CN113927575B - Anti-falling manipulator - Google Patents
Anti-falling manipulator Download PDFInfo
- Publication number
- CN113927575B CN113927575B CN202111232930.6A CN202111232930A CN113927575B CN 113927575 B CN113927575 B CN 113927575B CN 202111232930 A CN202111232930 A CN 202111232930A CN 113927575 B CN113927575 B CN 113927575B
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- axis
- guide rail
- axis guide
- sliding block
- wall surface
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- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an anti-falling manipulator, comprising: a first X-axis guide rail; the second X-axis guide rail has a guide direction parallel to that of the first X-axis guide rail, and comprises an upper surface, a left surface connected with the left side of the upper surface, a right surface connected with the right side of the upper surface, a first lower surface connected with the lower side of the left surface and opposite to the upper surface, and a second lower surface connected with the lower side of the right surface and opposite to the upper surface; the first X-axis sliding block is connected to the first X-axis guide rail in a sliding manner; the second X-axis sliding block is connected to the second X-axis guide rail in a sliding manner; the anti-falling sliding block is sleeved on the second X-axis guide rail and is provided with an upper wall surface, a left wall surface, a right wall surface, a first lower wall surface and a second lower wall surface which respectively correspond to the upper surface, the left surface, the right surface, the first lower surface and the second lower surface; when the second X-axis sliding block is damaged, the first lower wall surface and the second lower wall surface are respectively contacted with the first lower surface and the second lower surface.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an anti-falling manipulator.
Background
The guide rail surface is fallen to the dust in the air, and inside the frizing of slider both ends face can blockking partly dust entering slider, the manipulator moved for a long time, and the inside laying dust of slider is more, leads to the inside ball groove of slider to block up, and the ball moves unsmoothly, extrudes at last and explodes the slider body. After the transverse sliding block of the manipulator bursts, the manipulator is pulled and pulled without other supporting force, so that the manipulator falls off.
Disclosure of Invention
In view of this, an object of the present invention is to provide a drop-preventing robot hand that can effectively prevent a machine from dropping, thereby improving safety performance.
An anti-drop robot, comprising: a first X-axis guide rail; a second X-axis guide rail having a guiding direction parallel to the guiding direction of the first X-axis guide rail, the second X-axis guide rail having an upper surface, a left surface engaged with the left side of the upper surface, a right surface engaged with the right side of the upper surface, a first lower surface engaged with the lower side of the left surface and opposite to the upper surface, and a second lower surface engaged with the lower side of the right surface and opposite to the upper surface; the first X-axis sliding block is connected to the first X-axis guide rail in a sliding manner; the second X-axis sliding block is connected to the second X-axis guide rail in a sliding manner; the anti-falling sliding block is sleeved on the second X-axis guide rail and is provided with an upper wall surface, a left wall surface, a right wall surface, a first lower wall surface and a second lower wall surface which respectively correspond to the upper surface, the left surface, the right surface, the first lower surface and the second lower surface; when the second X-axis slider is damaged, the first lower wall surface and the second lower wall surface of the anti-drop slider are respectively in contact with the first lower surface and the second lower surface of the second X-axis guide rail.
Further, when the second X-axis slider is not damaged, a gap is formed between the upper wall surface and the upper surface, a gap is formed between the left wall surface and the left surface, a gap is formed between the right wall surface and the right surface, a gap is formed between the first lower wall surface and the first lower surface, a gap is formed between the second lower wall surface and the second lower surface, and the anti-drop slider and the second X-axis slider move synchronously.
Furthermore, the second X-axis guide rail is connected with two second X-axis sliding blocks in a sliding mode, and the anti-falling sliding block is arranged between the two second X-axis sliding blocks.
Furthermore, the first X-axis guide rail is connected with two first X-axis sliding blocks in a sliding mode, and the anti-falling sliding block is located between the two first X-axis sliding blocks.
Furthermore, the anti-falling manipulator comprises a transverse moving part and a drawing part; the transverse part comprises an X-axis beam, the first X-axis guide rail, the second X-axis guide rail, the first X-axis slider and the second X-axis slider, the first X-axis guide rail is arranged on the X-axis beam, and the second X-axis guide rail is arranged on the X-axis beam; the drawing part is connected to the transverse part in a sliding manner and is connected with the first X-axis sliding block, the second X-axis sliding block and the anti-falling sliding block; the first X-axis guide rail is closer to the center of gravity of the drawing part than the second X-axis guide rail.
