CN109048993A - Truss manipulator - Google Patents

Abstract

The invention discloses a kind of truss manipulators, it is intended to provide that a kind of have being capable of preferably clamp circle disk shape part, promote integral retaining effect, it avoids workpiece from falling off on hand from machinery and causes workpiece damage, the truss manipulator for the advantages of preventing economic loss, its key points of the technical solution are that, second level arm end is equipped with mechanical paw, mechanical paw includes the pivoted arm for being rotatably connected on second level arm end, pivoted arm end is fixed with pawl disk, the outer circle of pawl disk is equipped with the claw bar of several circular pawl disk settings, sliding bar is fixed among claw bar, sliding bar is slidably connected on pawl disk, claw bar and sliding bar are provided with several around the center of circle of pawl disk, it is additionally provided in pivoted arm for pushing the synchronous actuator slided towards the pawl disk center of circle of sliding bar, pressure can uniformly be applied to it from disk perimeter, to realize the clamping of circular pieces, it can keep away Exempt from workpiece to fall off on hand from machinery, avoids workpiece damage and economic loss.

Description

Truss manipulator

Technical field

The present invention relates to industrial robot fields, and in particular to a kind of truss manipulator.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.

Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

The application of mechanical arm also will be more and more extensive, manipulator be a kind of high-tech for growing up of recent decades from Move production equipment, the ability to fulfil assignment in the accuracy and environment of operation.One important branch of industry mechanical arm robot, Manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical by driving method.Feature is can be completed by programming respectively The advantage of people and robotics respectively is had concurrently in operation expected from kind, construction and performance.

Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape Formula, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations (swing), mobile or compound motion It realizes defined movement, changes by the position of grasping object and posture.

The self-movements mode, the referred to as freedom degree of manipulator such as the lifting of movement mechanism, flexible, rotation.In order to grab sky Between middle any position and orientation object, need to have 6 freedom degrees.Freedom degree is the key parameter of manipulator design.Freedom degree is got over More, the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.

General special manipulator has 2~3 freedom degrees.Control system is by the motor to each freedom degree of manipulator Control, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system The heart is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes wanted function by programming to it.

Currently, the Chinese patent of Publication No. CN20746626U discloses a kind of welding manipulator, it includes pedestal and machine Tool hand, the upper end of pedestal are fixedly connected with support rod, and boom, the lower end of boom and machinery are fixedly connected on the side wall of support rod The upper end of hand connects, and manipulator is set to boom far from one end of support rod；

Gas gathering mask is fixedly connected on the side wall of support rod, gas gathering mask is located at the underface of boom, connects on the side wall of gas gathering mask There is absorption tube, the upper end of absorption tube is fixedly connected with water tank, suction fan is equipped in absorption tube, and suction fan is set to absorption tube and leans on In one end of nearly gas gathering mask, the top surface of absorption tube is equipped with multiple spray heads, and spray head is set to the one end of absorption tube far from gas gathering mask Interior, spray head is connect with water tank, and the bottom of absorption tube is equipped with collecting tank, and collecting tank is located at the underface of spray head.

It, can be to the exhaust gas generated when welding although this welding manipulator can effectively weld manipulator clamping workpiece Carry out absorption processing, improve the feature of environmental protection of welding manipulator, but in workpiece of this manipulator in clamp circle disk shape compared with To be laborious, and clamping effect is bad, and workpiece, which is easy to fall off on hand from machinery, causes the damage of workpiece, generates economic loss.

Summary of the invention

The object of the present invention is to provide a kind of truss manipulator, have can preferably clamp circle disk shape part, promoted Integral retaining effect avoids workpiece from mechanical the advantages of falling off on hand and causing workpiece damage, prevent economic loss.

