CN111300393A

CN111300393A - Truss manipulator wrist mechanism

Info

Publication number: CN111300393A
Application number: CN202010245034.2A
Authority: CN
Inventors: 李志博; 宋明安; 梁启元
Original assignee: Ningxia Juneng Robot Co Ltd
Current assignee: Ningxia Juneng Robot Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-19

Abstract

The invention discloses a truss manipulator wrist mechanism which comprises an installation frame, a transmission frame, a sliding block, a cross beam, a transmission block, a transmission hole, a motor, a screw rod, a hydraulic cylinder, a lifting frame, a transmission rod, a first connecting seat, a fixed frame, a second connecting seat, a movable frame, a movable hole, a movable rod, a limiting block, a clamping plate, a spring, an installation groove, a first wheel frame, a guide wheel, a second wheel frame, a roller, a limiting pipe, a positioning block and a positioning groove. The wrist mechanism can be driven by the driving motor through the transmission fit between the lead screw and the transmission hole to move together with a clamped object, so that the position can be conveniently and randomly moved.

Description

Truss manipulator wrist mechanism

Technical Field

The invention relates to the technical field of truss machinery, in particular to a wrist mechanism of a truss manipulator.

Background

The truss robot, also often called a truss manipulator, is a fully automatic industrial device which is established on the basis of a rectangular X, Y and Z coordinate system, adjusts the station of a workpiece or realizes the functions of the workpiece such as track movement and the like, and the control core of the truss robot is realized by an industrial controller (such as a PLC, a motion control device, a singlechip and the like). The controller analyzes and processes various input (various sensors, buttons and the like) signals, and after certain logic judgment is made, an execution command is issued to each output element (a relay, a motor driver, an indicator light and the like) to complete the joint motion among the three axes of X, Y and Z, so that a whole set of full-automatic operation flow is realized.

The manipulator wrist is an important component mechanism of the truss robot, and is used for clamping objects or equipment so as to carry or operate. The existing manipulator wrist is poor in clamping stability due to the structural design, so that an object is easy to fall off when being clamped, and the existing manipulator wrist is not flexible enough and cannot move the position of a wrist mechanism randomly as required, so that improvement is urgently needed.

Disclosure of Invention

The invention aims to provide the following advantages: in order to solve the existing problems, the truss manipulator wrist mechanism is provided.

In order to achieve the purpose, the invention adopts the technical scheme that:

a truss manipulator wrist mechanism comprises a mounting frame, wherein the top of the mounting frame is fixedly connected with a transmission frame, the tops of two sides of the transmission frame are fixedly connected with sliding blocks, cross beams are inserted into the sliding blocks, the tops of the sliding blocks are fixedly connected with transmission blocks, transmission holes are formed in the transmission blocks, a motor is installed at the top of one end of each cross beam, a lead screw is installed at the output end of the motor and penetrates through the transmission holes in the two transmission blocks, a hydraulic cylinder is installed at the top of an inner cavity of the mounting frame, the bottom end of an output shaft of the hydraulic cylinder is fixedly connected with a lifting frame, the bottom of the lifting frame is fixedly connected with a transmission rod, the transmission rod extends to the lower side of the mounting frame, the two sides of the bottom end of the transmission rod are fixedly connected with first connecting seats, the two sides, the second connecting seat is rotatably connected with a movable frame, and the other end of the movable frame is rotatably connected to the first connecting seat.

Preferably, the movable hole has been seted up to the bottom of adjustable shelf, the movable rod has been inserted in the movable hole, the one end fixedly connected with stopper of movable rod, its other end fixedly connected with splint, fixedly connected with spring on the splint, the spring is located the both sides of movable rod, and its other end fixed connection is at the inner wall of adjustable shelf.

Preferably, the splint is arc-shaped, a layer of rubber gasket is arranged on the surface of the inner wall of the splint, and herringbone anti-skidding lines are carved on the surface of the rubber gasket.

Preferably, the side walls of the two sides of the lifting frame are provided with mounting grooves, a first wheel frame is fixedly connected in the mounting grooves, and guide wheels are mounted on the first wheel frame.

Preferably, a circle of gear teeth are uniformly distributed on the surface of the wheel wall of the guide wheel, and a plurality of rack teeth meshed with the gear teeth of the guide wheel are uniformly distributed on the surfaces of the inner walls on the two sides of the mounting rack.

Preferably, the top of the transmission frame is fixedly connected with a plurality of second wheel frames, each second wheel frame is provided with a roller, and the rollers are tangent to the bottom surface of the beam.

Preferably, the bottom of the mounting rack is provided with a limiting pipe, the inner diameter of the limiting pipe is equal to the rod diameter of the transmission rod, the center of the limiting pipe is located on the same straight line, and the transmission rod penetrates through the limiting pipe.

