CN116945236B - One-to-two truss robot and application method thereof - Google Patents
One-to-two truss robot and application method thereof Download PDFInfo
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- CN116945236B CN116945236B CN202310980853.5A CN202310980853A CN116945236B CN 116945236 B CN116945236 B CN 116945236B CN 202310980853 A CN202310980853 A CN 202310980853A CN 116945236 B CN116945236 B CN 116945236B
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- 238000000034 method Methods 0.000 title claims description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000009434 installation Methods 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000000694 effects Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000576 supplementary effect Effects 0.000 description 1
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Classifications
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- 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
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
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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
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a one-to-two truss robot which comprises a longitudinal driving mechanism, wherein a sliding rail is arranged on the inner side of the longitudinal driving mechanism, a movable connecting block is arranged on the inner side of the longitudinal driving mechanism through the inner side of the sliding rail, a transverse driving mechanism is arranged on the inner side of the movable connecting block, a movable piece is movably arranged on the outer side of the transverse driving mechanism, a limiting shell is arranged on the front surface of the movable piece, a moving rod is movably arranged in the limiting shell, the moving rod penetrates through the top and the bottom of the limiting shell, an installation groove is formed in the bottom of the moving rod, a weight detector is arranged in the installation groove, and a connector is arranged at the detection end of the weight detector. The weight detector is arranged in the robot, and is used for detecting the weight of the clamped and moved article, and the detected weight is displayed through the display, so that a worker can know the weight of the article clamped by the robot conveniently, and the danger of overweight is prevented.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a one-to-two truss robot and a use method thereof.
Background
The rectangular robot is characterized in that the rectangular robot is a multifunctional manipulator which can realize automatic control, can be repeatedly programmed, has multiple degrees of freedom and has a motion freedom degree to build a space rectangular relationship, the working behavior mode is mainly a multipoint interpolation mode by completing linear motion along a X, Y, Z axis, the rectangular robot is also called a single-axis manipulator, an industrial mechanical arm, an electric cylinder and the like, an XYZ rectangular coordinate system is taken as a basic mathematical model, a servo motor and a stepping motor are taken as driving single-axis mechanical arms as basic working units, a robot system constructed by taking a ball screw, a synchronous belt and a gear rack as a common transmission mode can be used for completing the arrival and following of any point in an XYZ three-dimensional coordinate system, the rectangular coordinate robot adopts a motion control system to realize driving and programming control on the rectangular coordinate system, and the generation of motion tracks such as a straight line, a curve and the like is a multipoint interpolation mode, and the operation and programming mode is a guiding teaching mode or a coordinate positioning mode.
The existing truss robot has the following defects:
1. patent document CN205466173U discloses a truss robot, "comprising a bracket, an X-axis moving device, a Y-axis moving device, and a Z-axis telescoping device, which are respectively provided on the bracket; the Y-axis moving device can move along the X-axis direction on the X-axis moving device, the Z-axis telescoping device can move along the Y-axis direction on the Y-axis moving device, and the bottom end of the Z-axis telescoping device is connected with a working arm for picking and placing workpieces. The beneficial effects of the invention are as follows: overcomes the technical defects of low manual carrying efficiency and potential safety hazard existing in the prior art. However, this robot is not equipped with a weight detecting structure, and when gripping an article, the weight of the gripping cannot be known.
2. Patent document CN216883962U discloses a truss robot, "it includes a main body frame portion, an X-axis moving portion, and a Z-axis moving portion; the main body frame part consists of upright posts and cross beams; the X-axis motion part comprises an X-axis sliding block mounting plate, an X-axis linear guide rail, an X-axis sliding block, an X-axis gear, an X-axis rack, an X-axis drag chain, a guide groove, an X-axis servo motor and a speed reducer; the X-axis sliding block can do left-right rectilinear motion along with the X-axis rack; the Z-axis motion part comprises a Z-axis cross beam, a Z-axis gear, a Z-axis rack, a Z-axis slide block mounting plate, a Z-axis linear guide rail, a Z-axis slide block, a fixture fixing plate, a Z-axis motor connecting plate, a Z-axis drag chain and fixing plate, an X-axis connecting plate, a Z-axis servo motor and a speed reducer; the Z-axis cross beam is fixedly connected with the Z-axis sliding block and can move up and down along with the Z-axis sliding block. The truss robot can achieve various functions of the joint robot through the control of the servo motor, and is simple in structure, simple to operate and high in cost performance. However, when the robot moves the article, the article is heavy, and an auxiliary structure for lifting upwards is absent, so that the article is lifted upwards, more power is required, and the driving equipment is easily damaged.