Above-mentioned technical purpose of the invention has the technical scheme that

A kind of truss manipulator, including the mechanical arm that truss and sliding are connected on truss, mechanical arm includes mutually rotation The level-one arm and second level arm of connection, level-one arm are connect with truss, and second level arm end is equipped with mechanical paw, and mechanical paw includes rotation It is connected to the pivoted arm of second level arm end, pivoted arm end is fixed with pawl disk, and the outer circle of pawl disk is equipped with several circular pawl disk settings Claw bar, claw bar is arranged in bending shape, and intermediate position and pawl disk are hinged, equipped with for driving claw bar around hinge joint in pivoted arm The actuator of rotation, actuator include the drive disk with the concentric rotation connection of pawl disk, and for driving driving disc spins Driving link, drive disk are arranged in ratchet shape, and claw bar end mutually abuts with drive disk and being capable of Relative sliding.

By using above-mentioned technical proposal, mechanical arm sliding is connected on truss, when being able to maintain mechanical arm work Stability, the setting of level-one arm and second level arm can increase the freedom degree of mechanical arm, improve the scope of application of mechanical arm, When mechanical arm grabs discoid part, driving link starting drives driving disc spins, since drive disk is in ratchet shape, Several claw bars can be driven when driving disc spins while synchronous around hinge joint rotation, complete the end of claw bar to disk The clamping of Shape Parts.

It is synchronous to center sliding that bar is slid so in clamping process, while the periphery of disk is clamped, Neng Goucong Disk perimeter uniformly applies pressure to it, to realize the clamping of circular pieces, and clamping effect is good, can be avoided workpiece from It falls off on manipulator, avoids workpiece damage and economic loss.

Further setting: being equipped with connection buckle for connecting claw bar and drive disk between hook and drive disk, outside drive disk Edge is equipped with card slot, and connection buckle one end is embedded in card slot, the other end with to connect claw bar end hinged.

Further setting: actuator includes the driving shaft on the pawl disk central axes, driving shaft penetrate drive disk and and its It is fixedly connected, actuator further includes in pivoted arm for driving the driving motor of spindle rotation.

By using above-mentioned technical proposal, driving motor rotation, it will be able to spindle rotation is driven, so that driving be made to spiral Turn；Connection buckle can will connect between hook and drive disk, and when making to drive disc spins, hook can be moved by the way that connection buckle is opposite It is dynamic, to realize the relative rotation between hook and drive disk.

Further setting: it is connected between driving motor and driving shaft by middleware, middleware includes concentric is fixed on Worm driver gear on driving shaft, and the active worm screw being rotatably connected in pivoted arm, the output shaft of active worm screw and driving motor Between be wholely set.

By using above-mentioned technical proposal, when the output shaft of driving motor rotates, drive active worm screw rotates, active worm screw Drive worm driver gear and spindle rotation, it will be able to realize the rotation of drive disk, while the self-locking performance of worm and gear can make to drive Moving plate stops at any angle, and part in clamping process is avoided to fall off from claw bar.

Further setting: drive disk outer circle is integrally formed with several ratchets about center of circle circumference permutation, and card slot is along ratchet Outer bevel edge distribution, and the length of card slot is less than the outer the length of the hypotenuse of ratchet.

It is mutually slid between card slot and connection buckle when driving disc spins by using above-mentioned technical proposal, works as drive disk Clamping process is realized when rotating forward, clamping jaw is then unclamped in reversion.

By using above-mentioned technical proposal, it is arranged in obtuse angle between initiative part and follower, drives claw bar living in actuator The angle of claw bar sliding is able to ascend when dynamic, and follower can improve folder in arc shape bending setting in clamping process The stability held promotes clamping effect.

Further setting: follower end is hinged with pawl seat, and the rotation angle between pawl seat and follower is at -60 °~60 ° Between, pawl seat bottom is additionally provided with the seat cushion of rubber material, the setting of seat cushion indention shape.

By using above-mentioned technical proposal, the seat cushion of rubber material is arranged in pawl seat bottom, and who knows seat cushion indention shape Setting, relative to other materials, the seat cushion of rubber material is able to ascend the friction in clamping process, improves clamping effect, and energy Buffer function is enough formed, defective work piece in clamping process is avoided.

