CN109049008A - Truss robot repairs Z axis falling proof device - Google Patents
Truss robot repairs Z axis falling proof device Download PDFInfo
- Publication number
- CN109049008A CN109049008A CN201811097546.8A CN201811097546A CN109049008A CN 109049008 A CN109049008 A CN 109049008A CN 201811097546 A CN201811097546 A CN 201811097546A CN 109049008 A CN109049008 A CN 109049008A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- limit
- spacer pin
- link block
- truss robot
- Prior art date
- 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.)
- Granted
Links
- 230000008439 repair process Effects 0.000 title claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 53
- 125000006850 spacer group Chemical group 0.000 claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000000837 restrainer Substances 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 12
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to truss robot equipment technical fields, Z axis falling proof device is repaired more particularly, to a kind of truss robot, including the vertical beam being arranged on supporting plate, pedestal, spacer pin and link block, the pedestal is fixed on the supporting plate, the sliding slot to match with the link block is offered on the pedestal, the link block is slidably arranged in the sliding slot, the first limit hole to match with the spacer pin is offered on the link block, the second limit hole is provided on described second, one end of the spacer pin passes through first limit hole and is arranged in second limit hole, truss robot maintenance Z axis falling proof device of the present invention is when in use, since pedestal is fixed on supporting plate, the first position-limit mechanism limits displacement of the spacer pin on pedestal simultaneously, also link block is allowed for be limited on pedestal, while second Position-limit mechanism limits the displacement of link block and vertical beam.
Description
Technical field
The present invention relates to truss robot equipment technical fields, anti-fall more particularly, to a kind of truss robot maintenance Z axis
Dropping control device.
Background technique
As industry is constantly progressive, automatic production line is more more and more universal, and more robots have come into most of
Factory.Truss robot is applied in mechanical manufacturing field possesses the spy that precision is high, speed is fast and positioning is quasi- than wide
Point.Truss robot it is vertical on be provided with the manipulator of crawl cargo, it is existing in the case where being safeguarded or being repaired to truss
There is the manipulator of truss robot there is no safety spacing mechanism, easilys lead to manipulator in maintenance or maintenance in this way along its fortune
Dynamic rail trace falls phenomenon, causes damage of product, casualties is caused when serious.
Summary of the invention
The technical problem to be solved by the present invention is not safeguarding or repairing to solve the manipulator of existing truss robot
When safety spacing mechanism, manipulator is easily lead in maintenance or maintenance in this way and is fallen phenomenon along its motion profile line
The problem of, now provide a kind of truss robot maintenance Z axis falling proof device.
The technical solution adopted by the present invention to solve the technical problems is: a kind of truss robot maintenance Z axis fall arrest dress
It sets, including vertical beam, pedestal, spacer pin and the link block being arranged on supporting plate, the pedestal is fixed on the supporting plate, the bottom
The sliding slot to match with the link block is offered on seat, the link block is slidably arranged in the sliding slot, the link block
On offer the first limit hole to match with the spacer pin, the second limit hole, the spacer pin are provided on described second
One end pass through first limit hole be arranged in second limit hole, be provided on the pedestal for limiting the limit
The first position-limit mechanism that position pins position is moved, is provided with for limiting the vertical beam along its length between the link block and the vertical beam
Second position-limit mechanism of direction displacement.Since pedestal is fixed on supporting plate, while the first position-limit mechanism limits spacer pin
Displacement on pedestal also allows for link block and is limited on pedestal, while the second position-limit mechanism limits link block and erects
The displacement of beam, it is therefore prevented that fall phenomenon of the vertical beam along its direction of displacement.
In order to facilitate the limit realized to spacer pin, further, first position-limit mechanism includes slide plate, described
Slide plate slides are arranged on the base, and the outer peripheral surface of the spacer pin offers card slot, and limit section is provided on the slide plate
And displaced segments, the fixture block for limiting card slot described in Duan Weiyu and matching, when the fixture block is located in the card slot, the limit
Position pin is limited in axial displacement on the pedestal, and the displaced segments are the groove being provided on the slide plate, when the groove
With the spacer pin it is corresponding when the spacer pin axial displacement and first limit hole can be detached from the base
And second limit hole.Make the limit section of slide plate corresponding with the card slot of spacer pin by sliding skateboard, thus plays slide plate pair
The limit of spacer pin, corresponding with spacer pin in the groove of sledge displacement, such spacer pin can be displaced on pedestal, slide plate
Structure facilitate and realize limit to spacer pin.
In order to facilitate sliding skateboard, further, it is provided with limited post on the pedestal, is offered on the slide plate
The waist-shaped hole to match with the limited post, the limited post are slidably arranged in the waist-shaped hole.Pass through the waist type groove of slide plate
Cooperate with the limited post of pedestal, prevent from realizing that slide plate slides on pedestal, thus controllable limit of the slide plate to limited post.
