CN114700926A - Multifunctional clamping device for truss manipulator - Google Patents
Multifunctional clamping device for truss manipulator Download PDFInfo
- Publication number
- CN114700926A CN114700926A CN202210246507.XA CN202210246507A CN114700926A CN 114700926 A CN114700926 A CN 114700926A CN 202210246507 A CN202210246507 A CN 202210246507A CN 114700926 A CN114700926 A CN 114700926A
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- Prior art keywords
- groove
- bottom end
- rod
- clamping device
- lifting
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- 238000004804 winding Methods 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 11
- 239000010959 steel Substances 0.000 claims abstract description 11
- 230000000670 limiting effect Effects 0.000 claims description 8
- 239000004519 grease Substances 0.000 claims description 2
- 230000001050 lubricating effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of truss manipulators, in particular to a multifunctional clamping device for a truss manipulator, which comprises a mechanical arm, wherein a lifting column is arranged at the bottom end of the mechanical arm, a lifting groove is formed in the surface of the top end of the lifting column, the bottom end of the lifting column is positioned inside the lifting groove, a spring is arranged at the bottom end of the inner side of the lifting groove, electric winding reels are arranged on two sides of the mechanical arm, and steel wire ropes are wound on the surfaces of the electric winding reels; through having designed arm, the lift post, the lift groove, electronic take-up reel, wire rope, the fixed block, a spring, the horizontal pole, the disc, the supporting rod, the transverse groove, first bearing, the thread bush, the locating lug, the location spout, first motor, the gear, the activity groove, the second motor, the threaded rod, the thread groove, the through-hole, the second bearing for truss manipulator clamping device's compact structure and simplification has saved certain cost, easy shang shou in the operation, simultaneously when the centre gripping article, have better stability.
Description
Technical Field
The invention relates to the technical field of truss manipulators, in particular to a multifunctional clamping device for a truss manipulator.
Background
The control core of the truss manipulator is realized by an industrial controller, various input signals are analyzed and processed by the controller, and after certain logic judgment is made, execution commands are issued to each output element to complete the combined motion among three axes of X, Y and Z.
Although the invention with the publication number of CN112454338A realizes the prevention of goods sliding and falling, the clamping device is too complicated, complicated in structure and low in stability during clamping operation, so we propose a multifunctional clamping device for a truss manipulator.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a multifunctional clamping device for a truss manipulator, which is compact and simple in structure, saves certain cost, is easy to operate and has better stability when an object is clamped by designing a mechanical arm, a lifting column, a lifting groove, an electric winding roll, a steel wire rope, a fixed block, a spring, a cross rod, a disc, a clamping rod, a transverse groove, a first bearing, a threaded sleeve, a positioning lug, a positioning sliding groove, a first motor, a gear, a movable groove, a second motor, a threaded rod, a threaded groove, a through hole and a second bearing.
In order to solve the technical problems, the invention provides the following technical scheme: a multifunctional clamping device of a truss manipulator comprises an mechanical arm, wherein a lifting column is arranged at the bottom end of the mechanical arm, a lifting groove is formed in the surface of the top end of the lifting column, the bottom end of the lifting column is arranged on the inner side of the lifting groove, a spring is arranged at the bottom end of the inner side of the lifting groove, electric winding disks are arranged on two sides of the mechanical arm, a steel wire rope is wound on the surface of each electric winding disk, a fixed block is fixedly connected to the bottom end of the steel wire rope, the bottom end of the fixed block is fixedly connected with the surface of the top end of the lifting column, a transverse groove is formed in the bottom end of one side surface of the lifting column, a transverse rod is arranged on the inner side of the transverse groove, a positioning sliding groove is formed in the bottom end of the transverse rod, a positioning lug is arranged on the inner side of the other side surface of the lifting column, a first bearing is arranged at one end of the transverse rod penetrates through the first bearing, and a threaded sleeve is arranged on one side of the first bearing, the utility model discloses a threaded rod, including threaded sleeve, clamping rod, threaded groove inboard, threaded rod, second bearing sleeve, threaded rod, gear, disc, clamping rod, threaded groove inboard is provided with the threaded rod, the threaded rod top runs through the disc inner wall and has seted up the through-hole, the through-hole inboard is provided with the second bearing, the threaded rod surface is located to the second bearing sleeve, just the threaded rod top is provided with the second motor.