In conclusion the invention has the following advantages:

It is synchronous to center sliding that bar is slid in clamping process, while the periphery of disk is clamped, it can be from disk perimeter Pressure is uniformly applied to it, to realize the clamping of circular pieces, and clamping effect is good, can be avoided workpiece from it is mechanical on hand It falls off, avoids workpiece damage and economic loss.

Detailed description of the invention

The following further describes the present invention with reference to the drawings.

Fig. 1 is the structural schematic diagram of embodiment 1；

Fig. 2 is in embodiment 1 for showing the schematic diagram of pawl disk；

Fig. 3 is in embodiment 1 for showing the schematic diagram of driving link；

Fig. 4 is in embodiment 2 for showing the schematic diagram of actuator；

Fig. 5 is in embodiment 3 for showing the schematic diagram of actuator；

Fig. 6 is in embodiment 3 for showing the schematic diagram of free gear；

Fig. 7 is in embodiment 4 for showing the schematic diagram of actuator.

In figure, 1, truss；2, mechanical arm；21, level-one arm；22, second level arm；23, pivoted arm；24, mechanical paw；25, pawl Disk；251, sliding slot；26, claw bar；261, initiative part；262, follower；263, pawl seat；264, seat cushion；27, bar is slid；3, it drives Part；31, active turntable；32, active motor；33, driver slot；34, driven slot；35, turning gear；36, free gear；37, it pushes Slot；38, follower lever；381, limited block；39, drive disk；391, card slot；392, ratchet；4, driving link；41, connection buckle；42, main Moving axis；43, driving motor；5, middleware；51, worm driver gear；52, active worm screw；6, movable disk；61, catch bar；62, fixed Bar；63, active slot；71, active rack gear；72, driving gear；8, locking member；81, locking rack；82, locking cylinder.

Specific embodiment,

The following further describes the specific embodiments of the present invention with reference to the drawings.

The technical scheme adopted by the invention is that:

Embodiment 1, a kind of truss manipulator, as shown in Figure 1 comprising the truss 1 of bottom, the setting in the shape of an " I " of truss 1, purlin Sliding is connected with mechanical arm 2 on bar among frame 1, and mechanical arm 2 includes the level-one arm 21 and second level arm being mutually rotatablely connected 22, level-one arm 21 is connect with truss 1, and such mechanical arm 2 can slide work on truss 1.

As depicted in figs. 1 and 2,22 end of second level arm is equipped with mechanical paw 24, and mechanical paw 24 includes being rotatably connected on two The pivoted arm 23 of 22 end of grade arm, 23 end of pivoted arm are fixed with pawl disk 25, and the outer circle of pawl disk 25 is equipped with several circular pawl disks 25 The claw bar 26 of setting, claw bar 26 are arranged in bending shape, and intermediate position and pawl disk 25 are hinged.Claw bar 26 including being between each other The initiative part 261 and follower 262 of obtuse angle setting, initiative part 261 connect with drive disk 39, follower 262 be in arc shape to The bending of 25 center position of pawl disk.

As shown in Figure 1, Figure 2 and Figure 3,262 end of follower is hinged with pawl seat 263, between pawl seat 263 and follower 262 Rotation angle between -60 °~60 °, 263 bottom of pawl seat is additionally provided with the seat cushion 264 of rubber material, 264 indention of seat cushion Shape setting.The actuator 3 for driving claw bar 26 to rotate around hinge joint is additionally provided in pivoted arm 23, actuator 3 includes and pawl disk 25 The movable disk 6 of concentric setting.

As shown in Figures 2 and 3, catch bar 61,61 one end of catch bar and movable disk 6 are equipped between movable disk 6 and claw bar 26 Hingedly, the other end and 26 end of claw bar are hinged, and the driving link 4 for pushing movable disk 6 to slide is additionally provided in pivoted arm 23.Actuator 3 further include the fixed link 62 being fixed in pivoted arm 23, and 62 end of fixed link is fixedly connected with the center of pawl disk 25, and movable disk 6 is same Axle center is set in fixed link 62 and can slide along fixed link 62.

