CN110142751A - A kind of boosting manipulator arm configuration based on truss robot - Google Patents
A kind of boosting manipulator arm configuration based on truss robot Download PDFInfo
- Publication number
- CN110142751A CN110142751A CN201910528897.8A CN201910528897A CN110142751A CN 110142751 A CN110142751 A CN 110142751A CN 201910528897 A CN201910528897 A CN 201910528897A CN 110142751 A CN110142751 A CN 110142751A
- Authority
- CN
- China
- Prior art keywords
- arm
- electric pushrod
- turntable
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of boosting manipulator arm configuration based on truss robot, including trailing arm, transverse arm and electric pushrod；The trailing arm is movably connected in the connecting hole at the top of turntable by connecting rod；The transverse arm is movably connected in one end of trailing arm, and the inside of transverse arm is equipped with a common electric pushrod, and the side of transverse arm one end is equipped with a rectangular link block.The mating reaction of turntable and electric pushrod and armed lever at different levels can be passed through, Z axis arm is allowed to be bent, rotate and stretch, when the top X/Y plane for encountering operating position has blocking, shape cut-through object can neatly be changed and worked normally in the operating position of bottom, solving the X/Y plane at the top of existing truss robot operating position has entity article to stop constantly, the problem of Z axis arm can not carry out operation around the entity article of X/Y plane, improves the practicability and applicability of the device.
Description
Technical field
The invention belongs to truss robot technical fields, more specifically, in particular to a kind of based on truss robot
Boosting manipulator arm configuration.
Background technique
Truss robot is called Cartesian robot, is using XYZ rectangular coordinate system as basic mathematic model, with servo
Motor, stepper motor are that the uniaxial mechanical arm of driving is groundwork unit, are with ball screw, synchronous belt, rack-and-pinion
The robot system that common kind of drive institute framework gets up, can complete the arrival at any point in XYZ three-dimensional system of coordinate
With follow controllable motion profile.
Such as application No. is: in the patent of CN201721603204.X, disclose a kind of truss robot Z axis combination grip machine
Structure, including Z axis and the tooling mainboard that Z axis lower end is arranged in；Z axis lower end side is provided with cylinder body clamping device one；It is described
Cylinder body clamping device one includes sliding rail, and the sliding rail is vertical with Z axis, and the Z axis is connected to the middle part of sliding rail, is slided on the sliding rail
Shifting is connected with two pieces of sliding blocks, and the both ends of the sliding rail are provided with the baffle that anti-limited slip block is detached from, consolidate respectively on two sliding blocks
Surely it is connected with tooling fagging；One end of the tooling fagging is fixedly connected with a slide block, and the other end extends to far from Z-direction, and
And the positioning column with the cooperation of the through-hole of cylinder body is provided with two opposite sides of tooling fagging；One of them described tooling support
Cylinder one is provided on plate, the piston rod of the cylinder one is connect with another tooling fagging.
Although existing truss robot with XYZ freedom and flexibility again can be moved according to programming, the truss of all kinds
Robot is straight up and down, if thus causing the XY at the top of truss robot operating position in the motion profile of Z axis
Plane has entity article to stop constantly, and Z axis arm can not carry out operation to the operating position of bottom around the entity article of X/Y plane.
Then, it in view of this, being studied improvement for existing structure and missing, provides a kind of based on truss robot
Boosting manipulator arm configuration, to reach more practical purpose.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of boosting manipulator arm configuration based on truss robot,
There is entity article to stop constantly to solve the X/Y plane at the top of existing truss robot operating position, Z axis arm can not be flat around XY
The entity article in face carries out the problem of operation.
