carrying.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of a right-angle X, Y, Z three-coordinate system and used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like. The control core is realized by an industrial controller (such as a PLC, a motion controller, a singlechip and the like). The controller analyzes and processes various input (various sensors, buttons and the like) signals, and after certain logic judgment is made, an execution command is issued to each output element (a relay, a motor driver, an indicator light and the like) to complete the joint motion among the three axes of X, Y and Z, so that a whole set of full-automatic operation flow is realized.

The existing truss manipulator has the following defects in the using process: 1. the existing truss manipulator can only realize the functions of grabbing, loading, blanking and clamping, and cannot realize the rotary operation; 2. the truss manipulator has low grabbing load and cannot carry overweight materials; 3. in the process of grabbing workpieces, the situation that unstable workpieces are grabbed and fall off often occurs.

Disclosure of Invention

Aiming at the defects of the prior art, the invention discloses a truss manipulator based on carrying.

The technical scheme adopted by the invention is as follows:

a truss manipulator based on carrying comprises a truss manipulator supporting frame, an X-axis walking beam frame, a Y1 walking beam, a Y2 walking beam, a Z-axis walking column and a rotating shaft support;

the Y2 walking beam is mounted on the X-axis walking beam frame through a Y2 shaft transmission assembly, and the Y2 walking beam can slide along the Y-axis direction of the truss manipulator supporting frame;

the Z-axis walking column is connected with the Y2 walking beam through a Z-axis transmission assembly and can slide along the Z-axis direction of the truss manipulator supporting frame;

the Y1 walking beam is connected with the Z-axis walking column through a Y1 shaft transmission assembly, and the Y1 walking beam can slide along the Y-axis direction of the truss manipulator supporting frame;

the X-axis walking beam frame is connected with the Y2 walking beam through an X-axis transmission assembly and can slide along the X-axis direction of the truss manipulator supporting frame;

a hanging rack is arranged at the bottom of the Y1 walking beam; a plurality of groups of grabbing components are arranged on the hanging bracket; the rotating shaft bracket is fixed on the hanging rack; and a rotating shaft rotating assembly is arranged on the rotating shaft support and drives the support to rotate along the A axis of the truss manipulator support frame.

The method is further characterized in that: the X-axis transmission assembly comprises a first connecting plate; an X-axis sliding guide rail is horizontally laid on the first connecting plate; an X-axis transmission rack is arranged on the X-axis sliding guide rail along the axis direction of the X-axis sliding guide rail, and an X-axis guide block is also arranged on the X-axis sliding guide rail; the X-axis guide block is fixedly connected with the X-axis walking beam frame;

the Y1 shaft transmission component comprises a second connecting plate; the second connecting plate is fixed at the bottom of the Z-axis travelling column; a first Y-axis sliding guide rail is arranged on the second connecting plate; a first Y-axis transmission rack is arranged on the first Y-axis sliding guide rail along the axis direction of the first Y-axis sliding guide rail, and a first Y-axis guide block is also arranged on the first Y-axis sliding guide rail; the Y1 walking beam is installed on the first Y-axis guide block;

the Y2 shaft transmission assembly comprises a second Y shaft sliding guide rail; the second Y-axis sliding guide rail is fixed on the X-axis walking beam frame; a second Y-axis transmission rack is arranged on the second Y-axis sliding guide rail along the axis direction of the second Y-axis sliding guide rail, and a second Y-axis guide block is also arranged on the second Y-axis sliding guide rail; the Y2 walking beam is installed on the second Y-axis guide block;

the Z-axis transmission assembly comprises a third connecting plate; a Z-axis linear guide rail is fixed on the third connecting plate; z-axis lead screws are mounted on two sides of the third connecting plate through rolling bearings; a screw block is sleeved on the Z-axis screw rod, the Z-axis linear guide rail is mounted on two sides of the Z-axis screw rod through bolts, one end of the screw block is mounted on two sides of the Z-axis walking column through bolts, and Z-axis guide sliders corresponding to the Z-axis linear guide rail assembly are mounted on two sides of the Z-axis walking column through bolts;

the rotating shaft rotating assembly comprises a fifth servo motor, a driving wheel and a driven wheel which are mutually meshed; and an output shaft of the fifth servo motor penetrates through the center of the driving wheel.

The method is further characterized in that: the X-axis transmission assembly further comprises a first servo motor and a first speed reducer; an output shaft of the first servo motor penetrates through the X-axis guide block, and the output shaft of the first servo motor is connected with an output shaft of the first speed reducer through a coupler.

The method is further characterized in that: the Y1 shaft transmission assembly further comprises a second servo motor and a second speed reducer; an output shaft of the second servo motor penetrates through the first Y-axis guide block, and the output shaft of the second servo motor is connected with an output shaft of the second speed reducer through a coupler.

The method is further characterized in that: the Y2 shaft transmission assembly further comprises a third servo motor and a third speed reducer; and an output shaft of the third servo motor penetrates through the second Y-axis guide block, and the output shaft of the third servo motor is connected with an output shaft of the third speed reducer through a coupler.

