CN208005678U - Truss manipulator - Google Patents
Truss manipulator Download PDFInfo
- Publication number
- CN208005678U CN208005678U CN201820248038.4U CN201820248038U CN208005678U CN 208005678 U CN208005678 U CN 208005678U CN 201820248038 U CN201820248038 U CN 201820248038U CN 208005678 U CN208005678 U CN 208005678U
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- locating piece
- driving
- ontology
- rack
- clamping jaw
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Abstract
The utility model is related to truss manipulators, including：Rack moves material arm, is set to the rotating device moved on material arm, feeding clamping jaw and driving device；It is lateral, longitudinal, vertically movable that the driving device driving moves material arm；The feeding clamping jaw is fixed on the round end of rotating device；The rotating device driving feeding clamping jaw is rotated along vertical axes；The feeding clamping jaw includes ontology, is fixed on the first drive component of ontology, is located at the gripper assembly of ontology lower end, is located at the positioning plate of ontology lower end, the first guidance set.Lateral, longitudinal, vertical driving is carried out to moving material arm using driving device, and the rotating device moved on material arm is combined to carry out rotation driving, it is four-axle linked to realize, positioning plate forms end face to the end face of reel under the top pressure effect of compressed spring and positions, at this time, feeding clamping jaw forms short axle to reel and end face positions, and it is highly stable, firm to position and be clamped, and can carry heavier material.
Description
Technical field
The utility model is related to truss manipulators.
Background technology
Currently, for the material of some tubulars, for example the reel for winding enameled wire, such reel cannot when moving and expecting
Outer circle or stylolitic part is clamped in holder, and therefore, generally the heart is provided with centre bore and carries out shifting material within the roll, and is conventionally used to reel
The structure for moving material exists and is clamped unstable, not firm, and when transport there are problems that shaking or even falling, and traditional clamping knot
There is also the load-carrying problems low compared with light, the degree of automation for structure.
Invention content
Place, the purpose of this utility model are to provide truss manipulator in order to overcome the above-mentioned deficiencies of the prior art.
The technical solution of the utility model is：
Truss manipulator, including：Rack moves material arm, is set to the rotating device moved on material arm, feeding clamping jaw, and driving
Device；It is lateral, longitudinal, vertically movable that the driving device driving moves material arm；The feeding clamping jaw is fixed on the rotation of rotating device
Turn end；The rotating device driving feeding clamping jaw is rotated along vertical axes；The feeding clamping jaw includes ontology, is fixed on the of ontology
One drive component is located at the gripper assembly of ontology lower end, is located at the positioning plate of ontology lower end, the first guidance set；The gripping
Component includes the left locating piece for being slidably connected to ontology and right locating piece；The lower end of the left locating piece is equipped with left positioning region；Institute
It states right locating piece and is equipped with right positioning region；The positioning plate is equipped with for the mounting groove across left locating piece and right locating piece；It is described
First guidance set includes the guide frame and compressed spring being set between ontology and positioning plate；The drive of first drive component
Moved end respectively drives left locating piece, the outside Slideslip of right locating piece；The both ends difference top pressure ontology of the compressed spring and positioning
Plate.
Its further technical solution is：The driving device includes being slidably connected to the installation part of rack, for driving peace
Second drive component of piece installing transverse shifting, is slidably connected to the load-bearing part of installation part, for driving load-bearing part to vertically move
Third drive component and the 4th drive component；The shifting material arm is slidably connected to load-bearing part；The 4th driving Component driver
It is vertically movable to move material arm.
Its further technical solution is：The rack is equipped with the second guidance set and the second rack；Second driving
Component includes the second driving motor for being fixed on installation part, the second gear axis being sequentially connected with the second driving motor；The peace
Piece installing is slidably connected with the second guidance set；The second gear axis and the second rack engaged transmission.
Its further technical solution is：The installation part is equipped with third guidance set and third rack；The third is driven
Dynamic component includes the third driving motor for being fixed on load-bearing part, the third gear shaft being sequentially connected with third driving motor；It is described
Load-bearing part is slidably connected with third guidance set；The third gear shaft and third rack engaged transmission.
Its further technical solution is：The shifting material arm is equipped with the 4th guidance set and the 4th rack；The 4 wheel driven
Dynamic component includes the 4th driving motor for being fixed on load-bearing part, the 4th gear shaft being connect with the 4th driving motor drive；It is described
Load-bearing part is equipped with the sliding slot being slidably connected with the 4th guidance set；4th gear shaft is engaged with the 4th rack.