3. Patent document CN219132307U discloses a truss robot, "including the base block, rectangular cavity has been seted up to the inside of base block, the base block has two sliders through rectangular cavity's inside wall sliding connection, two the bar groove has all been seted up to the inside of slider, and a side that two sliders kept away from each other is all fixedly connected with clamping jaw, the hole has been seted up to the inside of base block. According to the invention, the handle, the sliding blocks, the clamping jaws, the springs and the robot body are arranged, when the robot needs to be disassembled and maintained, the handle is pressed downwards to drive the two sliding blocks to move away from each other, so that the two sliding blocks drive the two clamping jaws to move away from each other and stretch the springs, and meanwhile, the two clamping jaws are opened, so that the robot body can be conveniently disassembled, the robot body is convenient to disassemble when the robot body needs to be disassembled for maintenance, and the purpose that the device can be disassembled conveniently and rapidly according to the maintenance needs of the robot body is achieved. However, when the robot moves the article, the robot lacks a protection structure, and if the article slides down, the article is damaged.
4. Patent document CN213381553U discloses a truss robot, "comprising: a main body frame; the travelling mechanism is arranged on the main body frame and used for driving the robot gripper to move in the X-axis direction, and a dust cleaning mechanism is also arranged on the travelling mechanism; the lifting mechanism is arranged on the travelling mechanism and used for driving the machine gripper to lift in the Z-axis direction; the machine gripper is arranged on the lifting mechanism and used for gripping and placing materials, and comprises a top cover, a clamping arm, a guide mechanism and an air cylinder, and the machine gripper has the beneficial effects that: the dust between the guide slide block and the slide block guide rail can be effectively cleaned through the air knife, so that the operation precision and efficiency are ensured; the cylinder guide post rod is connected with the clamping arm, so that the extension and retraction of the clamping arm can be controlled by the cylinder, the movement of the clamping arm can be controlled by the cylinder, the higher operation precision can be realized, and the operation efficiency can be improved. However, when the robot is used, the degree of automation is low on the basis of lacking a protective structure, and the robot cannot be flexibly used.
Disclosure of Invention
The invention aims to provide a one-to-two truss robot and a use method thereof, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a one drags two truss robots, includes vertical actuating mechanism, the slide rail has been seted up to vertical actuating mechanism's inboard, the inboard of vertical actuating mechanism is through the inboard of slide rail mounting through the slide rail movable connecting block, the inboard of movable connecting block is provided with horizontal actuating mechanism, the outside activity of horizontal actuating mechanism is provided with the moving part, spacing shell is installed in the front of moving part, the internally movable of spacing shell has the movable rod, and the movable rod runs through the top and the bottom of spacing shell, the mounting groove has been seted up to the bottom of movable rod, the internally mounted of mounting groove has weight detector, the connector is installed to weight detector's detection end.
Preferably, the supporting leg is installed to vertical actuating mechanism's bottom symmetry, and the base is installed to vertical actuating mechanism's front, and display and weight detector electric connection, the installation shell is installed at the top of moving part, runs through the groove in the inside of installation shell, is provided with drive gear through running through the groove in the inside of installation shell, installs first motor through the bolt in one side of installation shell, and the output of first motor runs through one side inner wall of installation shell, and the output of first motor is connected with drive gear.
Preferably, the limiting blocks are symmetrically arranged on two sides of the moving rod, the limiting blocks are movably connected with the inner wall of the limiting shell, the first mounting plate is arranged on the back surface of the moving rod, the connecting rack is arranged on the back surface of the first mounting plate, the connecting rack penetrates through the back surface of the limiting shell, and the connecting rack is meshed with the driving gear.
Preferably, the first connecting plate is installed to the bilateral symmetry of spacing shell, and fixed spring is installed to the bottom of first connecting plate, and the spring holder is installed to fixed spring's bottom.