As shown in figure 3, driving link 4 includes the active rack gear 71 and be rotatably connected on that sliding is connected in fixed link 62 Driving gear 72 in arm 23, the interior active motor 32 being equipped with for driving driving gear 72 to rotate of pivoted arm 23, active rack gear 71 It is intermeshed between driving gear 72.The active slot 63 for being parallel to the setting of fixed link 62, driving tooth are opened up in fixed link 62 Item 71 is embedded in active slot 63 and can slide in active slot 63, is additionally provided in pivoted arm 23 for locking driving gear 72 Locking member 8.

As shown in Figures 2 and 3, locking member 8 includes sliding the locking rack 81 being connected in pivoted arm 23 perpendicular to pivoted arm 23, Locking cylinder 82 is fixed in pivoted arm 23, the output shaft and locking rack 81 of locking cylinder 82 are fixed for driving its sliding.? When mechanical arm 2 grabs discoid part, active motor 32 starts, and drives 4 activity of driving link, to drive catch bar 61, makes Several claw bars 26 are synchronous simultaneously to be rotated around hinge joint, and the end of claw bar 26 is made to complete the clamping to disc-shape part.

Embodiment 2, a kind of truss manipulator, difference from example 1 is that, as shown in figure 4, actuator 3 includes It is in the drive disk 39 of the concentric rotation connection of pawl disk 25, and the driving link 4 for driving drive disk 39 to rotate, drive disk 39 The setting of ratchet shape, 26 end of claw bar mutually abuts with drive disk 39 and being capable of Relative sliding.

As shown in Figure 1 and Figure 4,39 outer circle of drive disk is integrally formed with several ratchets 392 about center of circle circumference permutation, card Slot 391 is distributed along the outer bevel edge of ratchet 392, and the length of card slot 391 is less than the outer the length of the hypotenuse of ratchet 392.Hook and drive disk 39 Between be equipped with connection buckle 41 for connecting claw bar 26 and drive disk 39,39 outer rim of drive disk is equipped with card slot 391, connection buckle 41 1 End is embedded in card slot 391, the other end with to connect 26 end of claw bar hinged.

As shown in Figure 1 and Figure 4, actuator 3 includes the driving shaft 42 on 25 central axes of pawl disk, and driving shaft 42 penetrates drive Moving plate 39 is simultaneously firmly connected with it, and actuator 3 further includes the driving motor in pivoted arm 23 for driving driving shaft 42 to rotate 43.It is connected between driving motor 43 and driving shaft 42 by middleware 5, middleware 5 includes concentric is fixed on driving shaft 42 Worm driver gear 51, and the active worm screw 52 being rotatably connected in pivoted arm 23, the output of active worm screw 52 and driving motor 43 It is wholely set between axis.

Embodiment 3, a kind of truss manipulator, with embodiment 1 or 2 the difference is that, as shown in Figure 1 and Figure 5, claw bar Sliding bar 27 is fixed on 26, sliding bar 27 is slidably connected on pawl disk 25, and claw bar 26 and sliding bar 27 are around pawl disk 25 The center of circle is provided with several, is equipped in pivoted arm 23 for pushing the synchronous actuator 3 slided towards 25 center of circle of pawl disk of sliding bar 27, Actuator 3 includes the active turntable 31 being parallel to pawl disk 25 in pivoted arm 23 and the electricity for driving active turntable 31 to rotate Machine slides bar 27 between active turntable 31 and pawl disk 25.

As shown in Figure 1, the side of active turntable 31 towards sliding bar 27 is equipped with the driver slot 33 of Archimedes spiral shape, Be correspondingly provided on sliding bar 27 with the intermeshing driven slot 34 of driver slot 33, sliding slot 251 is equipped in pivoted arm 24, sliding bar 27 blocks In sliding slot 251.Active turntable 31 is equipped with turning gear 35 around the midpoint of active turntable 31 backwards to the side of sliding bar 27, turns The free gear 36 of cone cell is equipped in arm 23, free gear 36 is engaged with turning gear 35, and the output shaft and free gear of motor 36 is fixed.

