阅读说明：本技术 一种桁架机械手 (Truss manipulator ) 是由 朱燕明 吴瑜华 于 2020-07-23 设计创作，主要内容包括：本发明涉及一种桁架机械手包括桁架机械手支承框架、X轴行走梁架、第一Y轴行走梁、第二Y轴行走梁和Z轴行走柱；X轴行走梁架可沿桁架机械手支承框架的X轴方向滑动；X轴行走梁架和第二Y轴行走梁滑动连接,第二Y轴行走梁可沿桁架机械手支承框架的Y轴方向滑动；第二Y轴行走梁和Z轴行走柱滑动连接,Z轴行走柱可沿桁架机械手支承框架的Z轴方向滑动；Z轴行走柱和第一Y轴行走梁滑动连接,第一Y轴行走梁可沿桁架机械手支承框架的Y轴方向滑动。本发明减小Z轴运动组件的重量对X轴运动组件的影响,使X轴行走梁架尺寸大大缩小。(The invention relates to a truss manipulator, which comprises a truss manipulator supporting frame, an X-axis walking beam frame, a first Y-axis walking beam, a second Y-axis walking beam and a Z-axis walking column, wherein the first Y-axis walking beam is arranged on the truss manipulator supporting frame; the X-axis walking beam frame can slide along the X-axis direction of the truss manipulator supporting frame; the X-axis walking beam frame is connected with the second Y-axis walking beam in a sliding manner, and the second Y-axis walking beam can slide along the Y-axis direction of the truss manipulator supporting frame; the second Y-axis walking beam is connected with the Z-axis walking column in a sliding manner, and the Z-axis walking column can slide along the Z-axis direction of the truss manipulator supporting frame; the Z-axis walking column is connected with the first Y-axis walking beam in a sliding mode, and the first Y-axis walking beam can slide along the Y-axis direction of the truss manipulator supporting frame. The invention reduces the influence of the weight of the Z-axis motion assembly on the X-axis motion assembly, and greatly reduces the size of the X-axis walking beam frame.)

1. A truss manipulator, its characterized in that: the device comprises a truss manipulator supporting frame (100), an X-axis walking beam frame (201), a first Y-axis walking beam (301), a second Y-axis walking beam (401) and a Z-axis walking column (501);

a first fixed seat (202) is arranged at the top end of the truss manipulator supporting frame (100); an X-axis sliding guide rail (203) is horizontally arranged above the first fixed seat (202); an X-axis transmission rack is arranged on the X-axis sliding guide rail (203) along the axis direction of the X-axis sliding guide rail, and an X-axis guide block (204) is also arranged on the X-axis sliding guide rail (203); the X-axis guide block (204) is fixedly connected with the X-axis walking beam frame (201), and the X-axis walking beam frame (201) can slide along the X-axis direction of the truss manipulator supporting frame (100);

a second Y-axis sliding guide rail (402) is arranged on the X-axis walking beam frame (201); a second Y-axis transmission rack is arranged on the second Y-axis sliding guide rail (402) along the axis direction of the second Y-axis transmission rack, and a second Y-axis guide block (403) is further arranged on the second Y-axis sliding guide rail (402); the second Y-axis walking beam (401) is arranged on the second Y-axis guide block (403); the second Y-axis walking beam (401) can slide along the Y-axis direction of the truss manipulator supporting frame (100);

a connecting plate (502) is arranged on one side of the second Y-axis walking beam (401); a Z-axis linear guide rail (503) is fixed on the connecting plate (502); both sides of the connecting plate (502) are provided with Z-axis screw rods (504) through rolling bearings; a screw block is sleeved on the Z-axis screw rod (504), the Z-axis linear guide rail (503) is installed on two sides of the Z-axis screw rod (504) through bolts, one end of the screw block is installed on two sides of the Z-axis walking column (501) through bolts, and Z-axis guide sliders (505) corresponding to the Z-axis linear guide rail (503) are installed on two sides of the Z-axis walking column (501) through bolts; the Z-axis walking column (501) can slide along the Z-axis direction of the truss manipulator supporting frame (100);

a second fixed seat (302) is arranged at the bottom of the Z-axis travelling column (501); a first Y-axis sliding guide rail (303) is arranged at the bottom of the second fixed seat (302); a first Y-axis transmission rack is arranged on the first Y-axis sliding guide rail (303) along the axis direction of the first Y-axis sliding guide rail, and a first Y-axis guide block (304) is further arranged on the first Y-axis sliding guide rail (303); the first Y-axis walking beam (301) is mounted on the first Y-axis guide block (304); the first Y-axis walking beam (301) can slide along the Y-axis direction of the truss manipulator supporting frame (100);

a hanging rack (601) is arranged at the bottom of the first Y-axis walking beam (301); a plurality of groups of grabbing components (700) are arranged on the hanging rack (601).

2. The truss manipulator of claim 1, wherein: the inner part of the X-axis guide block (204) penetrates through an output shaft of a first servo motor (205), and the output shaft of the first servo motor (205) is connected with the output shaft of a first speed reducer (206) through a coupler.