Preferably, the detection end of the weight detector is provided with a connecting block body through a connector, the bottom of the connecting block body is provided with a second mounting plate through a bolt, and the top of the second mounting plate is connected with the spring seat through a bolt.
Preferably, the second connecting plate is installed to the bottom symmetry of second mounting panel, and the pneumatic cylinder is installed to one side of second connecting plate, and the output of pneumatic cylinder runs through the inboard of second connecting plate, and the grip block is installed to the output of pneumatic cylinder, and anti-skidding groove has been seted up to the inboard of grip block, and the spread groove has been seted up to the bottom of second connecting plate, and the installation cavity has been seted up at the top of spread groove, and the inside of installation cavity is provided with the limiting plate, and the fly leaf is installed to the bottom of limiting plate, and the fly leaf runs through the bottom of second connecting plate through the spread groove.
Preferably, the fixed shell is installed to the bottom symmetry of fly leaf, the internally mounted of fixed shell has the backup pad, the second motor is installed through the bolt at the top of backup pad, and the output of second motor runs through the bottom of backup pad, install the installation axle is run through to the bottom of fixed shell, the inside movable mounting of installation axle has the axis of rotation, and the both ends of running through the installation axle of axis of rotation, the bottom of axis of rotation is provided with the guard plate, spacing disc is installed at the top of axis of rotation, and spacing disc is located the top of installation axle, the connecting axle is installed at the top of spacing disc, and the top of connecting axle is connected with the output of second motor.
Preferably, the method for using the one-to-two truss robot is as follows:
s1, firstly, arranging the truss robot to a position to be used, wherein when the robot moves, the longitudinal driving mechanism drives the movably connected transverse driving mechanism to longitudinally move, and when the robot needs to transversely move, the transverse driving mechanism drives the clamping structure to transversely move, so that the device can transversely and longitudinally move, and the truss robot can be flexibly used;
s2, when the clamping structure moves to the outer side of an article to be clamped, the pneumatic cylinder converts pneumatic energy into kinetic energy to drive the clamping plate at the output end to move, so that the clamping plate applies pressure to the article to be clamped, and the article is clamped;
s3, after the article is clamped, the second motor converts electric energy into kinetic energy after being electrified, power is provided for the rotation of the protection plate, and the protection plate is enabled to rotate below the clamped article, so that the article is protected, and the clamped article is prevented from falling and being damaged.
Preferably, the step S1 further includes the following steps:
s11, when the truss robot is used, the clamping structure is required to move up and down to clamp objects, so that the clamping structure is required to move up and down, the first motor is utilized to drive the driving gear at the output end to rotate, and the driving gear is meshed with the connecting rack, so that the moving rod moves up and down to change the height of the clamping structure;
the step S3 further comprises the following steps:
s31, when the protection plate does not need to be used, the second motor continuously drives the protection plate to rotate, so that the protection plate rotates to the lower side of the movable plate to be folded, and clamping of articles is not affected.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the weight detector is arranged in the mounting groove and is used for detecting the weight of the clamped and moved article, and the detected weight is displayed through the display, so that a worker can know the weight of the article clamped by the robot conveniently, the danger of overweight is prevented, and the use safety of the robot is higher.
2. According to the invention, the bottom end of the fixed spring is connected with the second mounting plate through the spring seat, when the movable rod drives the second mounting plate to move downwards, the fixed spring is lengthened to generate reverse restoring force, after the clamping structure clamps an article by moving downwards, the movable rod needs to move upwards to clamp the article for movement, and when the article is clamped, the second mounting plate moves upwards, the restoring force of the fixed spring can provide pulling force for lifting the article, and an auxiliary effect is achieved during lifting.
3. According to the invention, when the clamped articles are required to be protected, the protection plate is movably connected with the mounting shaft through the rotating shaft, the top end of the protection plate is limited by the limiting disc, so that the protection plate can be stably and movably mounted, and when the protection plate is required to rotate, the second motor converts electric energy into kinetic energy after being electrified, so that power is provided for the rotation of the protection plate, the protection plate rotates below the clamped articles, and the articles are prevented from directly falling off and being dangerous.