Embodiment 4, a kind of truss manipulator, with embodiment 3 the difference is that, as shown in Figure 1, being opened up on driving disc spacing pressing There is the promotion slot 37 of several circular driving disc spacing pressing settings, pushing slot 37 is a part of center helical flute, is slid fixed on bar 27 There is the follower lever 38 being arranged perpendicular to sliding bar 27, follower lever 38, which is embedded at, to be pushed in slot 37.Circle is equipped at the top of follower lever 38 Limited block 381, be bonded setting at the top of limited block 381 and driving disc spacing pressing, promotion slot 37 is corresponded to each other with several sliding bars 27 to be set It sets, and the output shaft of motor is fixed on the center location of driving disc spacing pressing.

The above are preferred embodiments of the present invention, is not intended to limit the present invention in any form, all foundations Technical spirit of the invention any simple modification, equivalent change and modification made to the above embodiment, belong to inventive technique In the range of scheme.

Claims (7)

1. a kind of truss manipulator is connected to the mechanical arm (2) on truss (1), mechanical arm including truss (1) and sliding It (2) include the level-one arm (21) and second level arm (22) being mutually rotatablely connected, level-one arm (21) is connect with truss (1), and feature exists In: second level arm (22) end is equipped with mechanical paw (24), and mechanical paw (24) includes being rotatably connected on second level arm (22) end The pivoted arm (23) at end, pivoted arm (23) end are fixed with pawl disk (25), and the outer circle of pawl disk (25) is equipped with several circular pawl disks (25) claw bar (26) being arranged, claw bar (26) are arranged in bending shape, and hingedly, pivoted arm (23) is interior for intermediate position and pawl disk (25) Equipped with the actuator (3) for driving claw bar (26) to rotate around hinge joint, actuator (3) includes and pawl disk (25) concentric rotation The drive disk (39) of connection, and the driving link (7) (4) for driving drive disk (39) to rotate, drive disk (39) are in ratchet shape Shape setting, claw bar (26) end mutually abuts with drive disk (39) and being capable of Relative sliding.

2. truss manipulator according to claim 1, it is characterised in that: be equipped with and use between the hook and drive disk (39) Connection buckle (41) in connection claw bar (26) and drive disk (39), drive disk (39) outer rim are equipped with card slot (391), connection buckle (41) One end is embedded in card slot (391), the other end with to connect claw bar (26) end hinged.

3. truss manipulator according to claim 2, it is characterised in that: the actuator (3) includes being set to pawl disk (25) Driving shaft (42) on central axes, driving shaft (42) penetrate drive disk (39) and are firmly connected with it, and actuator (3) further includes setting In the driving motor (43) in pivoted arm (23) for driving driving shaft (42) to rotate.

4. truss manipulator according to claim 3, it is characterised in that: the driving motor (43) and driving shaft (42) it Between by middleware (5) connect, middleware (5) includes the concentric worm driver gear (51) being fixed on driving shaft (42), and The active worm screw (52) being rotatably connected in pivoted arm (23), one between active worm screw (52) and the output shaft of driving motor (43) Setting.

5. truss manipulator according to claim 2, it is characterised in that: drive disk (39) outer circle is integrally formed with several A ratchet (392) about center of circle circumference permutation, card slot (391) is distributed along the outer bevel edge of ratchet (392), and the length of card slot (391) Degree is less than ratchet (392) outer the length of the hypotenuse.

6. truss manipulator according to claim 1, it is characterised in that: the claw bar (26) include between each other in obtuse angle The initiative part (261) and follower (262) of setting, initiative part (261) are connect with drive disk (39), and follower (262) is in camber line Shape is bent to pawl disk (25) center position.

7. truss manipulator according to claim 6, it is characterised in that: follower (262) end is hinged with pawl seat (263), between -60 °~60 °, pawl seat (263) bottom is additionally provided with the rotation angle between pawl seat (263) and follower (262) The seat cushion (264) of rubber material, the setting of seat cushion (264) indention shape.