Further, the transverse moving part can further comprise a transverse moving sliding plate, and the transverse moving sliding plate is connected with the first X-axis sliding block, the second X-axis sliding block and the anti-falling sliding block; the drawing part is arranged on the transverse sliding plate.
Further, the anti-falling manipulator comprises a hand arm part, and the hand arm part is connected to the drawing part in a sliding manner; the first X-axis guide is located between the second X-axis guide and the arm portion.
For a better understanding and practice, the present invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of an anti-drop robot according to an embodiment;
FIG. 2 is a schematic structural diagram of another view angle of the anti-drop robot according to the embodiment;
FIG. 3 is a schematic view of the assembly of the traverse portion and the pull-out portion according to the embodiment;
FIG. 4 is a schematic view of the assembly of the anti-drop slider with the second X-axis guide rail under normal conditions;
reference numerals:
1. a transverse moving part; 11. an X-axis beam; 12. a first X-axis guide rail; 13. a second X-axis guide rail; 131. a first groove; 132. a second groove; 133. an upper surface; 134. a left surface; 135. a right surface; 136. a first lower surface; 137. a second lower surface; 14. a first X-axis slide block; 15. a second X-axis slide block; 16. a transverse sliding plate; 2. a drawing part; 3. a hand portion; 4. the anti-falling sliding block; 41. an upper wall surface; 42. a left wall surface; 43. a right wall surface; 44. a first lower wall surface; 45. a second lower wall surface.
Detailed Description
An anti-falling manipulator, as shown in fig. 1 to 4, comprises a transverse part 1, a pull part 2 and a manipulator part 3. Wherein, draw and pull out 2 and slide and set up on horizontal portion 1, draw and pull out 2 and do the X axial displacement of horizontal plane on horizontal portion 1. The arm portion 3 is slidably provided on the drawer portion 2, and the arm portion 3 is displaced in the Y-axis direction of the horizontal plane on the drawer portion 2.
Referring to fig. 1 to 4, the traverse portion 1 includes an X-axis beam 11, a first X-axis guide rail 12, a second X-axis guide rail 13, a first X-axis slider 14, and a second X-axis slider 15. Wherein the X-axis beam 11 is horizontally disposed. The first X-axis guide rail 12 is mounted on the top surface of the X-axis beam 11, the second X-axis guide rail 13 is mounted on the top surface of the X-axis beam 11, the guiding direction of the first X-axis guide rail 12 and the guiding direction of the second X-axis guide rail 13 are parallel to each other, the first X-axis guide rail 12 is closer to the center of gravity of the drawing part 2 than the second X-axis guide rail 13, the first X-axis guide rail 12 is closer to the arm part 3 than the second X-axis guide rail 13, that is, the first X-axis guide rail 12 is located between the second X-axis guide rail 13 and the arm part 3. A first X-axis slide 14 is slidably connected to the first X-axis guide rail 12. The second X-axis slider 15 is slidably coupled to the second X-axis guide rail 13. The drawing part 2 is fixedly installed on the top surface of the first X-axis slide block 14 through bolts and the like, the drawing part 2 is fixedly installed on the top surface of the second X-axis slide block 15 through bolts and the like, and the drawing part 2 is connected with the first X-axis slide block 14 and the second X-axis slide block 15, so that the drawing part 2 does X-axis direction displacement of a horizontal plane along the first X-axis guide rail 12 and the second X-axis guide rail 13.
Further, in this embodiment, the traverse portion 1 may further include a traverse slide plate 16, the traverse slide plate 16 is fixedly mounted on the top surface of the first X-axis slide block 14 by bolts or the like, the traverse slide plate 16 is fixedly mounted on the top surface of the second X-axis slide block 15 by bolts or the like, and the traverse slide plate 16 is connected to the first X-axis slide block 14 and the second X-axis slide block 15 so as to displace along the first X-axis guide rail 12 and the second X-axis guide rail 13 in the X-axis direction of the horizontal plane. The drawing portion 2 is fixedly attached to the top surface of the horizontal slider by means of bolts or the like.
Meanwhile, the inventor found that, because the center of gravity of the pull-out portion 2 and the arm portion 3 is located at one side of the transverse portion 1, the first X-axis slider 14 close to the arm portion 3 receives a downward pressure in the force direction due to the gravity of the pull-out portion 2 and the arm portion 3, and the second X-axis slider 15 far from the arm portion 3 receives an upward tension in the force direction due to the gravity of the pull-out portion 2 and the arm portion 3, the slider that the manipulator bursts tends to be the second X-axis slider 15.