Preferably, the top of one end of the cross beam, which is far away from the motor, is fixedly connected with a positioning block, a positioning groove is formed in the positioning block, and the tail end of the lead screw is inserted into the positioning groove.

Due to the adoption of the technical scheme, the invention has the beneficial effects that:

according to the truss manipulator wrist mechanism, an object is clamped and fixed through the two clamping plates, the rubber gaskets are arranged on the inner wall surfaces of the clamping plates, the clamping stability can be improved, the object is prevented from falling off, the wrist mechanism can be driven to move together with the clamped object through the transmission fit between the lead screw and the transmission hole through the driving motor, the position can be conveniently and randomly moved, the stability during moving can be improved through the rolling action of the roller, the shaking in the moving process is prevented, the lifting frame can be used for driving the transmission rod to move up and down through the driving hydraulic cylinder, the movable frame can be driven to rotate through the transmission rod, the two clamping plates are separated from the two sides of the clamped object, the object is put down, the stability of the lifting frame and the transmission rod can be improved through the guide wheels and the limiting pipes, and the shaking.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of FIG. 1 at A;

fig. 3 is a schematic side view of a slider.

In the figure: 1. a mounting frame; 2. a transmission frame; 3. a slider; 4. a cross beam; 5. a transmission block; 6. a drive bore; 7. a motor; 8. a lead screw; 9. a hydraulic cylinder; 10. a lifting frame; 11. a transmission rod; 12. a first connecting seat; 13. a fixed mount; 14. a second connecting seat; 15. a movable frame; 16. a movable hole; 17. a movable rod; 18. a limiting block; 19. a splint; 20. a spring; 21. mounting grooves; 22. a first wheel carrier; 23. a guide wheel; 24. a second wheel carrier; 25. a roller; 26. a limiting pipe; 27. positioning blocks; 28. and (6) positioning a groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

Example 1, as shown in figures 1-3:

a truss manipulator wrist mechanism comprises a mounting frame 1, the top of the mounting frame 1 is fixedly connected with a transmission frame 2, the tops of two sides of the transmission frame 2 are fixedly connected with sliders 3, cross beams 4 are inserted into the sliders 3, the tops of the sliders 3 are fixedly connected with transmission blocks 5, transmission holes 6 are formed in the transmission blocks 5, a motor 7 is installed at the top of one end of each cross beam 4, the motor 7 is externally connected with a power supply through a wire, a lead screw 8 is installed at the output end of the motor 7, the lead screw 8 penetrates through the transmission holes 6 in the two transmission blocks 5, internal threads matched with the lead screw 8 are engraved on the inner wall of each transmission hole 6, a positioning block 27 is fixedly connected to the top of one end, away from the motor 7, of each cross beam 4, a positioning groove 28 is formed in the positioning block 27, the tail end of the lead screw 8 is inserted into the positioning groove 28, the stability of the lead screw, each second wheel frame 24 is provided with a roller 25, the roller 25 is tangent with the bottom surface of the cross beam 4, the stability of the transmission frame 2 can be improved by using the rolling action of the roller 25, the shaking can be prevented when the transmission frame moves left and right, the top of the inner cavity of the installation frame 1 is provided with a hydraulic cylinder 9, the hydraulic cylinder 9 is externally connected with a power supply through a wire, the bottom end of an output shaft is fixedly connected with a lifting frame 10, the side walls of the two sides of the lifting frame 10 are respectively provided with an installation groove 21, the installation groove 21 is internally and fixedly connected with a first wheel frame 22, the first wheel frame 22 is provided with a guide wheel 23, the wheel wall surface of the guide wheel 23 is uniformly distributed with a circle of wheel teeth, the inner wall surfaces of the two sides of the installation frame 1 are uniformly distributed with a plurality of rack teeth meshed with the wheel teeth of the guide wheel 23, the bottom of the mounting frame 1 is provided with a limiting pipe 26, the inner diameter of the limiting pipe 26 is equal to the rod diameter of the transmission rod 11, the center of the limiting pipe 26 is positioned on the same straight line, the transmission rod 11 penetrates through the limiting pipe 26, the stability of the transmission rod 11 can be improved by utilizing the limiting pipe 26, the transmission rod 11 is prevented from shaking during transmission, the transmission rod 11 extends to the lower part of the mounting frame 1, both sides of the bottom end of the transmission rod 11 are fixedly connected with a first connecting seat 12, both sides of the bottom of the mounting frame 1 are fixedly connected with a fixed frame 13, the inner wall of the fixed frame 13 is fixedly connected with a second connecting seat 14, a movable frame 15 is rotatably connected on the second connecting seat 14, the other end of the movable frame 15 is rotatably connected on the first connecting seat 12, the bottom end of the movable frame 15 is provided with a movable hole 16, a movable rod 17 is inserted into the movable hole, the spring 20 is located the both sides of movable rod 17, and its other end fixed connection is at the inner wall of adjustable shelf 15, and splint 19 is the arc, and its inner wall surface is provided with one deck rubber gasket, and the surperficial chevron shape antiskid line that is carved with of rubber gasket can increase splint 19 and by the frictional force between the centre gripping object to improve the stability of centre gripping, take place to drop in order to avoid the centre gripping in-process object.

