CN113084785A

CN113084785A - Truss manipulator

Info

Publication number: CN113084785A
Application number: CN202110399378.3A
Authority: CN
Inventors: 万玉佳
Original assignee: Lianshui Gongying Wood Products Co ltd
Current assignee: Lianshui Gongying Wood Products Co ltd
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-07-09

Abstract

The invention relates to the technical field of manipulators, and discloses a truss manipulator which comprises a supporting rod, wherein the lower part of the supporting rod is fixedly connected with a lower connecting plate, the middle part of the lower connecting plate is movably connected with a universal wheel, and a movable column is movably sleeved in the inner part of one side of the lower connecting plate. This truss manipulator, through cup jointing the inside in horizontal pole one side with the activity of device gear one, cup joint the upper portion and the lower part at the horizontal pole with the activity of device pulley one respectively simultaneously, the distance that the device upper portion connecting plate promoted under two elastic actions of device spring under simultaneously and motor between one is adjusted, when needs are dismantled, can drive the inside of the skew horizontal pole of device pulley one through the thrust unit upper portion connecting plate that makes progress, make and conveniently carry out the effect of dismantling with device pulley one, the upper portion activity of device support column is cup jointed in the inside of pressing from both sides cover one, make when using carry out the effect of injecing to the position of device spring two.

Description

Truss manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a truss manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The truss manipulator is characterized in that various expected operations can be completed through programming, the advantages of both human and manipulator machines are achieved in structure and performance, and the truss manipulator is usually used in different production intervals, so that the truss manipulator is developed.

In current truss manipulator, common device only can be fixed at the relevant position, make when carrying out the centre gripping to different positions, there is the inconvenient phenomenon of operation, common device gear is at the activity in-process, need install pulley one to upper portion and lower part, make the effect of fixing a position to device gear one removal in-process, but there is inconvenient phenomenon and common needs to carry out the centre gripping to the interval upper portion of different width processing when dismantling device gear one and pulley one, common device size is injectd, make the phenomenon that is difficult to adjust.

Disclosure of Invention

Aiming at the defects of the existing truss manipulator, the truss manipulator provided by the invention has the advantages that different processing sections can be conveniently adjusted, a driving device can be conveniently driven to move and simultaneously position, and the moving part can be conveniently installed and detached, so that the problems in the background technology are solved.

The invention provides the following technical scheme: the truss manipulator comprises a supporting rod, wherein the lower part of the supporting rod is fixedly connected with a lower connecting plate, the middle part of the lower connecting plate is movably connected with a universal wheel, a movable column is movably sleeved in the lower part of one side of the lower connecting plate, the upper part of the movable column is fixedly connected with a pressing plate, a spring is movably sleeved outside the upper part of the movable column, a lower anti-skid pad is fixedly connected with the lower part of the movable column, a bolt connecting plate is fixedly connected with the lower part of one side of the pressing plate, a cross rod is fixedly connected with the upper part of the supporting rod, a supporting jacket is fixedly connected with the inner side of the cross rod, a supporting plate is movably sleeved in the inner part of the other side of the supporting jacket, a first gear is movably sleeved in the middle part of the inner side of the cross, the outer activity of support column has cup jointed spring two, pulley one has been cup jointed in the inner activity of upper portion connecting plate front end, the middle part fixedly connected with on motor one upper portion presss from both sides cover one, the front end swing joint that presss from both sides cover one has the connecting plate, the internally mounted on connecting plate upper portion has fastening bolt one, the outside fixedly connected with middle part movable sleeve of motor one, the outside activity of middle part movable sleeve has cup jointed indulges the slide bar, the middle part activity of indulging the slide bar front end has cup jointed motor two, the outside fixedly connected with of motor two presss from both sides cover two, the outside swing joint that indulges slide bar upper portion has pulley two, the back fixedly connected with hydraulic telescoping rod of motor two, hydraulic telescoping rod's lower part fixedly connected.

Preferably, one side of the lower portion of the supporting rod is provided with a groove, the inside of the bolt connecting plate is provided with four bolts, the movable column and the lower anti-slip mat are respectively arranged inside the lower connecting plate, and the spring is clamped between the lower connecting plate and the pressing plate.

Preferably, the outer part of the support plate is square, a fastening bolt is arranged in the support jacket, and the inner side of the fastening bolt is in contact with the outer part of the support plate.