The present invention is based on the purposes and effect of the boosting manipulator arm configuration of truss robot, by technological means in detail below
Reached:
A kind of boosting manipulator arm configuration based on truss robot, including attachment base, turntable, trailing arm, transverse arm, clamping jaw dress
It sets, electric pushrod, terminal pad, decelerating motor and link block；The inside of the attachment base is equipped with rectangle fixing body, and fixing body
It is interior to be equipped with motor mounting groove and turntable mounting groove, and attachment base passes through the reserved screw hole screw twist-on at top in truss robot
Z axis arm one end；The turntable is fixedly connected in the turntable mounting groove inside attachment base, and the side of turntable is equipped with rectangular
Link block；The trailing arm is movably connected in the connecting hole at the top of turntable by connecting rod, and two in the middle part of trailing arm side
It is respectively equipped with arc-shaped and rectangular link block；The transverse arm is movably connected in one end of trailing arm, and the inside of transverse arm is equipped with
A piece common electric pushrod, and the side of transverse arm one end is equipped with a rectangular link block；The clamping jaw device by dewclaw, under
Pawl, contact disc, shell, pin rod and electric pushrod composition；The middle part of the dewclaw and lower claw is flexibly connected one end inside the housing
Position up and down, and the tail end of dewclaw and lower claw design have the inclined plate with guide groove, and the guide groove of dewclaw and lower claw tail portion
Inside it is plugged with pin rod；The contact disc screw twist-on is in the side of terminal pad, and contact disc screw twist-on is in shell one end；It is described
Terminal pad is fixedly connected on one end of electric pushrod in transverse arm；The decelerating motor is fixedly connected on the peace of the motor inside attachment base
In tankage.
Further, there are two the electric pushrod designs in the outside of mechanical arm body, and the both ends of an electric pushrod
It is respectively and movably connected to the link block of turntable and the arc link block of trailing arm side, and the both ends of another electric pushrod are lived respectively
The rectangle link block of dynamic connection trailing arm side and the link block of transverse arm side.
Further, the side of the terminal pad is surrounded by perforative reserved screw hole.
Further, one end of the electric pushrod in the clamping jaw device is fixedly connected on one middle side part of contact disc, and electricity
The other end of dynamic push rod is socketed in the middle part of pin rod.
Further, the bottom of the turntable is equipped with a circle gear teeth, and the bull stick top design of decelerating motor has and turntable
The rotate gear that the bottom gear teeth match.
Compared with prior art, the invention has the following beneficial effects:
Firstly, the device improves the Z axis arm of traditional truss robot, can by turntable and electric pushrod and
The mating reaction of armed levers at different levels allows Z axis arm to be bent, rotate and stretch, and has in the top X/Y plane for encountering operating position
When blocking, it can neatly change shape cut-through object and be worked normally in the operating position of bottom, solve existing truss
X/Y plane at the top of robot operating position have entity article stop constantly, Z axis arm can not around X/Y plane entity article into
The problem of row operation, improves the practicability and applicability of the device.
Secondly, the side of terminal pad is surrounded by reserved screw hole, clamping jaw device is vertically connected with terminal pad
Connect or lateral connection, can neatly be selected according to need of work, and clamping jaw device can be driven by electric pushrod dewclaw and under
Claw clip takes article or work implement to work, and improves the flexibility of the device.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Structural schematic diagram when Fig. 2 is armed lever change of the present invention movement.
Fig. 3 is the schematic diagram of internal structure of clamping jaw device of the present invention.
Fig. 4 is the schematic diagram of internal structure of attachment base of the present invention.