The method is further characterized in that: the Z-axis transmission assembly further comprises a fourth servo motor and a fourth speed reducer; an output shaft of the fourth servo motor is connected with the Z-axis screw rod through a coupler, and an output shaft of the fourth servo motor is connected with an output shaft of the fourth speed reducer through a coupler.

The method is further characterized in that: the grabbing assembly comprises a first clamp and a second clamp; the first clamp is a clamping cylinder; the first clamp is fixed on the hanging rack; the second clamp comprises a vacuum chuck; the vacuum chuck is fixed on the fourth connecting plate; a guide rail is arranged on one side of the fourth connecting plate, and the fourth connecting plate slides along the guide rail; the vacuum chuck is communicated with a vacuum generator through a spray pipe.

The invention has the following beneficial effects:

1. the invention improves the automation degree of the industry, improves the production efficiency, reduces the burden of labor and improves the safety and stability of production.

2. The invention has simple operation. The invention is based on a rectangular coordinate system, has simpler motion parameters, can realize the rotation function of the grabbing component and is convenient for transferring workpieces.

3. The invention is stable. The vacuum chuck is additionally arranged, so that irregular workpieces can be conveyed, and the workpieces are prevented from falling off in the transportation process after being grabbed.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a side view of the present invention.

In the figure: 101. a truss manipulator support frame; 102. an X-axis walking beam frame; 103. a Y1 walking beam; 104. a Y2 walking beam; 105. a Z-axis travel column; 106. a rotating shaft bracket; 107. a hanger; 200. an X-axis transmission assembly; 201. a first connecting plate; 202. an X-axis sliding guide rail; 203. an X-axis guide block; 204. a first servo motor; 205. a first speed reducer; 300. a Y1 shaft transmission component; 301. a second connecting plate; 302. a first Y-axis slide guide; 303. a first Y-axis guide block; 304. a second servo motor; 305. a second speed reducer; 400. a Y2 shaft transmission component; 401. a second Y-axis slide guide; 402. a second Y-axis guide block; 403. a third servo motor; 404. a third speed reducer; 500. a Z-axis drive assembly; 501. a third connecting plate; 502. a Z-axis linear guide rail; 503. a Z-axis lead screw; 504. a Z-axis guide slide block; 505. a fourth servo motor; 506. a fourth speed reducer; 600. a rotating shaft rotating assembly; 601. a fifth servo motor; 602. a driving wheel; 603. a driven wheel; 700. a grasping assembly; 701. a first clamp; 702. a second clamp; 703. a fourth connecting plate; 704. a guide rail.

Detailed Description

The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings. Directional terms as referred to in the following examples, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Therefore, the directional terminology used is for the purpose of describing, but not limiting, the invention, and moreover, like reference numerals designate like elements throughout the embodiments.

The following describes a specific embodiment of the present embodiment with reference to the drawings.

Fig. 1 is a front view of the present invention, and fig. 2 is a side view of the present invention. Referring to fig. 1 and 2, the transfer-based truss robot includes a truss robot support frame 101, an X-axis traveling beam frame 102, a Y1 traveling beam 103, a Y2 traveling beam 104, a Z-axis traveling column 105, and a rotation shaft support 106.

The X-axis walking beam frame 102 is connected with the Y2 walking beam 104 through the X-axis transmission assembly 200, and the X-axis walking beam frame 102 can slide along the X-axis direction of the truss manipulator supporting frame 101. The X-axis transmission assembly 200 includes a first connecting plate 201. An X-axis slide rail 202 is laid horizontally on the first connection plate 201. An X-axis transmission rack is arranged on the X-axis sliding guide rail 202 along the axis direction of the X-axis sliding guide rail, and an X-axis guide block 203 is further arranged on the X-axis sliding guide rail. The X-axis guide block 203 is fixedly connected to the X-axis traveling beam frame 102. The X-axis transmission assembly 200 further includes a first servomotor 204 and a first reducer 205. An output shaft of the first servo motor 204 passes through the X-axis guide block 203, and the output shaft of the first servo motor 204 and an output shaft of the first speed reducer 205 are connected by a coupling.

The Y2 walking beam 104 is mounted on the X-axis walking beam frame 102 through the Y2 shaft transmission assembly 400, and the Y2 walking beam 104 can slide along the Y-axis direction of the truss robot supporting frame 101. The Y2 axle drive assembly 400 includes a second Y-axis slide rail 401. The second Y-axis slide rail 401 is fixed to the X-axis travel beam frame 102. A second Y-axis transmission rack is arranged on the second Y-axis sliding guide 401 along the axis direction thereof, and a second Y-axis guide block 402 is further arranged on the second Y-axis sliding guide 401. The Y2 walking beam 104 is mounted on the second Y-axis guide block 402. The Y2 shaft drive assembly 400 also includes a third servo motor 403 and a third reducer 404. An output shaft of the third servo motor 403 passes through the second Y-axis guide block 403, and an output shaft of the third servo motor 403 and an output shaft of the third reducer 404 are connected by a coupling.