Preferably, the first gear is movably sleeved inside one side of the cross rod, the first pulley is clamped inside the upper portion and the lower portion of the cross rod, provided with the sliding grooves, the upper portion of the supporting column penetrates through the inside of the first clamping sleeve, and the second spring is clamped between the first clamping sleeve and the upper connecting plate.

Preferably, the connecting plate and the clamping sleeve form a square baffle, the first clamping sleeve and the connecting plate are movably sleeved outside the cross rod, and the first fastening bolt penetrates through the connecting plate and is connected with the inner thread on one side of the first clamping sleeve.

Preferably, the inner parts of the two sides of the longitudinal sliding rod are respectively movably sleeved with a middle movable sleeve, and a bolt is arranged between the middle movable sleeve and the connecting part of the longitudinal sliding rod.

Preferably, the second clamping sleeve is movably sleeved outside the longitudinal sliding rod, a roller is mounted on one side of the second pulley, the roller is movably sleeved inside a groove formed in one side of the longitudinal sliding rod, and gear teeth are mounted inside the groove formed in the middle of one side of the longitudinal sliding rod and the middle of one side of the cross rod.

Preferably, the motor on one side of the motor II and the motor installed on one side of the motor are respectively connected to an intelligent control system, and the intelligent control system can control the hydraulic telescopic rod to stretch and retract and the mechanical clamping device to open and close.

Compared with the existing truss manipulator, the invention has the following beneficial effects:

1. this truss manipulator, install the universal wheel through the lower part with device lower part connecting plate, install the gyro wheel through device universal wheel lower part, make things convenient for the device to remove subaerial, remove simultaneously to the relevant position after, press downwards, drive the lower part and the ground contact of device lower part slipmat simultaneously, make and produce frictional force through lower part slipmat and ground, make and fix a position, the internally mounted with the bolt connecting plate has the bolt simultaneously, it cup joints the inside of seting up the recess in bracing piece lower part one side to drive the bolt activity simultaneously, the position of so far drive device clamp plate is injectd, make when using convenient drive device remove subaerial, and the effect of fixing a position.

2. This truss manipulator, the equal activity in both sides of indulging the slide bar through the device has cup jointed the middle part movable sleeve, through the position of adjusting device middle part movable sleeve in the inside of indulging the slide bar for can carry out the effect of adjusting to the whole size of device, make the convenient effect of carrying out the centre gripping on moving to the article that the width is different, the back mounted who indulges the slide bar through the device simultaneously has the bolt, make the convenience carry out the effect of injecing to the device middle part movable sleeve and indulge the position between the slide bar.

3. This truss manipulator, through cup jointing the inside in horizontal pole one side with the activity of device gear one, cup joint the upper portion and the lower part at the horizontal pole with the activity of device pulley one respectively simultaneously, the distance that the device upper portion connecting plate promoted under two elastic actions of device spring under simultaneously and motor between one is adjusted, when needs are dismantled, can drive the inside of the skew horizontal pole of device pulley one through the thrust unit upper portion connecting plate that makes progress, make and conveniently carry out the effect of dismantling with device pulley one, the upper portion activity of device support column is cup jointed in the inside of pressing from both sides cover one, make when using carry out the effect of injecing to the position of device spring two.

Drawings

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

FIG. 2 is a schematic side view of the structural body of the present invention;

FIG. 3 is a schematic cross-sectional view of a mobile device of the present invention;

FIG. 4 is an enlarged view of a portion of the structural support base of the present invention.