In order to prevent the pull-out portion 2 and the arm portion 3 from falling due to the burst of the second X-axis slider 15, referring to fig. 1 to 4, the anti-falling manipulator further includes an anti-falling slider 4, the anti-falling slider 4 is fixedly mounted at the bottom of the pull-out portion 2 through bolts and the like, and the anti-falling slider 4 is sleeved on the second X-axis guide rail 13. In the present embodiment, the anti-drop slider 4 is fixedly mounted on the bottom surface of the cross slide 16 by means of bolts or the like.
Specifically, a first groove 131 depressed inward is provided at a waist portion on the left side of the second X-axis guide rail 13, and a second groove 132 depressed inward is provided at a waist portion on the left and right sides of the second X-axis guide rail 13. The second X-axis rail 13 has an upper surface 133, the upper surface 133 being the top surface of the second X-axis rail 13. The second X-axis rail 13 has a left surface 134, the left surface 134 being disposed on the left side of the upper surface 133, the left surface 134 being the left side surface between the top surface of the second X-axis rail 13 and the first groove 131. The second X-axis rail 13 has a right surface 135, the right surface 135 being disposed on the right side of the upper surface 133, the right surface 135 being a right side surface located between the top surface of the second X-axis rail 13 and the second groove 132. The second X-axis guide rail 13 has a first lower surface 136, and the first lower surface 136 is an inner wall surface of the first groove 131 engaged with the left surface 134 and opposite to the upper surface 133. The second X-axis guide rail 13 has a second lower surface 137, and the second lower surface 137 is an inner wall surface of the second groove 132, which is connected to the right surface 135 and opposite to the upper surface 133.
Accordingly, the drop-preventing slider 4 has an upper wall surface 41, a left wall surface 42, a right wall surface 43, a first lower wall surface 44, and a second lower wall surface 45 corresponding to the upper surface 133, the left surface 134, the right surface 135, the first lower surface 136, and the second lower surface 137 of the second X-axis guide rail 13, respectively. Further, a certain gap is provided between the upper wall surface 41 and the upper surface 133, a certain gap is provided between the left wall surface 42 and the left surface 134, a certain gap is provided between the right wall surface 43 and the right surface 135, a certain gap is provided between the first lower wall surface 44 and the first lower surface 136, and a certain gap is provided between the second lower wall surface 45 and the second lower surface 137.
In the process of normal displacement of the drawing part 2 on the transverse part 1, the upper wall surface 41, the left wall surface 42, the right wall surface 43, the first lower wall surface 44 and the second lower wall surface 45 of the anti-falling slider 4 are not in contact with the upper surface 133, the left surface 134, the right surface 135, the first lower surface 136 and the second lower surface 137 of the second X-axis guide rail 13, the second X-axis slider 15 is in contact with the second X-axis guide rail 13, and the anti-falling slider 4 and the second X-axis slider 15 move synchronously.
When the second X-axis slider 15 is deformed or burst, under the action of the gravity of the pull-out portion 2 and the arm portion 3, the pull-out portion 2 takes the first X-axis slider 14 as a fulcrum, one end of the pull-out portion 2, which is far away from the second X-axis slider 15, falls downward, and one end of the pull-out portion 2, which is close to the second X-axis slider 15, tilts upward, so that the first lower wall surface 44 and the second lower wall surface 45 of the drop-proof slider 4 are in contact with the first lower surface 136 and the second lower surface 137 of the second X-axis guide rail 13, and the frictional resistance between the pull-out portion 2 and the transverse portion 1 is increased, thereby causing the robot system to alarm and stop.
More specifically, two second X-axis sliders 15 are slidably connected to the second X-axis guide rail 13, and the drop-preventing slider 4 is disposed between the two second X-axis sliders 15. Two first X-axis sliders 14 are slidably connected to the first X-axis guide rail 12, the two first X-axis sliders 14 respectively correspond to the two second X-axis sliders 15, and the anti-falling slider 4 is located between the two first X-axis sliders 14.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.