Its further technical solution is：The feeding clamping jaw further includes the sliding seat of the sliding seat in a left side and the right side for being fixed on ontology,
Guide rod between the sliding seat in a left side and right sliding seat, top pressure slip the left resetting spring between seat and left locating piece in a left side,
Top pressure is in right sliding right resetting spring between seat and right locating piece；The left locating piece and right locating piece are slidably connected to respectively
Guide rod；The left left locating piece of resetting spring top pressure, so that locating piece is close to the right for left locating piece；The right resetting spring
The right locating piece of top pressure, so that locating piece is close to the left for right locating piece.
Its further technical solution is：First drive component is linear motor or straight line cylinder；The driving end bottom
The left and right side in portion is respectively equipped with left lozenges and right lozenges；The right side of the left locating piece is equipped with to be coordinated with left lozenges
Left wedge-shaped part；The left side of the right locating piece is equipped with the right wedge-shaped part coordinated with right lozenges；The driving end moves down
When, the left locating piece of top pressure and right locating piece move outward respectively at driving end.
Its further technical solution is：The left positioning region is equipped with left half-cone platform, and set on left half-cone platform upper end
Left location structure；The right positioning region is equipped with right half-cone platform, and the right location structure set on right half-cone platform upper end；The left side
Location structure, right location structure are semiorbicular locating slot；When the left locating piece and right locating piece are bonded, the left half-cone
Platform, right half-cone platform form the frustum of a cone, and the left location structure, right location structure form annular groove.
Its further technical solution is：The rotating device includes being fixed on the mounting bracket for moving material arm, is fixed on mounting bracket
Electric rotating machine；The electric rotating machine is equipped with the round end.
Its further technical solution is：The truss manipulator further includes the vision positioning device for being fixed on mounting bracket.
The utility model having the technical effect that compared with prior art：Truss manipulator expects arm using driving device to moving
Lateral, longitudinal, vertical driving is carried out, and the rotating device on shifting material arm is combined to carry out rotation driving, rotation four-axle linked to realize
The round end of rotary device is fixed with feeding clamping jaw, left positioning region and right positioning region and forms axis hole positioning to endoporus, is adapted to not
Reel with big small-bore moves material, also, positioning plate forms end face to the end face of reel under the top pressure effect of compressed spring and determines
Position, at this point, feeding clamping jaw forms short axle to reel and end face positions, it is highly stable, firm to position and be clamped, and can carry heavier
Material.
The utility model is further described in the following with reference to the drawings and specific embodiments.
Description of the drawings
Fig. 1 is the first three-dimensional view of the utility model truss manipulator；
Fig. 2 is the enlarged drawing in the portions A in Fig. 1；
Fig. 3 is the second three-dimensional view of the utility model truss manipulator；
Fig. 4 is the enlarged drawing in the portions B in Fig. 2；
Fig. 5 is the side view of feeding clamping jaw；
Fig. 6 is the enlarged drawing in the portions C in Fig. 5
Fig. 7 is the three-dimensional view of feeding clamping jaw；
Fig. 8 is the side view of feeding clamping jaw.
Reference numeral
10 truss manipulator, 1 rack
11 second guidance set, 12 second rack
2 move material the 4th guidance set of arm 21
22 the 4th rack, 3 rotating device
31 mounting bracket, 32 electric rotating machine
4 feeding clamping jaw, 41 ontology
42 first drive component, 421 left lozenges
422 right lozenges, 43 gripper assembly
The 431 left left wedge-shaped parts of locating piece 431A
The left left location structures of half-cone platform 431C of 431B
The 432 right right wedge-shaped parts of locating piece 432A
The right right location structures of half-cone platform 432C of 432B
44 positioning plate, 441 mounting groove
45 first guidance set, 451 guide frame
The left sliding seat of 452 compressed spring 46
47 48 guide rods of right sliding seat
5 driving device, 51 installation part
511 third guidance set, 512 third rack
513 third gear shaft, 52 second drive component
521 second driving motor, 522 second gear axis
53 load-bearing part, 54 third drive component
The 4th drive component of 541 third driving motor 55
The 4th gear shaft of 551 the 4th driving motor 552
6 vision positioning devices
Specific implementation mode
In order to more fully understand the technology contents of the utility model, with reference to schematic diagram to the technical side of the utility model
Case is further described and illustrates, but not limited to this.
