CN110695752A - Truss Robot - Google Patents

Truss Robot Download PDF

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Publication number
CN110695752A
CN110695752A CN201910856911.7A CN201910856911A CN110695752A CN 110695752 A CN110695752 A CN 110695752A CN 201910856911 A CN201910856911 A CN 201910856911A CN 110695752 A CN110695752 A CN 110695752A
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CN
China
Prior art keywords
axis moving
moving part
axis
sliding table
motor
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910856911.7A
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Chinese (zh)
Inventor
邹检发
任友兵
黄渝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Jay Metal Precision Manufacturing Technology Co Ltd
Dongguan Lingjie Metal Precision Manufacturing Technology Co Ltd
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Dongguan Jay Metal Precision Manufacturing Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Dongguan Jay Metal Precision Manufacturing Technology Co Ltd filed Critical Dongguan Jay Metal Precision Manufacturing Technology Co Ltd
Priority to CN201910856911.7A priority Critical patent/CN110695752A/en
Publication of CN110695752A publication Critical patent/CN110695752A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0075—Truss

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a truss robot which comprises a supporting seat, a Z-axis moving part, an X-axis moving part, a grabbing part and a control part, wherein a fixed seat is arranged at the bottom of the supporting seat, the X-axis moving part is arranged at the top of the supporting seat, the X-axis moving part is provided with the Z-axis moving part and drives the Z-axis moving part to reciprocate along the X-axis direction, the Z-axis moving part is provided with the grabbing part and drives the grabbing part to reciprocate along the Z-axis direction, and the control part is connected with and drives the Z-axis moving part, the X-axis moving part and the grabbing part to operate. The invention provides the truss robot which is high in automation degree, high in production efficiency and capable of saving human resources and feeding and discharging materials on a manipulator in one step.