The anti-skidding assembly comprises an installation groove, the installation groove is formed in one side of the surface of the bottom end of the clamping rod, an installation strip is arranged on the inner side of the installation groove, a rubber strip is arranged at the bottom end of the installation strip, a fixing bolt is arranged at one end of the clamping rod, and a connecting hole and a threaded hole are formed in one end of the fixing bolt, which is located on the clamping rod and on the inner wall of the installation strip.
As a preferred technical scheme of the invention, the other end of the cross bar is provided with a limiting plate, and the front view section of the limiting plate is long-strip-shaped.
As a preferable technical scheme of the invention, the top end of the spring is fixedly connected with the mechanical arm, and the bottom end of the spring is fixedly connected with the surface of the bottom end inside the lifting groove.
As a preferable technical scheme of the invention, the surface of the gear is coated with lubricating grease.
As a preferable technical scheme of the invention, the number of the movable grooves is four, and the four movable grooves are annularly distributed on the surface of one end of the disc far away from the cross rod at equal intervals. As a preferable technical scheme of the invention, the bottom end surface of the rubber strip is provided with a plurality of grooves, and the number of the grooves is totally set. As a preferable technical scheme of the invention, the width of the rubber strip is gradually increased towards one side, and the rubber strip is fixedly connected with the mounting strip.
As a preferred embodiment of the present invention,
compared with the prior art, the invention can achieve the following beneficial effects:
1. through having designed arm, the lift post, the lift groove, electronic take-up reel, wire rope, the fixed block, a spring, the horizontal pole, the disc, the supporting rod, the transverse groove, first bearing, the thread bush, the locating lug, the location spout, first motor, the gear, the activity groove, the second motor, the threaded rod, the thread groove, the through-hole, the second bearing for truss manipulator clamping device's compact structure and simplification has saved certain cost, easy shang shou in the operation, simultaneously when the centre gripping article, have better stability.
2. Through having designed anti-skidding subassembly for the clamping rod is after to the article centre gripping, and the rubber strip can tightly support the article surface tightly, has guaranteed that the article can not follow the clamping rod surface slippage.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is an enlarged view of the structure at B in FIG. 1 according to the present invention;
FIG. 4 is an enlarged view of the structure of FIG. 1 at C according to the present invention;
wherein: 1. a mechanical arm; 2. a lifting column; 3. a lifting groove; 4. an electric take-up reel; 5. a wire rope; 6. a fixed block; 7. a spring; 8. a cross bar; 9. a disc; 10. a clamping rod; 11. a transverse slot; 12. a first bearing; 13. a threaded sleeve; 14. positioning the bump; 15. positioning the chute; 16. a first motor; 17. a gear; 18. a movable groove; 19. a second motor; 20. a threaded rod; 21. a thread groove; 22. a through hole; 23. a second bearing; 24. mounting a bar; 25. mounting grooves; 26. a rubber strip; 27. a groove; 28. fixing the bolt; 29. connecting holes; 30. a threaded hole; 31. and a limiting plate.