Truss manipulator, including：Rack moves material arm, is set to the rotating device moved on material arm, feeding clamping jaw, and driving
Device, it is lateral, longitudinal, vertically movable that driving device driving moves material arm.Feeding clamping jaw is fixed on the round end of rotating device, rotation
Device drives feeding clamping jaw to be rotated along vertical axes.The combination of driving device and rotating device can be achieved four-axle linked.
Feeding clamping jaw includes ontology, is fixed on the first drive component of ontology, is located at the gripper assembly of ontology lower end, is located at
The positioning plate of ontology lower end, the first guidance set.Gripper assembly includes the left locating piece for being slidably connected to ontology and right locating piece,
The lower end of left locating piece is equipped with left positioning region, and right locating piece is equipped with right positioning region, positioning plate be equipped with for across left locating piece and
The mounting groove of right locating piece.First guidance set includes the guide frame and compressed spring being set between ontology and positioning plate, the
The driving end of one drive component respectively drives left locating piece, the outside Slideslip of right locating piece, and top pressure is distinguished at the both ends of compressed spring
Ontology and positioning plate.
As shown in Figure 1 and Figure 2, truss manipulator 10, including：Rack 1 moves material arm 2, is set to the rotating device moved on material arm 2
3, feeding clamping jaw 4 and driving device 5, the driving shifting material arm 2 of driving device 5 are lateral, longitudinal, vertically movable.Feeding clamping jaw 4 is solid
Due to the round end of rotating device 3, rotating device 3 drives feeding clamping jaw 4 to be rotated along vertical axes.Driving device 5 and rotating device 3
Combination can be achieved it is four-axle linked.
Preferably, driving device 5 includes being slidably connected to the installation part 51 of rack 1, for driving installation part 51 laterally to move
The second dynamic drive component 52, is slidably connected to the load-bearing part 53 of installation part 51, and for driving that load-bearing part 53 vertically moves
Three drive components 54 and the 4th drive component 55.It moves material arm 2 and is slidably connected to load-bearing part 53, the driving of the 4th drive component 55
It is vertically movable to move material arm 2.Specifically, rack 1 is frame structure, installation part 51 is the crossbeam for being slidably connected to rack 1, rack 1
Truss structure is constituted with installation part 51.
Preferably, rack 1 is equipped with the second guidance set 11 and the second rack 12.Second drive component 52 includes fixing
In the second driving motor 521 of installation part 51, the second gear axis 522 being sequentially connected with the second driving motor 521.Installation part 51
It is slidably connected with the second guidance set 11,12 engaged transmission of second gear axis 522 and the second rack.In the present embodiment, second
The output end of driving motor 521 is sequentially connected with gearbox, and second gear axis 522 is sequentially connected in gearbox.In the present embodiment
In, the second guidance set 11 is sliding rail, and 2 sliding rails are provided in rack.
Preferably, rotating device 3 includes being fixed on the mounting bracket 31 for moving material arm 2, is fixed on the electric rotating machine of mounting bracket 31
32, electric rotating machine 32 is equipped with round end, and feeding clamping jaw 4 is fixedly connected in round end by connecting pole.
Preferably, truss manipulator 10 further includes the vision positioning device 6 for being fixed on mounting bracket 31.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, installation part 51 is equipped with third guidance set 511 and third rack
512.Third drive component 54 includes the third driving motor 541 for being fixed on load-bearing part 53, is driven and connects with third driving motor 541
The third gear shaft 513 connect.Load-bearing part 53 is slidably connected with third guidance set 511, third gear shaft 513 and third rack
512 engaged transmissions.
Preferably, it moves material arm 2 and is equipped with the 4th guidance set 21 and the 4th rack 22.4th drive component 55 includes solid
Due to the 4th driving motor 551 of load-bearing part 53, the 4th gear shaft 552 being sequentially connected with the 4th driving motor 551.Load-bearing part
53 are equipped with the sliding slot being slidably connected with the 4th guidance set 21, and the 4th gear shaft 552 is engaged with the 4th rack 22.In the present embodiment
In, third guidance set, the 4th guidance set are sliding rail.
As shown in Figure 7, Figure 8, feeding clamping jaw 4 includes ontology 41, is fixed on the first drive component 42 of ontology 41, is located at this
The gripper assembly 43 of 41 lower end of body is located at the positioning plate 44 of 41 lower end of ontology, the first guidance set 45.Gripper assembly 43 includes sliding
The lower end of the dynamic left locating piece 431 and right locating piece 432 for being connected to ontology 41, left locating piece 431 is equipped with left positioning region, right positioning
Part 432 is equipped with right positioning region, and positioning plate 44 is equipped with for the mounting groove 441 across left locating piece 431 and right locating piece 432.The
One guidance set 45 includes the guide frame 451 and compressed spring 452 being set between ontology 41 and positioning plate 44, the first driving group
The driving end of part 42 respectively drives left locating piece 431,432 outside Slideslip of right locating piece, and the both ends of compressed spring 452 are pushed up respectively
Press ontology 41 and positioning plate 44.