In the figure: 1. a support bar; 2. a lower connecting plate; 3. a universal wheel; 4. a movable post; 5. pressing a plate; 6. a spring; 7. a lower non-slip mat; 8. a bolt connecting plate; 9. a cross bar; 10. a support jacket; 11. a support plate; 12. a first gear; 13. a first motor; 14. an upper connecting plate; 15. a support pillar; 16. a second spring; 17. a first pulley; 18. a first jacket; 19. a connecting plate; 20. fastening a first bolt; 21. a middle movable sleeve; 22. a longitudinal slide bar; 23. a second motor; 24. a second jacket; 25. a second pulley; 26. a hydraulic telescopic rod; 27. a mechanical clamping device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the truss manipulator comprises a support rod 1, a lower connecting plate 2 is fixedly connected to the lower portion of the support rod 1, a universal wheel 3 is movably connected to the middle portion of the lower connecting plate 2, a movable column 4 is movably sleeved inside one side of the lower connecting plate 2, a pressing plate 5 is fixedly connected to the upper portion of the movable column 4, a spring 6 is movably sleeved outside the upper portion of the movable column 4, a lower anti-skid pad 7 is fixedly connected to the lower portion of the movable column 4, a bolt connecting plate 8 is fixedly connected to the lower portion of one side of the pressing plate 5, a cross rod 9 is fixedly connected to the upper portion of the support rod 1, a support jacket 10 is fixedly connected to the inner side of the cross rod 9, a support plate 11 is movably sleeved inside the other side of the support jacket 10, a first gear 12 is movably sleeved in the, the upper portion of upper portion connecting plate 14 fixedly connected with support column 15, the outside activity of support column 15 has cup jointed spring two 16, the inside activity of upper portion connecting plate 14 front end has cup jointed pulley one 17, the middle part fixedly connected with on the upper portion of motor one 13 presss from both sides cover one 18, the front end swing joint of pressing from both sides cover one 18 has connecting plate 19, the internally mounted on connecting plate 19 upper portion has fastening bolt one 20, the outside fixedly connected with middle part movable sleeve 21 of motor one 13, the outside activity of middle part movable sleeve 21 has cup jointed indulges slide bar 22, the middle part activity of indulging the slide bar 22 front end has cup jointed motor two 23, the outside fixedly connected with of motor two 23 presss from both sides cover two 24, the outside swing joint of indulging slide bar 22 upper portion has pulley two 25, the back fixedly connected with hydraulic telescoping rod 26.

Wherein, one side of the lower part of the supporting rod 1 is provided with a groove, the inside of the bolt connecting plate 8 is provided with a bolt, four movable columns 4 and four lower anti-slip pads 7 are respectively arranged inside the lower connecting plate 2, the spring 6 is clamped between the lower connecting plate 2 and the pressing plate 5, the common device can only be fixed at a corresponding position, so that when different positions are clamped, the phenomenon of inconvenient operation exists, the universal wheel 3 is arranged at the lower part of the lower connecting plate 2 of the device, the roller wheel is arranged at the lower part of the universal wheel 3 of the device, the device can conveniently move on the ground, and the device can be pressed downwards after moving to the corresponding position, and simultaneously the lower part of the lower anti-slip pad 7 of the device is driven to contact with the ground, so that friction force is generated between the lower anti-slip pad 7 and the ground, so that positioning is carried out, meanwhile, the inside of, the position of the pressing plate 5 of the driving device is limited, so that the driving device is convenient to move on the ground when in use and has the function of positioning.

Wherein, the outside of backup pad 11 is square, and the internally mounted of supporting jacket 10 one side has fastening bolt, and fastening bolt's inboard and the outside contact of backup pad 11 through cup jointing backup pad 11 activity in the inside that supporting jacket 10, during the use, through adjusting device backup pad 11 and the position of supporting jacket between 10 for can adjust the distance between the horizontal pole 9 of both sides, conveniently adjust the effect of whole width when increasing the device and using.

Wherein, the first gear 12 is movably sleeved inside one side of the cross rod 9, the first pulley 17 is respectively clamped inside the upper part and the lower part of the cross rod 9 provided with the sliding groove, the upper part of the support post 15 passes through the inside of the first jacket 18, the second spring 16 is clamped between the first jacket 18 and the upper connecting plate 14, the first pulley 17 is required to be arranged on the upper part and the lower part of the common gear 12 in the moving process, so that the first gear 12 is positioned in the moving process, but the inconvenient phenomenon exists when the first gear 12 and the first pulley 17 are disassembled, the first gear 12 is movably sleeved inside one side of the cross rod 9, the first pulley 17 is respectively movably sleeved on the upper part and the lower part of the cross rod 9, meanwhile, the upper connecting plate 14 of the device pushes the distance between the first pulley and the first motor 13 under the elastic action of the second spring 16 to be adjusted, and when the disassembly is required, the device pulley I17 can be driven to deviate from the inner part of the cross rod 9 by pushing the device upper connecting plate 14 upwards, so that the device pulley I17 can be conveniently detached, the upper part of the device supporting column 15 is movably sleeved in the jacket I18, and the position of the device spring II 16 is limited when the device is used.