3. The truss manipulator of claim 1, wherein: the inner part of the first Y-axis guide block (304) penetrates through an output shaft of a second servo motor (305), and the output shaft of the second servo motor (305) is connected with an output shaft of a second speed reducer (306) through a coupler.

4. The truss manipulator of claim 1, wherein: the inner part of the second Y-axis guide block (403) penetrates through an output shaft of a third servo motor (404), and the output shaft of the third servo motor (404) is connected with an output shaft of a third speed reducer (405) through a coupler.

5. The truss manipulator of claim 1, wherein: the Z-axis screw rod (504) is connected with an output shaft of a fourth servo motor (506) through a coupler, and the output shaft of the fourth servo motor (506) is connected with an output shaft of a fourth speed reducer (507) through a coupler.

6. The truss manipulator of claim 1, wherein: the grasping assembly (700) comprises a first clamp (701) and a second clamp (702); the first clamp (701) is a clamping cylinder; the first clamp (701) is fixed on the hanging rack (601); the second clamp (702) comprises a vacuum chuck; the vacuum chuck is fixed on the transition plate (703); a guide rail (704) is installed on one side of the transition plate (703), and the transition 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.

Background

The demand of the machine tool market for automation is higher and higher, and the machine tool is particularly applied to intensive industries mainly processing small products. Particularly, for a single variety, the structure is simple, the advantages of large-batch parts are more obvious, a large amount of cost can be saved, and the production efficiency is obviously improved.

At present, a truss manipulator is mostly used on a machine tool to meet production requirements. The existing truss manipulator comprises a structural frame, an X shaft assembly, a Y shaft assembly, a Z shaft assembly and a tooling fixture, wherein the X shaft assembly, the Y shaft assembly and the Z shaft assembly are core assemblies of the truss manipulator, but only one Y shaft motion assembly is arranged in the Y shaft direction, so that the size of the Z shaft motion assembly and the size of the X shaft motion assembly have to be redesigned for meeting the requirement of transmitting workpieces in a large-area factory building, and the manufacturing cost and the manufacturing difficulty of the truss manipulator are greatly increased.

Disclosure of Invention

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

The technical scheme adopted by the invention is as follows:

a truss manipulator comprises a truss manipulator supporting frame, an X-axis walking beam frame, a first Y-axis walking beam, a second Y-axis walking beam and a Z-axis walking column;

the top end of the truss manipulator supporting frame is provided with a first fixed seat; an X-axis sliding guide rail is horizontally arranged on the first fixed seat; 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, and the X-axis walking beam frame can slide along the X-axis direction of the truss manipulator supporting frame;

a second Y-axis sliding guide rail is arranged 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 second Y-axis walking beam is arranged on the second Y-axis guide block; the second Y-axis walking beam can slide along the Y-axis direction of the truss manipulator supporting frame;

a connecting plate is arranged on one side of the second Y-axis walking beam; a Z-axis linear guide rail is fixed on the connecting plate; z-axis lead screws are mounted on two sides of the 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 are mounted on two sides of the Z-axis walking column through bolts; the Z-axis walking column can slide along the Z-axis direction of the truss manipulator supporting frame;

the bottom of the Z-axis walking column is provided with a second fixed seat; a first Y-axis sliding guide rail is arranged at the bottom of the second fixed seat; 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 first Y-axis walking beam is arranged on the first Y-axis guide block; the first Y-axis walking beam can slide along the Y-axis direction of the truss manipulator supporting frame;

a hanging frame is arranged at the bottom of the first Y-axis walking beam; and a plurality of groups of grabbing components are arranged on the hanging bracket.

The method is further technically characterized in that: the inner portion of the X-axis guide block penetrates through an output shaft of the first servo motor, 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 technically characterized in that: the inner part of the first Y-axis guide block penetrates through an output shaft of a second servo motor, and the output shaft of the second servo motor is connected with an output shaft of a second speed reducer through a coupler.

The method is further technically characterized in that: and the inner part of the second Y-axis guide block passes through an output shaft of a third servo motor, and the output shaft of the third servo motor is connected with the output shaft of a third speed reducer through a coupler.

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

The method is further technically 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 transition plate; a guide rail is arranged on one side of the transition plate, and the transition 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 reduces the influence of the weight of the Z-axis motion assembly on the X-axis motion assembly, greatly reduces the size of the X-axis walking beam frame on the premise of meeting the requirement of conveying workpieces in a large-area factory, and reduces the manufacturing cost and the manufacturing difficulty.

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: 100. a truss manipulator support frame; 201. a first fixed seat; 202. an X-axis walking beam frame; 203. an X-axis sliding guide rail; 204. an X-axis guide block; 205. a first servo motor; 206. a first speed reducer; 301. a first Y-axis walking beam; 302. a second fixed seat; 303. a first Y-axis slide guide; 304. a first Y-axis guide block; 305. a second servo motor; 306. a second speed reducer; 401. a second Y-axis walking beam; 402. a second Y-axis slide guide; 403. a second Y-axis guide block; 404. a third servo motor; 405. a third speed reducer; 501. a Z-axis travel column; 502. a yoke plate; 503. a Z-axis linear guide rail; 504. a Z-axis lead screw; 505. a Z-axis guide slide block; 506. a fourth servo motor; 507. a fourth speed reducer; 601. a hanger; 700. a grasping assembly; 701. a first clamp; 702. a second clamp; 703. a transition 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 truss robot includes a truss robot support frame 100, an X-axis traveling beam frame 201, a first Y-axis traveling beam 301, a second Y-axis traveling beam 401, and a Z-axis traveling column 501.