Preferably, feeding clamping jaw 4 further includes the sliding seat 46 in a left side for being fixed on ontology 41 and right sliding seat 47, and it is sliding to be set to a left side
Guide rod 48 between seat 46 and right sliding seat 47, top pressure slip the left resetting spring between seat 46 and left locating piece 431 in a left side,
Top pressure is in right sliding right resetting spring between seat 47 and right locating piece 432.Left locating piece 431 and right locating piece 432 are slided respectively
It is dynamic to be connected to guide rod 48, the left left locating piece 431 of resetting spring top pressure, so that locating piece 432 leans on left locating piece 431 to the right
Closely, the right locating piece 432 of right resetting spring top pressure, so that locating piece 431 is close to the left for right locating piece 432.
Preferably, the first drive component 42 is linear motor or straight line cylinder, the left and right side point of driving end bottom
It She You not left lozenges 421 and right lozenges 422.The right side of left locating piece 431 is equipped with the left wedge shape coordinated with left lozenges 421
Portion 431A, the left side of right locating piece 432 is equipped with the right wedge-shaped part 432A coordinated with right lozenges 422, when driving end moves down,
Driving end, the left locating piece 431 of top pressure and right locating piece 432 move outward respectively.In other embodiments, drive component is straight
Line motor.
Preferably, left positioning region is equipped with left half-cone platform 431B, and the left positioning knot set on the left upper ends half-cone platform 431B
Structure 431C.Right positioning region is equipped with right half-cone platform 432B, and the right location structure 432C set on the right upper ends half-cone platform 432B.It is left
Location structure 431C, right location structure 432C are semiorbicular locating slot.It is left when left locating piece 431 and right locating piece 432 are bonded
Half-cone platform 431B, right half-cone platform 432B form the frustum of a cone, and left location structure 431C, right location structure 432C form annular
Slot.When specifically used, cable roll is provided with the positioning region extended into hole, when moving material, left locating piece 431 and right locating piece
432 locating slot forms clamping relationship with positioning region, to ensure the stabilization of the positioning of gripper assembly 43.
When work, driving device 5 driving move material arm 2 be moved to appointed place, if it is necessary, rotating device 3 also rotate to
Required position, specific position can be transferred to operating personnel by vision positioning device 6, after location determination, 4 wheel driven
The dynamic driving of component 55 moves material arm 2 and moves down, and the first guidance set 45 is extend into the hole of reel, and positioning plate 44 is in compressed spring
The end face that reel is compressed under the action of 452 forms end face positioning, and the driving end of the first drive component 42 respectively drives left locating piece
431,432 outside Slideslip of right locating piece is being tied at this point, left positioning region, right positioning region form short axle positioning to the endoporus of reel
Under the premise of closing the positioning of 44 end face of positioning plate, feeding clamping jaw 4 can form stable location structure.
The above-mentioned technology contents that the utility model is only further illustrated with embodiment, in order to which reader is easier to understand,
But the embodiment for not representing the utility model is only limitted to this, and any technology done according to the utility model extends or recreation,
It is protected by the utility model, the scope of protection of the utility model is subject to claims.
Claims (10)
1. truss manipulator, which is characterized in that including：Rack moves material arm, the rotating device being set on shifting material arm, feeding clamping jaw,
And driving device；It is lateral, longitudinal, vertically movable that the driving device driving moves material arm；The feeding clamping jaw is fixed on rotation
The round end of device；The rotating device driving feeding clamping jaw is rotated along vertical axes；The feeding clamping jaw includes ontology, is fixed on
First drive component of ontology is located at the gripper assembly of ontology lower end, is located at the positioning plate of ontology lower end, the first guidance set；
The gripper assembly includes the left locating piece for being slidably connected to ontology and right locating piece；The lower end of the left locating piece is equipped with left fixed
Position portion；The right locating piece is equipped with right positioning region；The positioning plate is equipped with for the installation across left locating piece and right locating piece
Slot；First guidance set includes the guide frame and compressed spring being set between ontology and positioning plate；First driving
The driving end of component respectively drives left locating piece, the outside Slideslip of right locating piece；Distinguish top pressure sheet in the both ends of the compressed spring
Body and positioning plate.