4. According to the invention, when the article is required to be put down, the second motor is electrified and then drives the protection plate to rotate again, so that the protection plate is not positioned below the article, the article can be normally clamped and put down, and the rotation of the protection plate is driven by the second motor, so that the degree of automation is higher, and the use efficiency is not influenced.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic diagram of a driving gear structure according to the present invention;
FIG. 3 is a schematic view of a movable rod structure according to the present invention;
FIG. 4 is a schematic view of the structure at A of the present invention;
FIG. 5 is a schematic diagram of the weight detector structure of the present invention;
FIG. 6 is a schematic view of the installation cavity structure of the present invention;
FIG. 7 is a schematic view of a second connecting plate structure according to the present invention;
fig. 8 is a schematic view of the structure of the protection plate according to the present invention.
In the figure: 1. a longitudinal driving mechanism; 2. support legs; 3. a base; 4. a slide rail; 5. a movable connecting block; 6. a lateral drive mechanism; 7. a movable member; 8. a mounting shell; 9. a through groove; 10. a drive gear; 11. a first motor; 12. a limit shell; 13. a moving rod; 14. a limiting block; 15. a first mounting plate; 16. the connecting rack; 17. a mounting groove; 18. a weight detector; 19. a connector; 20. a display; 21. a first connection plate; 22. a fixed spring; 23. a spring seat; 24. a connecting block body; 25. a second mounting plate; 26. a second connecting plate; 27. a pneumatic cylinder; 28. a clamping plate; 29. an anti-skid groove; 30. installing a cavity; 31. a limiting plate; 32. a connecting groove; 33. a movable plate; 34. a fixed case; 35. a support plate; 36. a second motor; 37. a mounting shaft; 38. a rotating shaft; 39. a protection plate; 40. a limit disc; 41. and a connecting shaft.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. It will be understood by those of ordinary skill in the art that the specific meaning of the terms described above in this application
Referring to fig. 1-8, an embodiment of the present invention is provided: one drags two truss robots;
comprises a longitudinal driving mechanism 1, a sliding rail 4 is arranged on the inner side of the longitudinal driving mechanism 1, a movable connecting block 5 is arranged on the inner side of the longitudinal driving mechanism 1 through the sliding rail 4 on the inner side of the sliding rail 4, a transverse driving mechanism 6 is arranged on the inner side of the movable connecting block 5, a movable piece 7 is movably arranged on the outer side of the transverse driving mechanism 6, a limiting shell 12 is arranged on the front surface of the movable piece 7, a moving rod 13 is movably arranged in the limiting shell 12, the moving rod 13 penetrates through the top and the bottom of the limiting shell 12, a mounting groove 17 is arranged at the bottom of the moving rod 13, a weight detector 18 is arranged in the mounting groove 17, a connector 19 is arranged at the detection end of the weight detector 18, supporting legs 2 are symmetrically arranged at the bottom of the longitudinal driving mechanism 1, a base 3 is arranged at the bottom end of the supporting legs 2, a display 20 is arranged on the front surface of the longitudinal driving mechanism 1, the display 20 is electrically connected with the weight detector 18, the top of the movable piece 7 is provided with a mounting shell 8, the inside of the mounting shell 8 is provided with a through groove 9, the inside of the mounting shell 8 is provided with a driving gear 10 through the through groove 9, one side of the mounting shell 8 is provided with a first motor 11 through a bolt, the output end of the first motor 11 penetrates through the inner wall of one side of the mounting shell 8, the output end of the first motor 11 is connected with the driving gear 10, two sides of the movable rod 13 are symmetrically provided with limiting blocks 14, the limiting blocks 14 are movably connected with the inner wall of the limiting shell 12, the back of the movable rod 13 is provided with a first mounting plate 15, the back of the first mounting plate 15 is provided with a connecting rack 16, the connecting rack 16 penetrates through the back of the limiting shell 12, and the connecting rack 16 is meshed with the driving gear 10;
the robot is installed to a position to be used through the supporting leg 2 and the base 3, the longitudinal driving mechanism 1 can drive the transverse driving mechanism 6 to longitudinally move, the transverse driving mechanism 6 enables the transverse driving mechanism 6 to move through the movable connecting block 5 and the sliding rail 4 in a movable mode, the limiting shell 12 is movably connected with the transverse driving mechanism 6 through the movable part 7, the transverse driving mechanism 6 enables the limiting shell 12 to transversely move, the clamping structure in the robot can freely transversely and longitudinally move, the clamping structure needs to clamp and move objects, the clamping structure needs to vertically move, the objects can be clamped from the placing surface by moving up and down, the movable mounting of the movable rod 13 is limited through the limiting block 14, the movable rod 13 cannot generate offset when moving up and down, the connecting rack 16 is installed on the back face of the movable rod 13 through the first mounting plate 15, the connecting rack 16 is meshed with the driving gear 10, the mounting shell 8 provides a mounting position for the driving gear 10 and the first motor 11, the first motor 11 converts electric energy into electricity after being electrified, the driving gear 10 drives the output end to carry out clamping movement, the weight detector can detect the weight of the object by driving rack 10, the weight detector can detect the weight detector 18 when the weight detector is arranged on the movable rod 13, and the weight detector can detect the weight detector is used for detecting the weight of the object by moving down, and the weight detector is convenient for detecting the weight detector 18.