Wherein, the connecting plate 19 and the first jacket 18 form a square baffle, the first jacket 18 and the connecting plate 19 are movably sleeved outside the cross rod 9, the fastening bolt 20 penetrates through the connecting plate 19 and is simultaneously in threaded connection with the inner part of one side of the first jacket 18, the common device gear 12 is clamped inside the cross rod 9 to move, but a protection device is not arranged outside, so that the device is unstable when the device is used, the connecting plate 19 and the first jacket 18 are arranged outside the motor 13 of the device, and the connecting plate 19 and the first jacket 18 are movably sleeved outside the cross rod 9, so that when the connection is loosened and slides down, the connecting plate 19 and the first jacket 18 can be clamped outside the cross rod 9, so that the protective effect is increased when the device is used, and meanwhile, the first jacket 18 and the connecting plate 19 are driven by the fastening bolt 20 to move, so far, the function of connecting and fixing and conveniently disassembling between the device connecting plate 19 and the jacket I18 is added.

Wherein, the inside of indulging slide bar 22 both sides is the activity respectively cup jointed middle part movable sleeve 21, install the bolt between middle part movable sleeve 21 and the vertical slide bar 22 junction, the equal activity in both sides of indulging slide bar 22 through the device has cup jointed middle part movable sleeve 21, through the position of adjusting device middle part movable sleeve 21 in the inside of indulging slide bar 22, make the effect that can adjust the whole size of device, make the convenient effect of carrying out the centre gripping on the article that moves to the width difference, the back mounted of indulging slide bar 22 through the device has the bolt simultaneously, make the convenient effect of injecing the position between device middle part movable sleeve 21 and the vertical slide bar 22.

Wherein, the second jacket 24 is movably sleeved outside the longitudinal sliding rod 22, one side of the second pulley 25 is provided with a roller, the roller is movably sleeved inside one side of the longitudinal sliding rod 22 provided with a groove, the inner parts of the longitudinal sliding rod 22 and one side of the cross rod 9 provided with grooves are provided with gear teeth, the outer part of the longitudinal sliding rod 22 is movably sleeved through the second jacket 24, so that the device plays a role of protecting when in use, meanwhile, one layer of the second motor 23 is provided with a roller, so that the second pulley 25 is conveniently driven to be clamped outside the longitudinal sliding rod 22 when in use, the second motor 23 is positioned when in moving, the gear teeth are arranged inside the grooves arranged at the middle parts of the longitudinal sliding rod 22 and one side of the cross rod 9, so that the second motor 23 and the first gear 12 can be driven to be meshed and connected with the gear teeth arranged inside the longitudinal sliding rod 22 and the cross rod 9 when the second motor 23 and the first gear 12 are, so far, the device can be driven to move.

Wherein, the motor of motor two 23 one side and the motor of motor one 13 side installation, connect respectively on intelligence control system, the flexible and mechanical clamping device 27 inside of the steerable hydraulic telescoping rod of intelligence control system opens and shuts, motor and the motor of motor one 13 side installation of motor one side through installing motor two 23 one side, connect respectively on intelligence control system, make accessible intelligence control system carry out the position of controlling means hydraulic telescoping rod 26, make can drive the device and carry out the front and back left and right sides removal, adjust through the length of intelligence control system drive arrangement hydraulic telescoping rod 26 simultaneously, make can drive mechanical clamping device 27 and process article and contact, carry out the fixed effect of centre gripping to process article through mechanical clamping device 27 opening and shutting simultaneously