Description

Truss robot
Technical Field
The invention relates to the field of automatic loading and unloading auxiliary equipment of machine tools, in particular to a truss robot.
Background
In the current machining process of a machine tool, the part is generally fed and discharged by an operator of the machine tool to repeatedly put and take the part according to the operation of equipment, the labor is consumed, the time spent is relatively long, the overall productivity is reduced, and the product is easily damaged due to the action of personnel, so that the cost is increased. Meanwhile, the long-time operation personnel can carry out feeding or discharging, so that the processing efficiency of the operation personnel is low; and is not conducive to automation.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the truss robot which is high in automation degree, labor resource saving, high in production efficiency and capable of loading and unloading in one step by a manipulator.
According to one aspect of the invention, the truss robot comprises a supporting seat, a Z-axis moving part, an X-axis moving part, a grabbing part and a control part, wherein a fixed seat is arranged at the bottom of the supporting seat, the X-axis moving part is arranged at the top of the supporting seat, the Z-axis moving part is arranged on the X-axis moving part and drives the Z-axis moving part to reciprocate along the X-axis direction, the grabbing part is arranged on the Z-axis moving part and drives the grabbing part to reciprocate along the Z-axis direction, and the control part is connected with and drives the Z-axis moving part, the X-axis moving part and the grabbing part to operate.
In some embodiments, the X-axis moving part includes a mounting plate disposed on a top of the support base and a first moving assembly disposed on the support base.
In some embodiments, the first moving assembly includes a first wire rail, a first slider, a first rack, a first gear, a first motor, and a first sliding table, the first wire rail is provided with 2 horizontal fixing members fixed on the mounting plate, the first rack is arranged in parallel with the first wire rail, the first slider is sleeved on the first wire rail, the first sliding table is arranged on the first slider, the first motor is arranged on the first sliding table, an output end of the first motor is provided with the first gear, and the first gear is engaged with the first rack.
In some embodiments, the Z-axis moving part includes a moving bracket and a second moving assembly, the second moving assembly is disposed on the moving bracket, and the second moving assembly is disposed on the first sliding table.
In some embodiments, the second moving assembly includes a second linear rail, a second slider, a second rack, a second gear, a second motor and a second sliding table, the second linear rail is fixed on the moving support, the second rack is arranged in parallel to the second linear rail, the second slider is sleeved on the second linear rail, the second sliding table is arranged on the first slider, the second motor is installed on the second sliding table, the output end of the second motor is provided with the second gear, the second gear is engaged with the second rack, and the second sliding table is fixedly connected with the first sliding table.
In some embodiments, the control part comprises an electric cabinet, a human-computer interface and an alarm lamp, the human-computer interface is connected with the electric cabinet, the electric cabinet is connected with the Z-axis moving part, the X-axis moving part and the grabbing part, and the alarm lamp is connected with the human-computer interface.
In some embodiments, the grabbing portion comprises a mounting block, a first grabbing claw, a second grabbing claw and a driving piece, the mounting block is fixed to the bottom of the movable support, the first grabbing claw is fixedly arranged at one end of the mounting block, the driving piece is arranged at the bottom of the mounting block, the second grabbing claw is arranged on the driving piece and is arranged at the other end of the mounting block, and the driving piece drives the second grabbing claw to move towards the first grabbing claw.
In some embodiments, dust covers are arranged above the first sliding table and the second sliding table.
The X-axis movement of the workpiece is realized through the X-axis moving part; the workpiece is moved up and down through the Z-axis moving part; the automatic workpiece grabbing device has the advantages that workpieces can be conveniently grabbed through the grabbing part, the automation degree is high, the human resource is saved, the production efficiency is high, the loading and unloading of the manipulator are in place in one step, and the automatic upgrading of traditional equipment of an enterprise is comprehensively realized.
Drawings
FIG. 1 is a schematic structural view of a truss robot of the present invention;
FIG. 2 is a schematic structural view of an X-axis moving part of the truss robot of the present invention;
FIG. 3 is a schematic structural view of a Z-axis moving part of the truss robot of the present invention;
fig. 4 is a schematic structural view of a control part of the truss robot of the present invention;
fig. 5 is a schematic structural view of a grasping portion of the truss robot of the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