The two sides of the limiting shell 12 are symmetrically provided with a first connecting plate 21, the bottom of the first connecting plate 21 is provided with a fixed spring 22, the bottom of the fixed spring 22 is provided with a spring seat 23, the detection end of the weight detector 18 is provided with a connecting block body 24 through a connecting head 19, the bottom of the connecting block body 24 is provided with a second mounting plate 25 through bolts, the top of the second mounting plate 25 is connected with the spring seat 23 through bolts, the bottom of the second mounting plate 25 is symmetrically provided with a second connecting plate 26, one side of the second connecting plate 26 is provided with a pneumatic cylinder 27, the output end of the pneumatic cylinder 27 penetrates through the inner side of the second connecting plate 26, the output end of the pneumatic cylinder 27 is provided with a clamping plate 28, the inner side of the clamping plate 28 is provided with an anti-skid groove 29, the bottom of the second connecting plate 26 is provided with a connecting groove 32, the top of the connecting groove 32 is provided with a mounting cavity 30, the inside of the mounting cavity 30 is provided with a limiting plate 31, the bottom of the limiting plate 31 is provided with a movable plate 33, and the movable plate 33 penetrates through the bottom of the second connecting plate 26 through the connecting groove 32;
the first connecting plate 21 is the mounted position of the fixed spring 22, make the fixed spring 22 can install the both sides at spacing shell 12 and use, the bottom of fixed spring 22 is connected with the second mounting panel 25 through spring holder 23, when movable rod 13 drives the second mounting panel 25 and moves down, fixed spring 22 is elongated, produce reverse restoring force, move down and make the clamping structure behind the article centre gripping, movable plate 33 is movable mounting in the below of second connecting plate 26, because limiting plate 31 is in the installation cavity 30 for holding up with article, during the clamp, second mounting panel 25 moves upwards, the restoring force of fixed spring 22 can provide pulling force for the promotion of article, play supplementary effect during the promotion, second mounting panel 25 provides the mounted position for second connecting plate 26, the pneumatic cylinder 27 in the second connecting plate 26 is used for installing clamping structure, when the article is required to be held down, pneumatic cylinder 27 converts pneumatic energy into kinetic energy, drive output's grip plate 28 removes the article to centre gripping, anti-skidding groove 29 plays skid effect, movable mounting is in the below second connecting plate 26, because limiting plate 31 is in the installation cavity 30, thereby make movable plate 33 drop, when can not carrying out the pressure 33, the bottom of movable plate 33 is contacted with movable mounting structure, when moving down, the bottom 39 can be moved down, the bottom of movable plate 33 is contacted with movable mounting structure, when moving bottom 39, when moving structure is moved down.