The working principle is as follows: when the device is used, the distance between the supporting jacket 10 and the supporting plate 11 is adjusted according to the size of a processing section, the distance between the middle movable sleeve 21 and the longitudinal sliding rod 22 is adjusted simultaneously, so that the device is conveniently moved to the upper part of a processing station integrally, meanwhile, the device is moved integrally, the universal wheel 3 is contacted with the ground and rolls, after the device is moved to a corresponding position, the pressing plate 5 is pressed downwards to drive the lower antiskid pad 7 to be contacted with the ground, meanwhile, the bolt is arranged in the bolt connecting plate 8 and is clamped in the groove arranged at the lower part of one side of the supporting rod 1 for positioning, when the device is used, the motor I13 is controlled to be started through the control system, the gear I12 of the device is driven to rotate, the gear I12 is driven to be meshed and connected with the groove arranged at one side of the transverse rod 9, the motor I13 of the, and simultaneously, the second motor 23 is started, so that the second hydraulic telescopic rod 26 is driven to longitudinally move on the upper part of the longitudinal sliding rod 22, the driving device is driven to move back and forth, the second hydraulic telescopic rod 26 can be driven to move to the lower part of the object to be clamped when the device is used, and simultaneously, the second hydraulic telescopic rod 26 is started to drive the mechanical clamping device 27 to be in contact with the object and control the mechanical clamping device 27 to clamp the object.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Truss manipulator, including bracing piece (1), its characterized in that: the lower portion of the supporting rod (1) is fixedly connected with a lower portion connecting plate (2), the middle portion of the lower portion connecting plate (2) is movably connected with a universal wheel (3), a movable column (4) is sleeved on the inner portion of one side of the lower portion connecting plate (2), a pressing plate (5) is fixedly connected to the upper portion of the movable column (4), a spring (6) is sleeved on the outer portion of the upper portion of the movable column (4), a lower portion non-slip mat (7) is fixedly connected to the lower portion of the movable column (4), a plug pin connecting plate (8) is fixedly connected to the lower portion of one side of the pressing plate (5), a cross rod (9) is fixedly connected to the upper portion of the supporting rod (1), a supporting jacket (10) is fixedly connected to the inner side of the cross rod (9), a supporting plate (11) is sleeved on the inner portion of, a first motor (13) is mounted on the inner side of the first gear (12), a first upper connecting plate (14) is movably sleeved on one side of the upper portion of the first motor (13), a supporting column (15) is fixedly connected to the upper portion of the first upper connecting plate (14), a second spring (16) is movably sleeved on the outer portion of the supporting column (15), a first pulley (17) is movably sleeved on the inner portion of the front end of the first upper connecting plate (14), a first jacket (18) is fixedly connected to the middle portion of the upper portion of the first motor (13), a connecting plate (19) is movably connected to the front end of the first jacket (18), a first fastening bolt (20) is mounted inside the upper portion of the connecting plate (19), a middle movable sleeve (21) is fixedly connected to the outer side of the first motor (13), a longitudinal sliding rod (22) is movably sleeved on the outer portion of the middle movable sleeve (21), a second motor (, the outer part of the second motor (23) is fixedly connected with a second jacket (24), the outer part of the upper part of the longitudinal sliding rod (22) is movably connected with a second pulley (25), the back surface of the second motor (23) is fixedly connected with a hydraulic telescopic rod (26), and the lower part of the hydraulic telescopic rod (26) is fixedly connected with a mechanical clamping device (27).

2. The truss manipulator of claim 1, wherein: one side of the lower portion of the supporting rod (1) is provided with a groove, bolts are arranged inside the bolt connecting plates (8), four movable columns (4) and four lower anti-slip pads (7) are arranged inside the lower portion connecting plates (2) respectively, and the springs (6) are clamped between the lower portion connecting plates (2) and the pressing plates (5).

3. The truss manipulator of claim 1, wherein: the outer portion of the supporting plate (11) is square, a fastening bolt is mounted inside one side of the supporting jacket (10), and the inner side of the fastening bolt is in contact with the outer portion of the supporting plate (11).

4. The truss manipulator of claim 1, wherein: the gear I (12) is movably sleeved inside one side of the cross rod (9), the pulley I (17) is clamped inside the sliding groove formed in the upper portion and the lower portion of the cross rod (9) respectively, the upper portion of the supporting column (15) penetrates through the inside of the clamping sleeve I (18), and the spring II (16) is clamped between the clamping sleeve I (18) and the upper portion connecting plate (14).

5. The truss manipulator of claim 1, wherein: the connecting plate (19) and the first clamping sleeve (18) form a square baffle, the first clamping sleeve (18) and the connecting plate (19) are movably sleeved outside the cross rod (9), and the first fastening bolt (20) penetrates through the connecting plate (19) and is connected with the inner thread on one side of the first clamping sleeve (18) simultaneously.

6. The truss manipulator of claim 1, wherein: the inner parts of two sides of the longitudinal sliding rod (22) are respectively movably sleeved with a middle movable sleeve (21), and a bolt is arranged between the connecting parts of the middle movable sleeve (21) and the longitudinal sliding rod (22).

7. The truss manipulator of claim 1, wherein: the clamp sleeve II (24) is movably sleeved outside the longitudinal sliding rod (22), a roller is installed on one side of the pulley II (25), the roller is movably sleeved inside a groove formed in one side of the longitudinal sliding rod (22), and gear teeth are installed inside the groove formed in the middle of one side of the longitudinal sliding rod (22) and the middle of one side of the transverse rod (9).

8. The truss manipulator of claim 1, wherein: the motor of motor two (23) one side and the motor of motor one (13) one side installation are connected respectively on intelligent control system, intelligent control system steerable hydraulic telescoping rod (26) flexible and mechanical clamping device (27) inside open and shut.