Detailed Description
The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
Example (b):
as shown in fig. 1, 2 and 3, a multifunctional clamping device for a truss manipulator comprises a mechanical arm 1, a lifting column 2 is arranged at the bottom end of the mechanical arm 1, a lifting groove 3 is formed on the surface of the top end of the lifting column 2, the bottom end of the lifting column 2 is positioned inside the lifting groove 3, a spring 7 is arranged at the bottom end of the inner side of the lifting groove 3, electric reels 4 are arranged on both sides of the mechanical arm 1, a steel wire rope 5 is wound on the surface of each electric reel 4, a fixed block 6 is fixedly connected to the bottom end of each steel wire rope 5, the bottom end of each fixed block 6 is fixedly connected to the top end of the lifting column 2, a transverse groove 11 is formed in the bottom end of one side surface of the lifting column 2, a transverse rod 8 is arranged inside each transverse groove 11, a positioning chute 15 is formed in the bottom end of each transverse rod 8, a positioning lug 14 is arranged inside each positioning chute 15, a first bearing 12 is arranged at the bottom end of the other side surface of the lifting column 2, one end of each transverse rod 8 passes through the first bearing 12, a threaded sleeve 13 is arranged on one side of the first bearing 12, threads are arranged on the surface of the outer side of the threaded sleeve 13, a gear 17 is meshed and connected with the bottom end of the threaded sleeve 13, a first motor 16 is arranged on one side of the gear 17, a disc 9 is arranged at one end of the cross rod 8, a movable groove 18 is formed in the surface of one side, away from the cross rod 8, of the disc 9, a clamping rod 10 is arranged on the inner side of the movable groove 18, a threaded groove 21 is formed in one side of the surface of the top end of the clamping rod 10, a threaded rod 20 is arranged on the inner side of the threaded groove 21, a through hole 22 is formed in the top end of the threaded rod 20 and penetrates through the inner wall of the disc 9, a second bearing 23 is arranged on the inner side of the through hole 22, the second bearing 23 is sleeved on the surface of the threaded rod 20, and a second motor 19 is arranged at the top end of the threaded rod 20;
when an object needs to be clamped, firstly, the mechanical arm 1 is moved to a designated position, then the electric winding roll 4 is opened, the electric winding roll 4 drives the steel wire rope 5 to be gradually wound on the surface of the electric winding roll 4, at the moment, the steel wire rope 5 upwards pulls the lifting column 2 through the action of the fixing block 6, meanwhile, the spring 7 is stressed and contracted, after the lifting column 2 reaches a proper height, the electric winding roll 4 is closed, then the first motor 16 is opened, the first motor 16 drives the gear 17 to rotate, the gear 17 enables the threaded sleeve 13 to rotate in situ through the action of the threads arranged on the outer side surface of the threaded sleeve 13 and the first bearing 12, the threaded sleeve 13 enables the cross rod 8 to move along the inner side of the transverse groove 11 through the action of the positioning lug 14 and the positioning sliding groove 15 in the rotating process, the cross rod 8 drives the disc 9 to simultaneously move when moving, the disc 9 drives the clamping rod 10 to be positioned on the outer side of the object, then, the second motor 19 is started, the threaded rod 20 is rotated in place by the second motor 19 under the action of the second bearing 23, the clamping rod 10 is close to the bottom end of the threaded rod 20 under the action of the movable groove 18 and the threaded groove 21 when the threaded rod 20 is rotated, when the clamping rod 10 reaches a proper position, the clamping rod 10 clamps the surface of an object, and meanwhile, the second motor 19 is closed, so that the operation is completed; when the existing clamping device is used for clamping, the clamping device is too complex, the structure is complex, the stability is not high, and by designing the mechanical arm 1, the lifting column 2, the lifting groove 3, the electric winding reel 4, the steel wire rope 5, the fixing block 6, the spring 7, the cross rod 8, the disc 9, the clamping rod 10, the transverse groove 11, the first bearing 12, the threaded sleeve 13, the positioning lug 14, the positioning sliding groove 15, the first motor 16, the gear 17, the movable groove 18, the second motor 19, the threaded rod 20, the threaded groove 21, the through hole 22 and the second bearing 23, the truss manipulator clamping device is compact and simplified in structure, certain cost is saved, the operation is easy, and meanwhile, the truss manipulator clamping device has better stability when clamping objects.
In other embodiments, as shown in fig. 1 and 4, the present embodiment discloses that the clamping rod further includes an anti-slip component, the anti-slip component includes a mounting groove 25, the mounting groove 25 is disposed on one side of the bottom surface of the clamping rod 10, a mounting bar 24 is disposed inside the mounting groove 25, a rubber strip 26 is disposed at the bottom of the mounting bar 24, a fixing bolt 28 is disposed at one end of the clamping rod 10, and a connecting hole 29 and a threaded hole 30 are respectively disposed on inner walls of the clamping rod 10 and the mounting bar 24 at one end of the fixing bolt 28;
when the rubber strip 26 needs to be installed, firstly, the rubber strip 26 is placed at a designated position, so that the installation strip 24 is located on the inner side of the installation groove 25, then, one end of the fixing bolt 28 penetrates through the connecting hole 29 and rotates, so that one end of the fixing bolt 28 is located on the inner side of the threaded hole 30 and is clamped, and the operation is completed; by designing the anti-slip assembly, after the clamping rod 10 clamps the object, the rubber strip 26 can tightly support the surface of the object, and it is ensured that the object cannot slip off from the surface of the clamping rod 10.