The bottom of the movable plate 33 is symmetrically provided with a fixed shell 34, the inside of the fixed shell 34 is provided with a supporting plate 35, the top of the supporting plate 35 is provided with a second motor 36 through bolts, the output end of the second motor 36 penetrates through the bottom of the supporting plate 35, the bottom of the fixed shell 34 is provided with a mounting shaft 37 in a penetrating manner, the inside of the mounting shaft 37 is movably provided with a rotating shaft 38, two ends of the rotating shaft 38 penetrate through the mounting shaft 37, the bottom of the rotating shaft 38 is provided with a protection plate 39, the top of the rotating shaft 38 is provided with a limiting disc 40, the limiting disc 40 is positioned at the top of the mounting shaft 37, the top of the limiting disc 40 is provided with a connecting shaft 41, and the top of the connecting shaft 41 is connected with the output end of the second motor 36;
the fixed shell 34 provides space for the installation of the second motor 36, when the article to be clamped is required to be protected, because the protection plate 39 is movably connected with the installation shaft 37 through the rotating shaft 38, the top end of the protection plate 39 can be limited by the limiting disc 40, so that the protection plate 39 can be stably movably installed.
The using method of the one-to-two truss robot is as follows:
s1, firstly, arranging the truss robot to a position to be used, wherein when the robot moves, the longitudinal driving mechanism 1 drives the movably connected transverse driving mechanism 6 to longitudinally move, and when the robot needs to transversely move, the transverse driving mechanism 6 drives the clamping structure to transversely move, so that the device can transversely and longitudinally move, and the truss robot can be flexibly used;
s2, when the clamping structure moves to the outer side of an article to be clamped, the pneumatic cylinder 27 converts pneumatic energy into kinetic energy to drive the clamping plate 28 at the output end to move, so that the clamping plate 28 applies pressure to the article to be clamped, and the article is clamped;
s3, after the article is clamped, the second motor 36 converts electric energy into kinetic energy after being electrified to provide power for the rotation of the protection plate 39, so that the protection plate 39 rotates below the clamped article, the article is protected, and the clamped article is prevented from falling and being damaged.
The step S1 also comprises the following steps:
s11, when the truss robot is used, the clamping structure is required to move up and down to clamp objects, so that the clamping structure is required to move up and down, the driving gear 10 at the output end is driven by the first motor 11 to rotate, and the driving gear 10 is meshed with the connecting rack 16, so that the moving rod 13 moves up and down to change the height of the clamping structure;
the step S3 further comprises the following steps:
s31, when the protection plate 39 is not needed to be used, the second motor 36 continues to drive the protection plate 39 to rotate, so that the protection plate 39 rotates to the lower side of the movable plate 33 to be retracted, and clamping of articles is not affected.
Working principle: before using the truss robot, it should check whether the truss robot has the problem of influencing the use, firstly, place the truss robot in the position that needs to use through supporting leg 2, respectively through vertical actuating mechanism 1, horizontal actuating mechanism 6 and first motor 11 provide power, make this robot carry out the centre gripping to article and remove, during the centre gripping, pneumatic cylinder 27 converts pneumatic energy into kinetic energy, the grip block 28 that drives the output removes to carry out the centre gripping to article, drive article lifting movement after the centre gripping, second motor 36 provides power and drives guard plate 39 to rotate to article below, protect article.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. One drags two truss robots, including vertical actuating mechanism (1), its characterized in that: the inside of vertical actuating mechanism (1) has seted up slide rail (4), movable connecting block (5) are installed through slide rail (4) to the inboard of vertical actuating mechanism (1), the inboard of movable connecting block (5) is provided with transverse actuating mechanism (6), the outside activity of transverse actuating mechanism (6) is provided with moving part (7), spacing shell (12) are installed in the front of moving part (7), the inside movable mounting of spacing shell (12) has movable rod (13), and movable rod (13) run through the top and the bottom of spacing shell (12), mounting groove (17) have been seted up to the bottom of movable rod (13), the internally mounted of mounting groove (17) has weight detector (18), connector (19) are installed to the detection end of weight detector (18), stopper (14) are installed to the bilateral symmetry of movable rod (13), and the inner wall swing joint of stopper (14) and spacing shell (12), and first mounting panel (15) are installed to the back of movable rod (13), and the back of first mounting panel (15) is provided with and connects (16) and connect rack (16) and drive rack (16) and the meshing with back of rack (10), the two sides of the limiting shell (12) are symmetrically provided with first connecting plates (21), the bottom of each first connecting plate (21) is provided with a fixed spring (22), and the bottom end of each fixed spring (22) is provided with a spring seat (23);