Handle further is provided on the slide plate in order to facilitate control slide plate.By the way that handle is arranged on slide plate,
Control handle allows for slide plate and slides on pedestal, convenient and efficient.
In order to realize limit of the link block to vertical beam, further, second position-limit mechanism includes tooth block, described
Tooth block is fixed on the link block, is provided with rack gear on the vertical beam along its length, is provided on the tooth block
With the rack gear to the gear teeth engaged, the gear teeth and the rack gear of the tooth block are intermeshed.By the way that tooth block is arranged on link block
Cooperate with the rack gear on vertical beam, to realize limit of the tooth block to vertical beam.
Wheel and rack misplaces in order to prevent, and further, first limit hole is to set along the vertical beam length direction
The waist-shaped hole set is threaded with bolt on the pedestal, and one end of the bolt, which passes through the sliding slot and supports, is located at the company
It connects on block, the bolt is located at below the link block.By the way that bolt is arranged in base plate, misplace in link block and tooth block
When, there can be adjusting space, so that tooth block and rack gear cooperate.
The beneficial effects of the present invention are: truss robot maintenance Z axis falling proof device of the present invention is when in use, due to pedestal
It is fixed on supporting plate, while the first position-limit mechanism limits displacement of the spacer pin on pedestal, also allows for link block quilt
Limit is on pedestal, while the second position-limit mechanism limits the displacement of link block and vertical beam, avoids existing truss robot
Manipulator does not have safety spacing mechanism, easilys lead to manipulator in maintenance or power-off in this way and occurs along its motion profile line
The phenomenon that falling phenomenon, injury to personnel and damage of product caused when serious.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is main view of the invention；
Fig. 2 is the partial enlarged view of A in Fig. 1；
Fig. 3 is the main view of vertical beam and base mounting structure in the present invention；
Fig. 4 is the right view of vertical beam and base mounting structure in the present invention；
Fig. 5 is B-B cross-sectional view in Fig. 3；
Fig. 6 is C-C cross-sectional view in Fig. 3；
Fig. 7 is the three dimensional structure diagram of middle slide plate of the present invention.
In figure: 1, supporting plate, 2, vertical beam, 3, pedestal, 301, sliding slot, the 302, second limit hole, 4, spacer pin, 401, card slot,
5, link block, the 501, first limit hole, 6, tooth block, 7, rack gear, 8, slide plate, 801, limit section, 802, displaced segments, 803, waist type
Hole, 9, limited post, 10, handle, 11, bolt.
Specific embodiment
Presently in connection with attached drawing, the present invention will be further described in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment
As shown in figs. 1-7, a kind of truss robot repairs Z axis falling proof device, including the vertical beam being arranged on supporting plate 1
2, pedestal 3, spacer pin 4 and link block 5, the pedestal 3 are fixed on the supporting plate 1, are offered on the pedestal 3 and the company
Connect the sliding slot 301 that block 5 matches, the link block 5 is slidably arranged in the sliding slot 301, offered on the link block 5 with
The first limit hole 501 that the spacer pin 4 matches is provided with the second limit hole 302 on described second, the spacer pin 4
One end passes through first limit hole 501 and is arranged in second limit hole 302, is provided on the pedestal 3 for limiting
The first position-limit mechanism that the spacer pin 4 is displaced is provided with described perpendicular for limiting between the link block 5 and the vertical beam 2
The second position-limit mechanism that beam 2 is displaced along its length.
First position-limit mechanism includes slide plate 8, and the slide plate 8 is slidably arranged on the pedestal 3, the spacer pin 4
Outer peripheral surface offer card slot 401, be provided on the slide plate 8 limit section 801 and displaced segments 802, the limit section 801 be
The fixture block to match with the card slot 401, when the fixture block is located in the card slot 401, the spacer pin 4 is limited in institute
Axial displacement on pedestal 3 is stated, the displaced segments 802 are the groove being provided on the slide plate 8, when the groove and the limit
Position pin 4 it is corresponding when the spacer pin 4 can on the pedestal 3 axial displacement and can be detached from first limit hole 501 and
Second limit hole 302.
It is provided with limited post 9 on the pedestal 3, the waist-shaped hole to match with the limited post 9 is offered on the slide plate 8
803, the limited post 9 is slidably arranged in the waist-shaped hole 803.
Handle 10 is provided on the slide plate 8.
Second position-limit mechanism includes tooth block 6, and the tooth block 6 is fixed on the link block 5, the vertical beam 2
On be provided with rack gear 7 along its length, the tooth being meshed with the rack gear 7 is provided on the tooth block 6, the tooth block 6
The gear teeth and the rack gear 7 are intermeshed.