In other embodiments, as shown in fig. 1, the embodiment discloses that a limiting plate 31 is disposed at the other end of the cross bar 8, and the front section of the limiting plate 31 is long; so that the cross bar 8 can not be separated from the inner side of the transverse groove 11 in the moving process, and has a limiting effect.
In other embodiments, as shown in fig. 1, the top end of the spring 7 is fixedly connected to the robot arm 1, and the bottom end of the spring 7 is fixedly connected to the bottom surface of the inner side of the lifting slot 3; so that when the wire rope 5 is stretched, the spring 7 can push the lifting column 2 to move downwards better.
In other embodiments, as shown in fig. 2, the surface of the gear 17 is coated with a lubricant; so that the gear 17 is smoother when driving the threaded sleeve 13 to rotate.
In other embodiments, as shown in fig. 1 and 3, the embodiment discloses that the number of the movable slots 18 is four, and the four movable slots 18 are annularly distributed on the surface of one end of the disc 9 away from the cross bar 8 at equal intervals; so that the clamping rods 10 arranged inside the four movable grooves 18 can better clamp and fix the objects.
In other embodiments, as shown in fig. 4, the embodiment discloses that the bottom end surface of the rubber strip 26 is provided with a plurality of grooves 27, and the number of the grooves 27 is totally set; when the rubber strip 26 is tightly pressed against the surface of the object, the anti-skid effect is better.
In other embodiments, as shown in fig. 4, the width of the rubber strip 26 gradually increases toward one side, and the rubber strip 26 is fixedly connected to the mounting strip 24; so that the object can not be separated from one end of the clamping rod 10 under the clamping force when the clamping rod 10 clamps the object.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (8)
1. The multifunctional clamping device for the truss manipulator comprises a mechanical arm (1) and is characterized in that a lifting column (2) is arranged at the bottom end of the mechanical arm (1), a lifting groove (3) is formed in the top end surface of the lifting column (2), the bottom end of the lifting column (2) is located on the inner side of the lifting groove (3), a spring (7) is arranged at the bottom end of the inner side of the lifting groove (3), electric winding disks (4) are arranged on two sides of the mechanical arm (1), a steel wire rope (5) is wound on the surface of each electric winding disk (4), a fixed block (6) is fixedly connected to the bottom end of each steel wire rope (5), the bottom end of each fixed block (6) is fixedly connected with the top end surface of the lifting column (2), a transverse groove (11) is formed in the bottom end of one side surface of the lifting column (2), a transverse rod (8) is arranged on the inner side of each transverse groove (11), a positioning sliding groove (15) is formed in the bottom surface of each transverse rod (8), the inner side of the positioning sliding groove (15) is provided with a positioning convex block (14), the bottom end of the other side surface of the lifting column (2) is provided with a first bearing (12), one end of the cross rod (8) penetrates through the first bearing (12), a threaded sleeve (13) is arranged on one side of the first bearing (12), threads are arranged on the outer side surface of the threaded sleeve (13), a gear (17) is meshed and connected with the bottom end of the threaded sleeve (13), a first motor (16) is arranged on one side of the gear (17), a disc (9) is arranged on one end of the cross rod (8), a movable groove (18) is formed in one side surface, away from the cross rod (8), of the disc (9), a clamping rod (10) is arranged on the inner side of the movable groove (18), a threaded groove (21) is formed in one side of the top surface of the clamping rod (10), a threaded rod (20) is arranged on the inner side of the threaded groove (21), the top end of the threaded rod (20) penetrates through the inner wall of the disc (9) and is provided with a through hole (22), a second bearing (23) is arranged on the inner side of the through hole (22), the surface of the threaded rod (20) is sleeved with the second bearing (23), and a second motor (19) is arranged on the top end of the threaded rod (20).