As shown in fig. 1, the present invention provides a truss robot, which includes a supporting seat 1, a Z-axis moving portion 2, an X-axis moving portion 3, a grabbing portion 4 and a control portion 5, wherein a fixing seat 6 is disposed at the bottom of the supporting seat 1, the X-axis moving portion 3 is disposed at the top of the supporting seat 1, the Z-axis moving portion 2 is disposed on the X-axis moving portion 3 and drives the Z-axis moving portion 2 to reciprocate along the X-axis direction, the grabbing portion 4 is disposed on the Z-axis moving portion 2 and drives the grabbing portion 4 to reciprocate along the Z-axis direction, and the control portion 5 is connected with and drives the Z-axis moving portion 2, the X-axis moving portion 3 and the grabbing portion 4. The X-axis movement of the workpiece is realized through the X-axis moving part 3; the workpiece is moved up and down through the Z-axis moving part 2; the workpiece can be conveniently grabbed through the grabbing part 4, the automatic loading and unloading device is high in automation degree, manpower resources are saved, production efficiency is high, loading and unloading of the manipulator are in place in one step, and automatic upgrading of traditional equipment of an enterprise is comprehensively achieved.
As shown in fig. 2, the X-axis moving part 3 includes a mounting plate 31 and a first moving member 32, the mounting plate 31 is disposed on the top of the support base 1, and the first moving member 32 is disposed on the support base 1. The first moving unit 32 moves the Z-axis moving unit 2 in the horizontal direction so as to place the workpiece in a predetermined processing station or a receiving frame.
First removal subassembly 32 includes first line rail 33, first slider 34, first rack 35, first gear 36, first motor 37 and first slip table 38, first line rail 33 is equipped with 2 levels and fixes on mounting panel 31, first rack 35 is in first line rail 33 parallel arrangement, first slider 34 cover is established on first line rail 33, first slip table 38 sets up on first slider 34, first motor 37 is installed on first slip table 38, the output of first motor 37 is equipped with first gear 36, first gear 36 and the meshing of first rack 35. The first gear 36 is driven by the first motor 37 to rotate and further engage with the first rack 35, and finally the first slide block 34 is driven to reciprocate on the first linear rail 33.
As shown in fig. 3, the Z-axis moving part 2 includes a moving support 21 and a second moving assembly 22, the second moving assembly 22 is provided on the moving support 21, and the second moving assembly 22 is provided on the first slide table 38. The second moving component 22 is used for conveniently lifting the moving support 21, and further driving the grabbing part 4 to lift, so that the workpiece can be conveniently placed in a specified processing station or a material receiving frame.
The second moving assembly 22 comprises a second wire rail 23, a second sliding block 24, a second rack 25, a second gear 26, a second motor 27 and a second sliding table 28, the second wire rail 23 is fixed on the moving support 21, the second rack 25 is arranged in parallel to the second wire rail 23, the second sliding block 24 is sleeved on the second wire rail 23, the second sliding table 28 is arranged on the first sliding block 34, the second motor 27 is arranged on the second sliding table 28, the second gear 26 is arranged at the output end of the second motor 27, the second gear 26 is meshed with the second rack 25, and the second sliding table 28 is fixedly connected with the first sliding table 38. The second motor 27 drives the second gear 26 to rotate and further engage with the second rack 25, and finally drives the second slider 24 to reciprocate on the second linear rail 23, so as to finally realize the lifting of the movable support 21.
As shown in fig. 4, the control unit 5 includes an electric cabinet 51, a human-machine interface 52 and an alarm lamp 53, the human-machine interface 52 is connected to the electric cabinet 51, the electric cabinet 51 is connected to the Z-axis moving unit 2, the X-axis moving unit 3 and the grasping unit 4, and the alarm lamp 53 is connected to the human-machine interface 52. The first motor 37, the second motor 27 and the driving part 44 are arranged through a human-home interface, the first motor 37, the second motor 27 and the driving part 44 are controlled through the electric control cabinet, and the alarm lamp 53 is convenient for the alarm to give an alarm in a dangerous state to remind an operator.
As shown in fig. 5, the gripping part 4 includes a mounting block 41, a first gripping claw 42, a second gripping claw 43, and a driving member 44, the mounting block 41 is fixed at the bottom of the movable bracket 21, the first gripping claw 42 is fixedly disposed at one end of the mounting block 41, the driving member 44 is disposed at the bottom of the mounting block 41, the second gripping claw 43 is mounted on the driving member 44 and disposed at the other end of the mounting block 41, and the driving member 44 drives the second gripping claw 43 to move toward the first gripping claw 42. The second gripper jaw 43 is moved by the drive element 44 in the direction of the first gripper jaw 42, so that the workpiece is gripped automatically.
Dust covers 7 are provided above the first slide table 38 and the second slide table 28. The dust cover 7 covers the first motor 37 and the second motor 27, so that dust is prevented from entering, and the service life is prolonged. The first motor 37 and the second motor 27 are servo motors.
Certainly, the bottom of the fixed seat 6 can also be provided with a rotating part, and the rotating part can rotate 360 degrees by comprising the supporting seat 1, the Z-axis moving part 2, the X-axis moving part 3, the grabbing part 4 and the control part 5, so that the device is suitable for different use occasions.
The foregoing describes only some embodiments of the present invention and modifications and variations thereof will be apparent to those skilled in the art without departing from the spirit and scope of the invention.

