Search

CN-224223890-U - Truss manipulator

CN224223890UCN 224223890 UCN224223890 UCN 224223890UCN-224223890-U

Abstract

The utility model belongs to the technical field of mechanical equipment, and discloses a truss manipulator which comprises a support frame, wherein an x-axis fixing frame is symmetrically and fixedly connected above the support frame, a movable frame is connected between two groups of the x-axis fixing frames in a sliding manner, a movable seat in a frame structure is fixedly connected to the surface of the movable frame, a z-axis movable frame is connected inside the movable seat in a sliding manner, a fixed plate is arranged at the bottom end of the z-axis movable frame, a clamping mechanism is arranged below the fixed plate, a servo is started to push the z-axis movable frame to move downwards, impact force can be quickly absorbed at the moment that the clamping mechanism contacts an object through a spring, rigid collision is converted into flexible contact, impact damage to the manipulator and the object is greatly reduced, pressure change caused by contact with the object in the downward movement process can be detected in real time through a pressure sensor, and safety and stability of the production process are improved.

Inventors

  • ZHANG CHENG

Assignees

  • 江苏民旺智能科技有限公司

Dates

Publication Date
20260512
Application Date
20250418

Claims (6)

  1. 1. A truss manipulator comprises a supporting frame (1) and is characterized in that an x-axis fixing frame (2) is symmetrically and fixedly connected to the upper side of the supporting frame (1), two groups of moving frames (3) are connected between the x-axis fixing frames (2) in a sliding mode, a moving seat (10) which is of a frame type structure is fixedly connected to the surface of each moving frame (3), a z-axis moving frame (4) is fixedly and fixedly connected to the inside of each moving seat (10), a fixing plate (14) is mounted at the bottom end of each z-axis moving frame (4), a clamping mechanism (17) is arranged below each fixing plate (14), four groups of screws (15) are symmetrically and fixedly connected to the upper surface of each clamping mechanism (17), the top ends of each screw (15) penetrate through the surface of each fixing plate (14) and are connected with nuts, springs (16) are sleeved on the surfaces of the screws (15), and two ends of each spring (16) are respectively abutted to the fixing plates (14) and the clamping mechanism (17).
  2. 2. The truss manipulator of claim 1, wherein a slide rail C matched with the movable seat (10) is symmetrically and fixedly connected to one side of the surface of the z-axis movable frame (4), a third rack (12) is fixedly connected to the side surface of the z-axis movable frame (4), a servo motor (13) is fixedly connected to one side of the surface of the z-axis movable frame (4), and a gear C is connected to the output end of the servo motor (13) and meshed with the surface of the third rack (12).
  3. 3. A truss manipulator according to claim 2, wherein a pressure sensor (18) is mounted between the z-axis moving frame (4) and the fixed plate (14).
  4. 4. The truss manipulator of claim 1, wherein a fixing frame (7) with an L-shaped structure is fixedly connected to the side face of the movable frame (3), and a visual camera (8) is fixedly arranged on the surface of the fixing frame (7).
  5. 5. The truss manipulator of claim 1, wherein the sliding rail A matched with the movable frame (3) is symmetrically and fixedly connected to one side of the surface of the x-axis fixing frame (2).
  6. 6. The truss manipulator of claim 5, wherein a first rack (5) is fixedly connected to the side surface of the x-axis fixing frame (2), a first motor (6) is fixedly connected to one side of the surface of the moving frame (3), a gear A is connected to the output end of the first motor (6), and the gear A is meshed with the surface of the first rack (5).

Description

Truss manipulator Technical Field The utility model belongs to the technical field of mechanical equipment, and particularly relates to a truss manipulator. Background In the field of industrial production, the truss manipulator is used as an important automatic carrying device and is widely applied to various links such as material carrying, processing and manufacturing, and when the traditional truss manipulator performs downward movement operation, due to the lack of an effective buffer mechanism, a large impact force is often generated at the moment of contacting an object, and the impact force can damage the mechanical structure of the manipulator, such as abrasion, deformation and the like, so that the service life and the working precision of the manipulator are influenced, and the carried object is extremely easy to collide and damage, the product quality is reduced, and the defective rate is increased. Accordingly, a truss manipulator is proposed for the above-described problems. Disclosure of utility model In order to solve the problems in the prior art, the utility model provides a truss manipulator which is provided with a monitoring camera for accurately positioning and monitoring the state of objects, and meanwhile, a downward-moving buffer structure is utilized for avoiding collision damage to the manipulator and the conveyed objects in the downward-moving operation. The truss manipulator comprises a supporting frame, wherein an x-axis fixing frame is symmetrically and fixedly connected above the supporting frame, two groups of moving frames are connected between the x-axis fixing frames in a sliding mode, a moving seat which is in a frame structure is fixedly connected to one side of the surface of each moving frame, a z-axis moving frame is fixedly connected to the inner side of each moving seat in a sliding mode, a fixed plate is arranged at the bottom end of each z-axis moving frame, a clamping mechanism is arranged below the fixed plate, four groups of screws are symmetrically and fixedly connected to the upper surface of each clamping mechanism, the top ends of the screws penetrate through the surface of the corresponding fixed plate and are connected with nuts, springs are sleeved on the surfaces of the screws, two ends of each spring are respectively abutted to the corresponding fixed plate and the corresponding clamping mechanism, sliding rails C which are matched with the moving seat are symmetrically and fixedly connected to one side of each z-axis moving frame, a third rack is fixedly connected to one side of each z-axis moving frame, a servo motor is fixedly connected to one side of each z-axis moving frame, and the output end of each servo motor is connected with a gear C which is meshed with the third rack. Preferably, the bottom surface of the clamping mechanism is symmetrically fixed with a buffer cushion. Preferably, a pressure sensor is installed between the z-axis moving frame and the fixed plate. Preferably, a fixing frame with an L-shaped structure is fixedly connected to the side face of the movable frame, and a visual camera is fixedly arranged on the surface of the fixing frame. Preferably, a sliding rail A matched with the movable frame is symmetrically and fixedly connected to one side of the surface of the x-axis fixed frame. Preferably, a first rack is fixedly connected to the side face of the x-axis fixing frame, a first motor is fixedly connected to one side of the surface of the moving frame, a gear A is connected to the output end of the first motor, and the gear A is meshed with the surface of the first rack. Compared with the prior art, the utility model has the following beneficial effects: 1. the utility model is provided with the spring and the pressure sensor, the servo motor is started to push the z-axis moving frame to move downwards, the spring can quickly absorb impact force at the moment that the clamping mechanism contacts an object, rigid collision is converted into flexible contact, impact damage to the manipulator and the object is greatly reduced, the pressure sensor can detect pressure change when the manipulator and the object contact in the downward moving process in real time, the system can immediately give an alarm when the pressure exceeds a safety range, and corresponding deceleration or stop action is adopted, so that omnibearing protection is provided for the manipulator and the object, and the safety and stability of the production process are improved. Drawings FIG. 1 is a schematic diagram of the overall structure of the present utility model; FIG. 2 is a schematic view of the structure of the fixing frame and the vision camera of the present utility model; FIG. 3 is an enlarged view of the utility model at A in FIG. 1; fig. 4 is an enlarged view of the present utility model at B in fig. 1. The device comprises a support frame 1, an x-axis fixing frame 2, a moving frame 3, a z-axis moving frame 4, a first rack 5, a first motor 6, a