2. The multifunctional clamping device for the truss manipulator is characterized by further comprising an anti-skidding assembly, wherein the anti-skidding assembly comprises a mounting groove (25), the mounting groove (25) is formed in one side of the bottom end surface of the clamping rod (10), a mounting bar (24) is arranged on the inner side of the mounting groove (25), a rubber strip (26) is arranged at the bottom end of the mounting bar (24), a fixing bolt (28) is arranged at one end of the clamping rod (10), and a connecting hole (29) and a threaded hole (30) are formed in the inner wall of the mounting bar (24) and at one end of the fixing bolt (28).
3. The multifunctional clamping device for the truss manipulator as claimed in claim 1, wherein a limiting plate (31) is arranged at the other end of the cross bar (8), and the front section of the limiting plate (31) is long.
4. The multifunctional clamping device for the truss manipulator as claimed in claim 1, wherein the top end of the spring (7) is fixedly connected with the mechanical arm (1), and the bottom end of the spring (7) is fixedly connected with the surface of the bottom end inside the lifting groove (3).
5. The multifunctional clamping device for the truss manipulator as claimed in claim 1, wherein the surface of the gear (17) is coated with lubricating grease.
6. The multifunctional clamping device for the truss manipulator as claimed in claim 1, wherein the number of the movable grooves (18) is four, and the four movable grooves (18) are distributed on one end surface of the disc (9) far away from the cross bar (8) in an equidistant and annular manner.
7. The multifunctional clamping device for the truss manipulator as claimed in claim 2, wherein the bottom end surface of the rubber strip (26) is provided with a plurality of grooves (27), and the number of the grooves (27) is several.
8. The multifunctional clamping device for the truss manipulator as claimed in claim 2, wherein the width of the rubber strip (26) is gradually increased towards one side, and the rubber strip (26) is fixedly connected with the mounting strip (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210246507.XA CN114700926A (en) | 2022-03-14 | 2022-03-14 | Multifunctional clamping device for truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210246507.XA CN114700926A (en) | 2022-03-14 | 2022-03-14 | Multifunctional clamping device for truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114700926A true CN114700926A (en) | 2022-07-05 |
Family
ID=82168909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210246507.XA Pending CN114700926A (en) | 2022-03-14 | 2022-03-14 | Multifunctional clamping device for truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114700926A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393160A (en) * | 2016-08-12 | 2017-02-15 | 橙果信息技术有限公司 | Manipulator |
| CN111283670A (en) * | 2020-04-02 | 2020-06-16 | 宁夏巨能机器人股份有限公司 | Lifting device of truss manipulator |
| DE212020000291U1 (en) * | 2020-11-11 | 2021-01-22 | Kunshan Hedexin Precision Mould Co., Ltd. | A non-slip manipulator |
| CN114147698A (en) * | 2021-12-30 | 2022-03-08 | 南京晋智慧据科技有限公司 | Intelligent mechanical arm with anti-jamming function |
-
2022
- 2022-03-14 CN CN202210246507.XA patent/CN114700926A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393160A (en) * | 2016-08-12 | 2017-02-15 | 橙果信息技术有限公司 | Manipulator |
| CN111283670A (en) * | 2020-04-02 | 2020-06-16 | 宁夏巨能机器人股份有限公司 | Lifting device of truss manipulator |
| DE212020000291U1 (en) * | 2020-11-11 | 2021-01-22 | Kunshan Hedexin Precision Mould Co., Ltd. | A non-slip manipulator |
| CN114147698A (en) * | 2021-12-30 | 2022-03-08 | 南京晋智慧据科技有限公司 | Intelligent mechanical arm with anti-jamming function |
Non-Patent Citations (1)
| Title |
|---|
| 陈永波;: "桁架机械手结构和设计分析", 科技资讯, no. 03, 23 January 2020 (2020-01-23) * |
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