The Z-axis walking column 105 is connected with the Y2 walking beam 104 through the Z-axis transmission assembly 500, and the Z-axis walking column 105 can slide along the Z-axis direction of the truss manipulator support frame 101. The Z-axis drive assembly 500 includes a third connecting plate 501. A Z-axis linear guide 502 is fixed to the third connecting plate 501. Both sides of the third connecting plate 501 are provided with a Z-axis lead screw 503 through rolling bearings. The Z-axis lead screw 503 is sleeved with a lead block, the two sides of the Z-axis lead screw 503 are provided with Z-axis linear guide rails 502 through bolts, one end of the lead block is respectively arranged at the two sides of the Z-axis walking column 105 through bolts, and the two sides of the Z-axis walking column 105 are provided with Z-axis guide sliders 504 corresponding to the Z-axis linear guide rails 502 through bolts. The Z-axis drive assembly 500 further includes a fourth servomotor 505 and a fourth reducer 506. An output shaft of the fourth servo motor 505 is connected with the Z-axis lead screw 503 through a coupling, and an output shaft of the fourth servo motor 505 is connected with an output shaft of the fourth speed reducer 506 through a coupling.

The Y1 walking beam 103 is connected to the Z-axis walking column 105 through the Y1 axis drive assembly 300, and the Y1 walking beam 103 can slide along the Y-axis direction of the truss robot support frame 101. The Y1 axle drive assembly 300 includes a second connector plate 301. The second connecting plate 301 is fixed to the bottom of the Z-axis travel post 105. The second link plate 301 is provided with a first Y-axis slide rail 302. A first Y-axis transmission rack is arranged on the first Y-axis sliding guide 302 along the axis direction thereof, and a first Y-axis guide block 303 is further arranged on the first Y-axis sliding guide 302. The Y1 walking beam 103 is mounted on the first Y-axis guide block 303. The Y1 axis drive assembly 300 also includes a second servo motor 304 and a second reducer 305. An output shaft of the second servo motor 304 passes through the first Y-axis guide block 303, and an output shaft of the second servo motor 304 and an output shaft of the second reducer 305 are connected by a coupling.

The bottom of the Y1 walking beam 103 is provided with a hanging rack 107. A plurality of groups of grabbing components 700 are mounted on the hanging rack 107. The grasping assembly 700 includes a first clamp 701 and a second clamp 702. The first clamp is a clamping cylinder. The first clamp 701 is fixed to the hanger 107. The second fixture 702 includes a vacuum chuck. The vacuum chuck is fixed to the fourth connecting plate 703. A guide rail 704 is installed at one side of the fourth connection plate 703, and the fourth connection plate 703 slides along the guide rail 704. The vacuum chuck is communicated with a vacuum generator through a spray pipe. The pivot bracket 106 is fixed to the hanger 107. The spindle bracket 106 is provided with a spindle rotation assembly 600, and the spindle rotation assembly 600 drives the pylon 107 to rotate along the a axis of the truss robot support frame 101. The shaft rotating assembly 600 includes a fifth servo motor 601, a driving pulley 602 and a driven pulley 603, which are engaged with each other. The output shaft of the fifth servomotor 601 passes through the center of the capstan 602.

The working principle of the invention is as follows:

the invention can realize automatic, accurate and efficient unmanned carrying among all the procedures on the production line and improve the production efficiency of the whole production line.

When the invention works, according to actual needs, the first servo motor 203 and the first speed reducer 204 are started, the first servo motor 203 drives the X-axis guide block 203 to slide, meanwhile, the second servo motor 304, the second speed reducer 305, the third servo motor 404 and the third speed reducer 405 are started, the second servo motor 304 drives the first Y-axis guide block 303 to slide, and the third servo motor 404 drives the second Y-axis guide block 402 to slide, so that the grabbing component 700 runs to a station where workpieces need to be loaded and unloaded.

Then the grabbing assembly 700 is driven to descend by the fourth servo motor 505 and the fourth speed reducer 506, and simultaneously, in the descending process, the fifth servo motor 505 drives the rotating shaft assembly 600 to rotate, so that the grabbing assembly 700 rotates to the vertical position.

The first clamp 701 clamps the workpiece while the second clamp 702 descends along the guide rail 704 to suck the workpiece and then ascends, and the rotary shaft assembly 600 may rotate by 90 ° or 180 °. The Z-axis guide slide 504 is lowered to the process position. After the first clamp 701 and the second clamp 702 are loosened, the workpiece which is processed in the first process and is adjusted in position is placed on a station, then the grabbing assembly 700 is lifted to the rotating height, the X-axis transmission assembly 200, the Y1 axis transmission assembly 300 and the Y2 axis transmission assembly 400 act simultaneously, the grabbing assembly 700 is returned to the initial position while the Z-axis guide slide block 504 is lifted, and therefore rapid conveying of the workpiece between different stations is completed.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The foregoing description is illustrative of the present invention and is not to be construed as limiting thereof, the scope of the invention being defined by the appended claims, which may be modified in any manner without departing from the basic structure thereof.