In figure, the corresponding relationship of component names and accompanying drawing number are as follows:
1, attachment base；2, turntable；3, trailing arm；4, transverse arm；5, clamping jaw device；6, electric pushrod；7, terminal pad；8, slow down electricity
Machine；9, link block.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment:
As shown in attached drawing 1 to attached drawing 4:
The present invention provides a kind of boosting manipulator arm configuration based on truss robot, including attachment base 1, turntable 2, trailing arm
3, transverse arm 4, clamping jaw device 5, electric pushrod 6, terminal pad 7, decelerating motor 8 and link block 9；The inside of the attachment base 1 is equipped with
Rectangle fixing body, and 2 mounting groove of motor mounting groove and turntable is equipped in fixing body, and attachment base 1 passes through the reserved spiral shell at top
Wire hole screw twist-on is in one end of the Z axis arm of truss robot；The turntable 2 is fixedly connected on the peace of the turntable 2 inside attachment base 1
In tankage, and the side of turntable 2 is equipped with rectangular link block 9；The trailing arm 3 is movably connected in 2 top of turntable by connecting rod
Connecting hole in, and two sides at the middle part of trailing arm 3 are respectively equipped with arc-shaped and rectangular link block 9；4 activity of transverse arm
It is connected to one end of trailing arm 3, and the inside of transverse arm 4 is equipped with a common electric pushrod 6, and the side of 4 one end of transverse arm is equipped with
One rectangular link block 9；The clamping jaw device 5 is by dewclaw 501, lower claw 502, contact disc 503, shell 504, pin rod 505 and electricity
Dynamic push rod 6 forms；The middle part of the dewclaw 501 and lower claw 502 is movably connected in the position up and down of 504 inside one end of shell, and
The design of the tail end of dewclaw 501 and lower claw 502 has the inclined plate with guide groove, and in the guide groove of 502 tail portion of dewclaw 501 and lower claw
It is plugged with pin rod 505；The 503 screw twist-on of contact disc is in the side of terminal pad 7, and 503 screw twist-on of contact disc is in shell
504 one end；The terminal pad 7 is fixedly connected on one end of electric pushrod 6 in transverse arm 4；8 company of being fixedly connected on of decelerating motor
In motor mounting groove inside joint chair 1.
It is moderate electrical connection and the control system control of suspension truss robot between the electric pushrod 6 and decelerating motor 8,
Physical circuit composition and control system are existing mature technology, do not do tired state herein.
Wherein, there are two the electric pushrod 6 designs in the outside of mechanical arm body, and the both ends of an electric pushrod 6 point
It is not movably connected in the arc link block 9 of 3 side of link block 9 and trailing arm of turntable 2, and the both ends of another electric pushrod 6 point
Not Huo Donglianjie 3 side of trailing arm 4 side of rectangle link block 9 and transverse arm link block 9, as shown in Fig. 1, the design so that
It is that the independent stretching, extension of armed levers at different levels and contraction reach avoiding barrier and arrive at the demand of assigned work position, improve the dress
The adaptability and practicability set.
Wherein, the side of the terminal pad 7 is surrounded by perforative reserved screw hole, and clamping jaw device 5 can pass through terminal pad 7
The vertical connection of reserved screw hole selection or lateral connection, and a middle side part of contact disc 503 is equipped with square protruding, terminal pad
7 side is equipped with square groove, ensure that the stability of clamping jaw device 5 after docking, improves the safety of the device.
Wherein, one end of the electric pushrod 6 in the clamping jaw device 5 is fixedly connected on 503 1 middle side part of contact disc, and electricity
The other end of dynamic push rod 6 is socketed in the middle part of pin rod 505, as shown in Fig. 3, controllable by the stretching, extension and contraction of electric pushrod 6
The clamping and opening of clamping jaw processed, can clamp article movement or clamping device carrys out work.
Wherein, the bottom of the turntable 2 is equipped with a circle gear teeth, and the bull stick top design of decelerating motor 8 has and 2 bottom of turntable
The rotate gear that portion's gear teeth match rotates armed lever using Z axis as the center of circle to realize operation acts as shown in Fig. 4
Demand, improve the flexibility of the device.
The specifically used mode and effect of the present embodiment:
In the present invention, by the reserved screw hole of 1 bottom of attachment base by the device twist-on truss robot Z axis arm
One end controls movement and the dress of the X-axis arm, Y-axis arm and Z axis arm of truss robot by the control system of truss robot
The decelerating motor 8 and electric pushrod at different levels 6 set control turntable 2, the rotation of trailing arm 3 and transverse arm 4, stretching, extension and contraction reach refer to
Determine operating position, can control the electric pushrod 6 inside clamping jaw device 5 to realize the clamping and opening of clamping jaw, to realize clamping object
Product are mobile and clamp the purpose of work implement work.