2. truss manipulator according to claim 1, which is characterized in that the driving device includes being slidably connected to rack
Installation part, the second drive component for driving installation part transverse shifting is slidably connected to the load-bearing part of installation part, for driving
The third drive component and the 4th drive component of dynamic load-bearing part longitudinal movement；The shifting material arm is slidably connected to load-bearing part；Institute
It states the 4th driving Component driver and moves and expect that arm is vertically movable.
3. truss manipulator according to claim 2, which is characterized in that the rack is equipped with the second guidance set, and
Second rack；Second drive component includes the second driving motor for being fixed on installation part, is driven and connects with the second driving motor
The second gear axis connect；The installation part is slidably connected with the second guidance set；The second gear axis is engaged with the second rack
Transmission.
4. truss manipulator according to claim 2, which is characterized in that the installation part is equipped with third guidance set, with
And third rack；The third drive component includes the third driving motor for being fixed on load-bearing part, is driven with third driving motor
The third gear shaft of connection；The load-bearing part is slidably connected with third guidance set；The third gear shaft is nibbled with third rack
Close transmission.
5. truss manipulator according to claim 2, which is characterized in that the shifting material arm is equipped with the 4th guidance set, with
And the 4th rack；4th drive component includes the 4th driving motor for being fixed on load-bearing part, with the 4th driving motor drive
4th gear shaft of connection；The load-bearing part is equipped with the sliding slot being slidably connected with the 4th guidance set；4th gear shaft with
4th rack engages.
6. truss manipulator according to claim 1, which is characterized in that the feeding clamping jaw further includes being fixed on ontology
The sliding seat in a left side and right sliding seat, the guide rod being set between left sliding seat and right sliding seat, top pressure is in the sliding seat in a left side and left positioning
Left resetting spring between part, top pressure is in right sliding right resetting spring between seat and right locating piece；The left locating piece and the right side
Locating piece is slidably connected to guide rod respectively；The left left locating piece of resetting spring top pressure, so that left locating piece positions to the right
Part is close；The right right locating piece of resetting spring top pressure, so that locating piece is close to the left for right locating piece.
7. truss manipulator according to claim 1, which is characterized in that first drive component is for linear motor or directly
Line cylinder；The left and right side of the driving end bottom is respectively equipped with left lozenges and right lozenges；The right side of the left locating piece
Side is equipped with the left wedge-shaped part coordinated with left lozenges；The left side of the right locating piece is equipped with the right wedge shape coordinated with right lozenges
Portion；When the driving end moves down, the left locating piece of top pressure and right locating piece move outward respectively at driving end.
8. truss manipulator according to claim 1, which is characterized in that the left positioning region is equipped with left half-cone platform, and
Left location structure set on left half-cone platform upper end；The right positioning region is equipped with right half-cone platform, and on right half-cone platform
The right location structure at end；The left location structure, right location structure are semiorbicular locating slot；The left locating piece and right positioning
When part is bonded, the left half-cone platform, right half-cone platform form the frustum of a cone, and the left location structure, right location structure form ring
Shape slot.
9. truss manipulator according to claim 1, which is characterized in that the rotating device includes being fixed on shifting material arm
Mounting bracket is fixed on the electric rotating machine of mounting bracket；The electric rotating machine is equipped with the round end.
10. truss manipulator according to claim 9, which is characterized in that the truss manipulator further includes being fixed on peace
The vision positioning device shelved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248038.4U CN208005678U (en) | 2018-02-11 | 2018-02-11 | Truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248038.4U CN208005678U (en) | 2018-02-11 | 2018-02-11 | Truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208005678U true CN208005678U (en) | 2018-10-26 |
Family
ID=63886605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820248038.4U Active CN208005678U (en) | 2018-02-11 | 2018-02-11 | Truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208005678U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN110722541A (en) * | 2019-11-13 | 2020-01-24 | 李军妹 | Truss robot system for automobile production line and clamping method thereof |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
-
2018
- 2018-02-11 CN CN201820248038.4U patent/CN208005678U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN110722541A (en) * | 2019-11-13 | 2020-01-24 | 李军妹 | Truss robot system for automobile production line and clamping method thereof |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
| CN114074336B (en) * | 2021-11-17 | 2023-05-23 | 东北大学 | Terminal pulling force self-adaptive variable speed automatic wire drawing device |
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