The first fixing base 202 is provided at the top end of the truss robot support frame 100. An X-axis sliding guide 203 is horizontally disposed on the first fixing base 202. An X-axis transmission rack is arranged on the X-axis sliding guide rail 203 along the axis direction, and an X-axis guide block 204 is also arranged on the X-axis sliding guide rail 203. The X-axis guide block 204 is fixedly connected to the X-axis traveling beam frame 201, and the X-axis traveling beam frame 102 is slidable in the X-axis direction of the truss robot support frame 100. The inside of the X-axis guide block 204 passes through an output shaft of the first servo motor 205, and the output shaft of the first servo motor 205 and the output shaft of the first speed reducer 206 are connected by a coupling.

A second Y-axis slide rail 402 is provided on the X-axis traveling beam frame 102. A second Y-axis transmission rack is arranged on the second Y-axis sliding guide rail 402 along the axial direction thereof, and a second Y-axis guide block 403 is further arranged on the second Y-axis sliding guide rail 402. The second Y-axis traveling beam 401 is mounted on the second Y-axis guide block 403. The second Y-axis traveling beam 401 is slidable in the Y-axis direction of the truss robot support frame 100. The inside of the second Y-axis guide block 403 passes through the output shaft of the third servo motor 404, and the output shaft of the third servo motor 404 and the output shaft of the third reducer 405 are connected by a coupling.

A yoke plate 502 is installed at one side of the second Y-axis traveling beam 401. A Z-axis linear guide 503 is fixed to the yoke plate 502. Both sides of the yoke plate 502 are provided with Z-axis wire rods 504 through rolling bearings. The Z-axis screw rod 504 is sleeved with a screw block, the two sides of the Z-axis screw rod 504 are both provided with Z-axis linear guide rails 504 through bolts, one end of the screw block is respectively arranged on the two sides of the Z-axis walking column 501 through bolts, and the two sides of the Z-axis walking column 501 are both provided with Z-axis guide sliders 505 corresponding to the Z-axis linear guide rails 504 through bolts. The Z-axis traveling column 501 is slidable in the Z-axis direction of the truss robot support frame 100. The Z-axis lead screw 504 is connected to an output shaft of the fourth servo motor 506 through a coupling, and the output shaft of the fourth servo motor 506 and an output shaft of the fourth speed reducer 507 are connected through a coupling.

The second fixed seat 302 is arranged at the bottom of the Z-axis walking column 501. The bottom of the fixed base 301 is provided with a first Y-axis sliding guide 303. A first Y-axis transmission rack is arranged on the first Y-axis sliding guide 303 along the axial direction thereof, and a first Y-axis guide block 304 is further arranged on the first Y-axis sliding guide 303. The first Y-axis traveling beam 301 is mounted on the first Y-axis guide block 303. The first Y-axis walking beam 301 may slide in the Y-axis direction of the truss robot support frame 100. The inside of the first Y-axis guide block 304 passes through the output shaft of the second servo motor 305, and the output shaft of the second servo motor 305 and the output shaft of the second reducer 306 are connected by a coupling.

The bottom of the first Y-axis walking beam 301 is mounted with a hanger 601. A plurality of sets of gripper assemblies 700 are mounted on the hanger 601. 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 601. The second fixture 702 includes a vacuum chuck. The vacuum chuck is fixed to the transition plate 703. A guide rail 704 is installed on one side of the transition plate 703, and the transition plate 703 slides along the guide rail 704. The vacuum chuck is communicated with a vacuum generator through a spray pipe.

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 205 and the first speed reducer 206 are started, the first servo motor 205 drives the X-axis guide block 204 to slide, the second servo motor 305, the second speed reducer 306, the third servo motor 404 and the third speed reducer 405 are started at the same time, the second servo motor 304 drives the first Y-axis guide block 304 to slide, and the third servo motor 404 drives the second Y-axis guide block 403 to slide, so that the grabbing component 700 runs to a station where a workpiece needs to be loaded and unloaded.

The gripper assembly 700 is then lowered under the drive of the fourth servomotor 506 and the fourth reducer 507.

The first gripper 701 grips the workpiece while the second gripper 702 descends along the rail 704 to suck the workpiece and then ascends. Z-axis guide slide 505 is lowered to the process position. After the first fixture 701 and the second fixture 702 are loosened, the workpiece which is processed in the first process and has the adjusted position is placed on a station, then the grabbing assembly 700 is lifted to the rotating height, the X-axis walking beam frame 201, the first Y-axis walking beam 301 and the second Y-axis walking beam 401 act simultaneously, the grabbing assembly 700 is returned to the initial position while the Z-axis guide slide block 505 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.