First limit hole 501 is the waist-shaped hole 803 being arranged along 2 length direction of vertical beam, spiral shell on the pedestal 3
Line is connected with bolt 11, and one end of the bolt 11 passes through the sliding slot 301 and supports and is located on the link block 5, the bolt
11 are located at 5 lower section of link block.
For above-mentioned truss robot maintenance Z axis falling proof device in maintenance, supporting plate 1 is horizontally oriented setting, and vertical beam 2 is vertical
It is arranged in supporting plate 1, vertical beam 2 is namely vertically arranged and is driven by motor in the operation of supporting plate 1, and vertical beam 2, which has, to be fallen downwards
Trend, while the rack gear 7 of vertical beam 2 has the power for acting on tooth block 6, tooth block 6 transfers the force to link block 5, pedestal
Bolt 11 on 3 applies opposite direction active force so that tooth block 6 vertically guarantee it is motionless, simultaneously because spacer pin 4 is limited in pedestal
On 3, and the one end limited passes through the first limit hole 501 and the second limit hole 302, ensure that spacer pin 4 makes link block 5 exist
Limit is laterally retained, the displacement of vertical beam 2 is also just limited；
During installation, pedestal 3 is fixed by screws on supporting plate 1 first, then tooth block 6 is installed on link block 5, together
When link block 5 is placed into the sliding slot 301 of pedestal 3, it is then that the gear teeth of tooth block 6 are corresponding with the rack gear 7 of vertical beam 2, rotate bottom
Screw on seat 3 is located on link block 5 so that bolt 11 supports, then spacer pin 4 is passed through the first limit hole 501 and the second limit
Hole 302, control handle 10 slides the waist-shaped hole 803 of slide plate 8 on the limited post 9 of pedestal 3, by the limit section of slide plate 8
801 slide into the card slot 401 of spacer pin 4, and spacer pin 4 is limited, and complete installation；
Further include simultaneously controller, controller takes motor with the private for controlling vertical beam displacement by cable and connect, while also with
First sensor is connected with second sensor signal, and pedestal is arranged in far from the position of rack gear in first sensor, and function is true
Recognize whether tooth block completely disengages rack gear, second sensor is arranged on the position of rack gear, function be confirmation tooth block whether with rack gear
Engagement.When first sensor has signal, controller can be such that Z axis driving device moves；When second sensor has signal, say
In service mode, controller forbids Z axis driving device to move for daylight；When first sensor and second sensor are all without signal
When, controller issues alarm, needs to check whether tooth block in an intermediate position or sensor fault.
Above-mentioned desirable embodiment according to the present invention is enlightenment, and through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (6)
1. a kind of truss robot repairs Z axis falling proof device, it is characterised in that: including the vertical beam being arranged on supporting plate (1)
(2), pedestal (3), spacer pin (4) and link block (5), the pedestal (3) are fixed on the supporting plate (1), on the pedestal (3)
The sliding slot (301) to match with the link block (5) is offered, the link block (5) is slidably arranged in the sliding slot (301)
It is interior, the first limit hole (501) to match with the spacer pin (4) is offered on the link block (5), is arranged on described second
Have the second limit hole (302), one end of the spacer pin (4) passes through first limit hole (501) and is arranged in second limit
In position hole (302), the first position-limit mechanism for limiting the spacer pin (4) displacement, the company are provided on the pedestal (3)
Connect the second position restrainer for being provided between block (5) and the vertical beam (2) and being displaced along its length for limiting the vertical beam (2)
Structure.
2. truss robot according to claim 1 repairs Z axis falling proof device, it is characterised in that: first limit
Mechanism includes slide plate (8), and the slide plate (8) is slidably arranged on the pedestal (3), and the outer peripheral surface of the spacer pin (4) opens up
Have card slot (401), be provided with limit section (801) and displaced segments (802) on the slide plate (8), the limit section (801) for institute
State the fixture block that card slot (401) matches, when the fixture block be located at the card slot (401) it is interior when, the spacer pin (4) is limited in
Axial displacement on the pedestal (3), the displaced segments (802) are the groove being provided on the slide plate (8), when the groove with
The spacer pin (4) it is corresponding when the spacer pin (4) axial displacement and can be detached from described the on the pedestal (3)
One limit hole (501) and the second limit hole (302).
3. truss robot according to claim 2 repairs Z axis falling proof device, it is characterised in that: on the pedestal (3)
It is provided with limited post (9), the waist-shaped hole (803) to match with the limited post (9), the limit is offered on the slide plate (8)
Position column (9) is slidably arranged in the waist-shaped hole (803).
4. truss robot according to claim 3 repairs Z axis falling proof device, it is characterised in that: on the slide plate (8)
It is provided with handle (10).