The working principle is as follows: when the wrist mechanism is used, firstly, the external power supply drives the motor 7 to drive the lead screw 8 to rotate, the lead screw 8 drives the slide block 3 and the transmission frame 2 to move left and right along the cross beam 4 through transmission fit with the transmission hole 6 after rotating, until the wrist mechanism is moved to a designated position, the two clamp plates 19 can be tightly clamped at two sides of an object under the elastic action of the spring 20 so as to clamp and fix the object, then the wrist mechanism drives the clamped object to move through the driving motor 7, after the wrist mechanism is moved to a destination, the external power supply drives the hydraulic cylinder 9 to drive the lifting frame 10 to move downwards, when the lifting frame 10 moves downwards, the first connecting seats 12 at two sides of the bottom end of the transmission rod 11 can drive the movable frame 15 to rotate around the second connecting seat 14, and after the movable frame 15 rotates, the two clamp plates 19 can leave the clamped object, thereby dropping the object.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a truss manipulator wrist mechanism, includes mounting bracket (1), its characterized in that: the top of the mounting rack (1) is fixedly connected with a transmission rack (2), the tops of the two sides of the transmission rack (2) are fixedly connected with sliders (3), a cross beam (4) is inserted into the sliders (3), the tops of the sliders (3) are fixedly connected with transmission blocks (5), transmission holes (6) are formed in the transmission blocks (5), a motor (7) is installed at the top of one end of each cross beam (4), a lead screw (8) is installed at the output end of each motor (7), the lead screw (8) penetrates through the transmission holes (6) in the two transmission blocks (5), a hydraulic cylinder (9) is installed at the top of an inner cavity of the mounting rack (1), a lifting rack (10) is fixedly connected to the bottom of an output shaft of the hydraulic cylinder (9), a transmission rod (11) is fixedly connected to the bottom of the lifting rack (10), and the transmission rod (11) extends to the lower, the utility model discloses a quick-witted support, its bottom both sides first connecting seat of equal fixedly connected with (12), the equal fixedly connected with mount (13) in bottom both sides of mounting bracket (1), the inner wall fixedly connected with second connecting seat (14) of mount (13), it is connected with adjustable shelf (15) to rotate on second connecting seat (14), the other end of adjustable shelf (15) is rotated and is connected on first connecting seat (12).

2. A truss manipulator wrist mechanism as defined in claim 1 wherein: activity hole (16) have been seted up to the bottom of adjustable shelf (15), movable rod (17) have been inserted in activity hole (16), the one end fixedly connected with stopper (18) of movable rod (17), its other end fixedly connected with splint (19), fixedly connected with spring (20) on splint (19), spring (20) are located the both sides of movable rod (17), and its other end fixed connection is at the inner wall of adjustable shelf (15).

3. A truss manipulator wrist mechanism as defined in claim 2 wherein: the clamping plate (19) is arc-shaped, a layer of rubber gasket is arranged on the surface of the inner wall of the clamping plate, and herringbone anti-skidding lines are carved on the surface of the rubber gasket.

4. A truss manipulator wrist mechanism as defined in claim 1 wherein: mounting grooves (21) are formed in the side walls of the two sides of the lifting frame (10), a first wheel frame (22) is fixedly connected in the mounting grooves (21), and guide wheels (23) are mounted on the first wheel frame (22).

5. The truss manipulator wrist mechanism of claim 4, wherein: the wheel wall surface of the guide wheel (23) is uniformly distributed with a circle of wheel teeth, and the inner wall surfaces of two sides of the mounting rack (1) are uniformly distributed with a plurality of strip teeth meshed with the wheel teeth of the guide wheel (23).

6. A truss manipulator wrist mechanism as defined in claim 1 wherein: the top of the transmission frame (2) is fixedly connected with a plurality of second wheel frames (24), each second wheel frame (24) is provided with a roller (25), and the rollers (25) are tangent to the bottom surface of the cross beam (4).

7. A truss manipulator wrist mechanism as defined in claim 1 wherein: spacing pipe (26) have been seted up to the bottom of mounting bracket (1), the internal diameter of spacing pipe (26) equals the pole footpath of transfer line (11), and its center is located same straight line, spacing pipe (26) is run through in transfer line (11).

8. A truss manipulator wrist mechanism as defined in claim 1 wherein: crossbeam (4) keep away from one end top fixedly connected with locating piece (27) of motor (7), constant head tank (28) have been seted up on locating piece (27), the end of lead screw (8) inserts in constant head tank (28).