Claims (8)

1.桁架机器人，其特征在于，包括支撑座、Z轴移动部、X轴移动部、抓取部和控制部，所述支撑座的底部设有固定座，所述支撑座的顶部设有X轴移动部，所述X轴移动部上设有Z轴移动部且带动Z轴移动部沿X轴方向往复移动，所述Z轴移动部设有抓取部且带动抓取部沿Z轴方向往复移动，所述控制部连接且驱动Z轴移动部、X轴移动部和抓取部运转。1. The truss robot is characterized in that it comprises a support base, a Z-axis moving part, an X-axis moving part, a grabbing part and a control part, the bottom of the support base is provided with a fixed seat, and the top of the support base is provided with an X-axis. Axis moving part, the X-axis moving part is provided with a Z-axis moving part and drives the Z-axis moving part to reciprocate along the X-axis direction, the Z-axis moving part is provided with a grabbing part and drives the grabbing part along the Z-axis direction Reciprocating movement, the control part connects and drives the Z-axis moving part, the X-axis moving part and the grabbing part to operate. 2.根据权利要求1所述的桁架机器人，其特征在于，所述X轴移动部包括安装板和第一移动组件，所述安装板设置支撑座的顶部，所述第一移动组件设置在支撑座上。2 . The truss robot according to claim 1 , wherein the X-axis moving part comprises a mounting plate and a first moving component, the mounting plate is provided on the top of the support seat, and the first moving component is provided on the support. 3 . seat. 3.根据权利要求2所述的桁架机器人，其特征在于，所述第一移动组件包括第一线轨、第一滑块、第一齿条、第一齿轮、第一电机和第一滑台，所述第一线轨设有2根水平固定在安装板上，所述第一齿条于第一线轨平行设置，所述第一滑块套设在第一线轨上，所述第一滑台设置在第一滑块上，所述第一电机安装在第一滑台上，所述第一电机的输出端设有第一齿轮，所述第一齿轮与第一齿条啮合。3. The truss robot according to claim 2, wherein the first moving component comprises a first linear rail, a first slider, a first rack, a first gear, a first motor and a first sliding table , the first line rail is provided with two horizontally fixed on the mounting plate, the first rack is arranged in parallel with the first line rail, the first slider is sleeved on the first line rail, the first A sliding table is arranged on the first sliding block, the first motor is mounted on the first sliding table, the output end of the first motor is provided with a first gear, and the first gear is engaged with the first rack. 4.根据权利要1所述的桁架机器人，其特征在于，所述Z轴移动部包括移动支架和第二移动组件，所述移动支架上设有第二移动组件，所述第二移动组件设置在第一滑台上。4 . The gantry robot according to claim 1 , wherein the Z-axis moving part comprises a moving bracket and a second moving component, the moving bracket is provided with a second moving component, and the second moving component is provided with the second moving component. 5 . on the first slide. 5.根据权利要求4所述的桁架机器人，其特征在于，所述第二移动组件包括第二线轨、第二滑块、第二齿条、第二齿轮、第二电机和第二滑台，所述第二线轨固定在移动支架上，所述第二齿条于第二线轨平行设置，所述第二滑块套设在第二线轨上，所述第二滑台设置在第一滑块上，所述第二电机安装在第二滑台上，所述第二电机的输出端设有第二齿轮，所述第二齿轮与第二齿条啮合，所述第二滑台与第一滑台固定连接。5. The truss robot according to claim 4, wherein the second moving component comprises a second linear rail, a second sliding block, a second rack, a second gear, a second motor and a second sliding table, The second linear rail is fixed on the moving bracket, the second rack is arranged in parallel with the second linear rail, the second sliding block is sleeved on the second linear rail, and the second sliding table is arranged on the first sliding block , the second motor is installed on the second sliding table, the output end of the second motor is provided with a second gear, the second gear meshes with the second rack, and the second sliding table and the first The slide table is fixedly connected. 6.根据权利要求1-5任一项权利要求所述的桁架机器人，其特征在于，所述控制部包括电控箱、人机界面和警报灯，所述人机界面连接电控箱，所述电控箱连接Z轴移动部、X轴移动部和抓取部，所述警报灯连接人机界面。6. The truss robot according to any one of claims 1-5, wherein the control part comprises an electric control box, a man-machine interface and an alarm light, the man-machine interface is connected to the electric control box, and the The electric control box is connected to the Z-axis moving part, the X-axis moving part and the grabbing part, and the alarm light is connected to the man-machine interface. 7.根据权利要求5所述的所述的桁架机器人，其特征在于，所述抓取部包括安装块、第一抓取爪、第二抓取爪和驱动件，所述安装块固定在移动支架的底部，所述安装块的一端固定设置第一抓取爪，所述安装块的底部设有驱动件，所述第二抓取爪安装在驱动件上且设置在安装块的另一端，所述驱动件驱动第二抓取爪向第一抓取爪方向移动。7 . The truss robot according to claim 5 , wherein the grasping part comprises a mounting block, a first grasping claw, a second grasping claw and a driving member, and the mounting block is fixed in the moving part. 8 . At the bottom of the bracket, one end of the mounting block is fixedly provided with a first grasping claw, the bottom of the mounting block is provided with a driving member, and the second grasping claw is mounted on the driving member and arranged at the other end of the mounting block, The driving member drives the second grasping claw to move in the direction of the first grasping claw. 8.根据权利要求7所述的桁架机器人，其特征在于，所述第一滑台与第二滑台上方设有防尘罩。8 . The truss robot according to claim 7 , wherein a dust cover is provided above the first sliding table and the second sliding table. 9 .
CN201910856911.7A 2019-09-11 2019-09-11 Truss Robot Pending CN110695752A (en)