Claims (6)
1. The utility model provides a prevent manipulator that falls which characterized in that, prevent manipulator that falls includes:
a first X-axis guide rail (12);
a second X-axis guide rail (13), the guide direction of the second X-axis guide rail (13) and the guide direction of the first X-axis guide rail (12) are parallel to each other, the second X-axis guide rail (13) is provided with an upper surface (133), a left surface (134) jointed with the left side of the upper surface (133), a right surface (135) jointed with the right side of the upper surface (133), a first lower surface (136) jointed with the lower side of the left surface (134) and opposite to the upper surface (133), and a second lower surface (137) jointed with the lower side of the right surface (135) and opposite to the upper surface (133);
a first X-axis slider (14), the first X-axis slider (14) being slidably connected to the first X-axis guide rail (12);
the second X-axis sliding block (15), the second X-axis sliding block (15) is connected to the second X-axis guide rail (13) in a sliding mode;
the anti-falling sliding block (4) is sleeved on the second X-axis guide rail (13), and the anti-falling sliding block (4) is provided with an upper wall surface (41), a left wall surface (42), a right wall surface (43), a first lower wall surface (44) and a second lower wall surface (45) which correspond to the upper surface (133), the left surface (134), the right surface (135), the first lower surface (136) and the second lower surface (137) respectively;
when the second X-axis slider (15) is damaged, the first lower wall surface (44) and the second lower wall surface (45) of the anti-falling slider (4) are respectively in contact with the first lower surface (136) and the second lower surface (137) of the second X-axis guide rail (13);
when the second X-axis slider (15) is not damaged, a gap is provided between the upper wall surface (41) and the upper surface (133), a gap is provided between the left wall surface (42) and the left surface (134), a gap is provided between the right wall surface (43) and the right surface (135), a gap is provided between the first lower wall surface (44) and the first lower surface (136), a gap is provided between the second lower wall surface (45) and the second lower surface (137), and the anti-drop slider (4) and the second X-axis slider (15) move synchronously.
2. The drop-preventing robot hand of claim 1, wherein: the second X-axis guide rail (13) is connected with two second X-axis sliding blocks (15) in a sliding mode, and the anti-falling sliding block (4) is arranged between the two second X-axis sliding blocks (15).
3. The drop-preventing robot of claim 2, wherein: the first X-axis guide rail (12) is connected with two first X-axis sliding blocks (14) in a sliding mode, and the anti-falling sliding block (4) is located between the two first X-axis sliding blocks (14).
4. The drop-resistant robot of claim 1, wherein: the anti-falling manipulator comprises a transverse moving part (1) and a drawing part (2); the transverse moving part (1) comprises an X-axis cross beam (11), a first X-axis guide rail (12), a second X-axis guide rail (13), a first X-axis sliding block (14) and a second X-axis sliding block (15), the first X-axis guide rail (12) is arranged on the X-axis cross beam (11), and the second X-axis guide rail (13) is arranged on the X-axis cross beam (11); the drawing part (2) is connected to the transverse part (1) in a sliding manner, and the drawing part (2) is connected with the first X-axis sliding block (14), the second X-axis sliding block (15) and the anti-falling sliding block (4); the first X-axis guide rail (12) is closer to the center of gravity of the drawing part (2) than the second X-axis guide rail (13).
5. The drop prevention robot of claim 4, wherein: the transverse moving part (1) can further comprise a transverse moving sliding plate (16), and the transverse moving sliding plate (16) is connected with the first X-axis sliding block (14), the second X-axis sliding block (15) and the anti-falling sliding block (4); the drawing part (2) is arranged on the transverse sliding plate (16).
6. The drop prevention robot of claim 4, wherein: the anti-falling manipulator comprises a hand arm part (3), and the hand arm part (3) is connected to the drawing part (2) in a sliding manner; the first X-axis guide rail (12) is located between the second X-axis guide rail (13) and the arm part (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111232930.6A CN113927575B (en) | 2021-10-22 | 2021-10-22 | Anti-falling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111232930.6A CN113927575B (en) | 2021-10-22 | 2021-10-22 | Anti-falling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113927575A CN113927575A (en) | 2022-01-14 |
| CN113927575B true CN113927575B (en) | 2023-03-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111232930.6A Active CN113927575B (en) | 2021-10-22 | 2021-10-22 | Anti-falling manipulator |
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| CN (1) | CN113927575B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201824356U (en) * | 2010-09-14 | 2011-05-11 | 中山市钜通机电技术有限公司 | Manipulator based on double operating arms |
| CN203993881U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of novel five degree of freedom manipulator |
| CN205291498U (en) * | 2015-12-30 | 2016-06-08 | 深圳市沱福自动化科技有限公司 | Suspension type manipulator and walk crosswise a package assembly thereof |
| CN109397257A (en) * | 2017-08-15 | 2019-03-01 | 深圳市炫硕智造技术有限公司 | The Z axis telecontrol equipment of manipulator |
| CN210361301U (en) * | 2019-07-02 | 2020-04-21 | 广东润星科技有限公司 | Double-arm heavy truss manipulator with balancing device |
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2021
- 2021-10-22 CN CN202111232930.6A patent/CN113927575B/en active Active
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| Publication number | Publication date |
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| CN113927575A (en) | 2022-01-14 |
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