5. truss robot according to claim 1-4 repairs Z axis falling proof device, it is characterised in that: described
Second position-limit mechanism includes tooth block (6), and the tooth block (6) is fixed on the link block (5), edge on the vertical beam (2)
Its length direction is provided with rack gear (7), and the tooth being meshed with the rack gear (7), the tooth block are provided on the tooth block (6)
(6) the gear teeth and the rack gear (7) are intermeshed.
6. truss robot according to claim 1-5 repairs Z axis falling proof device, it is characterised in that: described
First limit hole (501) is the waist-shaped hole (803) being arranged along the vertical beam (2) length direction, is threadedly coupled on the pedestal (3)
Have bolt (11), one end of the bolt (11) passes through the sliding slot (301) and supports and is located on the link block (5), the spiral shell
Bolt (11) is located at below the link block (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097546.8A CN109049008B (en) | 2018-09-20 | 2018-09-20 | Z-axis anti-falling device for truss robot maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097546.8A CN109049008B (en) | 2018-09-20 | 2018-09-20 | Z-axis anti-falling device for truss robot maintenance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109049008A true CN109049008A (en) | 2018-12-21 |
| CN109049008B CN109049008B (en) | 2024-04-26 |
Family
ID=64763250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811097546.8A Active CN109049008B (en) | 2018-09-20 | 2018-09-20 | Z-axis anti-falling device for truss robot maintenance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109049008B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000738A (en) * | 2019-05-07 | 2019-07-12 | 北京福田戴姆勒汽车有限公司 | Assembly tooling for bolt |
| WO2020248503A1 (en) * | 2019-06-11 | 2020-12-17 | 苏州哈工众志自动化科技有限公司 | Standing-type workpiece lowering manipulator |
| CN113829391A (en) * | 2021-10-25 | 2021-12-24 | 上海建冶科技股份有限公司 | Anti-falling device of large-stroke industrial robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3310070A1 (en) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Quick coupling for grippers of industrial robots |
| JPS63270922A (en) * | 1987-04-24 | 1988-11-08 | Kyodo Printing Co Ltd | Safety joint |
| CN101758500A (en) * | 2009-11-12 | 2010-06-30 | 无锡恒富科技有限公司 | Manipulator pawl device |
| WO2015074790A1 (en) * | 2013-09-26 | 2015-05-28 | Kuka Systems Gmbh | Working device and working method |
| CN105729000A (en) * | 2016-04-22 | 2016-07-06 | 大连爱渥特机器人科技有限公司 | Truss manipulator safety protector |
| CN206588991U (en) * | 2017-03-14 | 2017-10-27 | 苏州聚晶科技有限公司 | A kind of safeguard protection manipulator |
| CN107471242A (en) * | 2017-09-26 | 2017-12-15 | 苏州科技大学 | Robot self-locking handgrip mechanism |
| CN208962048U (en) * | 2018-09-20 | 2019-06-11 | 金石机器人常州股份有限公司 | Truss robot repairs Z axis falling proof device |
-
2018
- 2018-09-20 CN CN201811097546.8A patent/CN109049008B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3310070A1 (en) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Quick coupling for grippers of industrial robots |
| JPS63270922A (en) * | 1987-04-24 | 1988-11-08 | Kyodo Printing Co Ltd | Safety joint |
| CN101758500A (en) * | 2009-11-12 | 2010-06-30 | 无锡恒富科技有限公司 | Manipulator pawl device |
| WO2015074790A1 (en) * | 2013-09-26 | 2015-05-28 | Kuka Systems Gmbh | Working device and working method |
| CN105729000A (en) * | 2016-04-22 | 2016-07-06 | 大连爱渥特机器人科技有限公司 | Truss manipulator safety protector |
| CN206588991U (en) * | 2017-03-14 | 2017-10-27 | 苏州聚晶科技有限公司 | A kind of safeguard protection manipulator |
| CN107471242A (en) * | 2017-09-26 | 2017-12-15 | 苏州科技大学 | Robot self-locking handgrip mechanism |
| CN208962048U (en) * | 2018-09-20 | 2019-06-11 | 金石机器人常州股份有限公司 | Truss robot repairs Z axis falling proof device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000738A (en) * | 2019-05-07 | 2019-07-12 | 北京福田戴姆勒汽车有限公司 | Assembly tooling for bolt |
| WO2020248503A1 (en) * | 2019-06-11 | 2020-12-17 | 苏州哈工众志自动化科技有限公司 | Standing-type workpiece lowering manipulator |
| CN113829391A (en) * | 2021-10-25 | 2021-12-24 | 上海建冶科技股份有限公司 | Anti-falling device of large-stroke industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109049008B (en) | 2024-04-26 |
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