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CN201910856911.7A CN110695752A (en) 2019-09-11 2019-09-11 Truss Robot

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3760956A (en) * 1971-08-23 1973-09-25 Burch Controls Inc Industrial robot
KR20100002709A (en) * 2008-06-30 2010-01-07 재단법인서울대학교산학협력재단 Robot having rotatable arm
CN105922250A (en) * 2016-05-28 2016-09-07 东莞市联洲知识产权运营管理有限公司 Robot provided with rotation actuation tail end
CN106695773A (en) * 2017-03-22 2017-05-24 东莞市西格玛自动化科技股份有限公司 A high-load fast transmission mechanism
CN206690121U (en) * 2017-03-23 2017-12-01 山东协和学院 A kind of catching robot device
CN207465220U (en) * 2017-11-16 2018-06-08 三峡大学 Gripping-type manipulator
CN108705522A (en) * 2018-06-26 2018-10-26 湖北火爆机器人科技有限公司 A kind of four axis truss robots
CN109773765A (en) * 2019-04-03 2019-05-21 秦川机床工具集团股份公司 A truss manipulator device for intelligent production line
CN211029163U (en) * 2019-09-11 2020-07-17 东莞领杰金属精密制造科技有限公司 Truss robot

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3760956A (en) * 1971-08-23 1973-09-25 Burch Controls Inc Industrial robot
KR20100002709A (en) * 2008-06-30 2010-01-07 재단법인서울대학교산학협력재단 Robot having rotatable arm
CN105922250A (en) * 2016-05-28 2016-09-07 东莞市联洲知识产权运营管理有限公司 Robot provided with rotation actuation tail end
CN106695773A (en) * 2017-03-22 2017-05-24 东莞市西格玛自动化科技股份有限公司 A high-load fast transmission mechanism
CN206690121U (en) * 2017-03-23 2017-12-01 山东协和学院 A kind of catching robot device
CN207465220U (en) * 2017-11-16 2018-06-08 三峡大学 Gripping-type manipulator
CN108705522A (en) * 2018-06-26 2018-10-26 湖北火爆机器人科技有限公司 A kind of four axis truss robots
CN109773765A (en) * 2019-04-03 2019-05-21 秦川机床工具集团股份公司 A truss manipulator device for intelligent production line
CN211029163U (en) * 2019-09-11 2020-07-17 东莞领杰金属精密制造科技有限公司 Truss robot

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Application publication date: 20200117

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