the detection end of the weight detector (18) is provided with a connecting block body (24) through a connector (19), the bottom of the connecting block body (24) is provided with a second mounting plate (25) through a bolt, and the top of the second mounting plate (25) is connected with a spring seat (23) through a bolt;
the bottom of the second mounting plate (25) is symmetrically provided with a second connecting plate (26), one side of the second connecting plate (26) is provided with a pneumatic cylinder (27), the output end of the pneumatic cylinder (27) penetrates through the inner side of the second connecting plate (26), the output end of the pneumatic cylinder (27) is provided with a clamping plate (28), the inner side of the clamping plate (28) is provided with an anti-skid groove (29), the bottom of the second connecting plate (26) is provided with a connecting groove (32), the top of the connecting groove (32) is provided with a mounting cavity (30), the inside of the mounting cavity (30) is provided with a limiting plate (31), the bottom of the limiting plate (31) is provided with a movable plate (33), and the movable plate (33) penetrates through the bottom of the second connecting plate (26) through the connecting groove (32);
fixed shell (34) are installed to the bottom symmetry of fly leaf (33), fixed shell (34) internally mounted has backup pad (35), second motor (36) are installed through the bolt in the top of backup pad (35), and the bottom of backup pad (35) is run through to the output of second motor (36), install installation axle (37) are run through to the bottom of fixed shell (34), rotation axis (38) are installed to the inside movable mounting of installation axle (37), and the both ends of running through installation axle (37) of rotation axis (38), the bottom of rotation axis (38) is provided with guard plate (39), spacing disc (40) are installed at the top of rotation axis (38), and spacing disc (40) are located the top of installation axle (37), connecting axle (41) are installed at the top of spacing disc (40), and the top of connecting axle (41) is connected with the output of second motor (36).
2. A one-to-two truss robot as defined in claim 1 wherein: supporting legs (2) are symmetrically arranged at the bottoms of the longitudinal driving mechanisms (1), bases (3) are arranged at the bottoms of the supporting legs (2), displays (20) are arranged on the front faces of the longitudinal driving mechanisms (1), the displays (20) are electrically connected with weight detectors (18), mounting shells (8) are arranged at the tops of the moving parts (7), penetrating grooves (9) are formed in the mounting shells (8), driving gears (10) are arranged in the mounting shells (8) through the penetrating grooves (9), first motors (11) are arranged on one sides of the mounting shells (8) through bolts, output ends of the first motors (11) penetrate through inner walls of one sides of the mounting shells (8), and output ends of the first motors (11) are connected with the driving gears (10).
3. The method of using a one-to-two truss robot according to any one of claims 1-2, wherein the method of using the one-to-two truss robot is as follows:
s1, firstly, arranging the truss robot to a position to be used, wherein when the robot moves, the longitudinal driving mechanism (1) drives the movably connected transverse driving mechanism (6) to longitudinally move, and when the robot needs to transversely move, the transverse driving mechanism (6) drives the clamping structure to transversely move, so that the truss robot can transversely and longitudinally move, and the truss robot can be flexibly used;
s2, when the clamping structure moves to the outer side of an article to be clamped, the pneumatic cylinder (27) converts pneumatic energy into kinetic energy to drive the clamping plate (28) at the output end to move, so that the clamping plate (28) applies pressure to the article to be clamped, and the article is clamped;
s3, after the article is clamped, the second motor (36) converts electric energy into kinetic energy after being electrified, and provides power for rotation of the protection plate (39), so that the protection plate (39) rotates below the clamped article, the article is protected, and the clamped article is prevented from falling and being damaged.
4. A method of using a one-to-two truss robot according to claim 3, wherein the step of S1 further comprises:
s11, when the truss robot is used, the clamping structure is required to move up and down to clamp objects, so that the clamping structure is required to move up and down, the driving gear (10) at the output end is driven by the first motor (11) to rotate, and the driving gear (10) is meshed with the connecting rack (16), so that the moving rod (13) moves up and down to change the height of the clamping structure;
the step S3 further comprises the following steps:
s31, when the protection plate (39) is not needed to be used, the second motor (36) continuously drives the protection plate (39) to rotate, so that the protection plate (39) rotates to the lower side of the movable plate (33) to be retracted, and clamping of articles is not affected.
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| CN116945236A (en) | 2023-10-27 |
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