The embodiment of the present invention is given for the purpose of illustration and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Selecting and describe embodiment is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application
It will be appreciated that the present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (5)
1. a kind of boosting manipulator arm configuration based on truss robot, it is characterised in that: should the power-assisted based on truss robot
Mechanical arm structure includes attachment base (1), turntable (2), trailing arm (3), transverse arm (4), clamping jaw device (5), electric pushrod (6), company
It connects disk (7), decelerating motor (8) and link block (9)；The inside of the attachment base (1) is equipped with rectangle fixing body, and in fixing body
Equipped with motor mounting groove and turntable (2) mounting groove, and attachment base (1) passes through the reserved screw hole screw twist-on at top in truss machine
One end of the Z axis arm of device people；The turntable (2) is fixedly connected in internal turntable (2) mounting groove of attachment base (1), and turntable
(2) side is equipped with rectangular link block (9)；The trailing arm (3) is movably connected in the connection at the top of turntable (2) by connecting rod
Two sides in hole, and in the middle part of trailing arm (3) are respectively equipped with arc-shaped and rectangular link block (9)；Transverse arm (4) activity
It is connected to one end of trailing arm (3), and the inside of transverse arm (4) is equipped with a common electric pushrod (6), and transverse arm (4) one end
Side is equipped with a rectangular link block (9)；The clamping jaw device (5) is by dewclaw (501), lower claw (502), contact disc (503), outer
Shell (504), pin rod (505) and electric pushrod (6) composition；The middle part of the dewclaw (501) and lower claw (502) is flexibly connected outside
The position up and down of the internal one end of shell (504), and the design of the tail end of dewclaw (501) and lower claw (502) has the inclined plate with guide groove,
And pin rod (505) are plugged in dewclaw (501) and the guide groove of lower claw (502) tail portion；Contact disc (503) the screw twist-on exists
The side of terminal pad (7), and contact disc (503) screw twist-on is in shell (504) one end；The terminal pad (7) is fixedly connected on
One end of transverse arm (4) interior electric pushrod (6)；The decelerating motor (8) is fixedly connected on the internal motor mounting groove of attachment base (1)
It is interior.
2. the boosting manipulator arm configuration based on truss robot as described in claim 1, it is characterised in that: the electric pushrod
(6) there are two designing in the outside of mechanical arm body, and the both ends of an electric pushrod (6) are respectively and movably connected to turntable (2)
The arc link block (9) of link block (9) and trailing arm (3) side, and the both ends of another electric pushrod (6) be movably connected with it is vertical
The rectangle link block (9) of arm (3) side and the link block (9) of transverse arm (4) side.
3. the boosting manipulator arm configuration based on truss robot as described in claim 1, it is characterised in that: the terminal pad
(7) side is surrounded by perforative reserved screw hole.
4. the boosting manipulator arm configuration based on truss robot as described in claim 1, it is characterised in that: the clamping jaw device
(5) one end of the electric pushrod (6) in is fixedly connected on (503) one middle side part of contact disc, and another end cap of electric pushrod (6)
Connect the middle part in pin rod (505).
5. the boosting manipulator arm configuration based on truss robot as described in claim 1, it is characterised in that: the turntable (2)
Bottom be equipped with a circle gear teeth, and the bull stick top design of decelerating motor (8) has the rotation to match with turntable (2) bottom gear teeth
Gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910528897.8A CN110142751A (en) | 2019-06-19 | 2019-06-19 | A kind of boosting manipulator arm configuration based on truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910528897.8A CN110142751A (en) | 2019-06-19 | 2019-06-19 | A kind of boosting manipulator arm configuration based on truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110142751A true CN110142751A (en) | 2019-08-20 |
Family
ID=67595798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910528897.8A Withdrawn CN110142751A (en) | 2019-06-19 | 2019-06-19 | A kind of boosting manipulator arm configuration based on truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110142751A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603504A (en) * | 2022-03-14 | 2022-06-10 | 廉洪萍 | Machining clamping equipment based on stable clamping |
-
2019
- 2019-06-19 CN CN201910528897.8A patent/CN110142751A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603504A (en) * | 2022-03-14 | 2022-06-10 | 廉洪萍 | Machining clamping equipment based on stable clamping |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190820 |
|
| WW01 | Invention patent application withdrawn after publication |