CN209078738U - A kind of high-precision truss manipulator - Google Patents
A kind of high-precision truss manipulator Download PDFInfo
- Publication number
- CN209078738U CN209078738U CN201821970971.9U CN201821970971U CN209078738U CN 209078738 U CN209078738 U CN 209078738U CN 201821970971 U CN201821970971 U CN 201821970971U CN 209078738 U CN209078738 U CN 209078738U
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- CN
- China
- Prior art keywords
- bolster
- connecting portion
- transverse
- connecting rod
- mounting base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of high-precision truss manipulators, it includes support column, crossbeam, transverse-moving mechanism, vertical shift mechanism, control device and clamping device, crossbeam is fixedly arranged on the top of support column, transverse-moving mechanism carries out transverse shifting on crossbeam, vertical shift mechanism is set on transverse-moving mechanism, it includes driving device and lifting arm, clamping device is set to the bottom end of the lifting arm, clamping device includes mounting base, lateral bolster, vertical bolster and clamp arm, the top both ends of mounting base have up extended to form link block, link block passes through the end Joint of lateral bolster and lifting arm, clamp arm is fixed in the bottom end of mounting base by vertical bolster.The hard collision and contact firmly that the lateral bolster and vertical bolster that the utility model is arranged in the horizontal and vertical directions can prevent manipulator from occurring during grabbing and placing workpiece or material with other component, improve the safety that equipment uses.
Description
Technical field
The utility model relates to a kind of high-precision truss manipulators.
Background technique
Truss manipulator be that by it is automation control, based on space X YZ rectangular coordinate system overprogram, mostly from
By the automation equipment spent, that it changes traditional logistics modes, effectively improve operating environment, reliably ensure that product
Quality greatly improves labor productivity.
Truss manipulator controls its shift position in space X YZ rectangular coordinate system by programmable controller, if
A certain parameter setting deviation or the tray position for containing workpiece or material place error, manipulator when moving easily with other portions
Hard collision and hard contact occur for part, are damaged so as to cause the workpiece or material of manipulator clamping, or even equipment fault occur.
Utility model content
The purpose of this utility model is to provide a kind of high-precision truss manipulators, can prevent manipulator from grabbing and putting
The hard contact occurred during setting workpiece or material improves the safety that equipment uses.
To achieve the above object, the utility model uses following technical scheme:
A kind of high-precision truss manipulator, including support column, crossbeam, transverse-moving mechanism, vertical shift mechanism, control device and clamping
Device, the crossbeam are fixedly arranged on the top of support column, and the transverse-moving mechanism carries out transverse shifting, the vertical shift mechanism on crossbeam
On transverse-moving mechanism comprising driving device and lifting arm, the clamping device are set to the bottom end of the lifting arm, the folder
Holding device includes that mounting base, lateral bolster, vertical bolster and clamp arm, the top both ends of the mounting base up extend to form
There is link block, the link block passes through the end Joint of lateral bolster and the lifting arm, and the clamp arm is by vertically delaying
Stamping is fixed in the bottom end of the mounting base.
Preferably, the link block is equipped with the connecting hole towards mounting base center, and the transverse direction bolster includes first
Connector, the second connector and the first elastic component, first connector includes first connecting portion, the first connecting portion and company
It connects block to match, the one end matched with the link block is equipped with jack in the axial direction, and second connector includes
The second connecting portion and third interconnecting piece of orthogonal setting, the second connecting portion is fixedly arranged on the side wall of lifting arm, described
Third interconnecting piece is plugged in jack, and first elastic component, and institute are equipped between the second connecting portion and first connecting portion
The first elastic component is stated to be sheathed on third interconnecting piece.
Preferably, the first connecting portion is to be threadedly coupled with connecting hole, and the first connecting portion is in the outside of connecting hole
Equipped with the first stopper section.
Preferably, the vertical bolster includes upper junction plate, connecting rod, lower connecting plate and the second elastic component, it is described on
Connecting plate is fixedly arranged on the bottom of mounting base, and the connecting rod is vertically arranged on upper junction plate, and the lower connecting plate is arranged in company
On extension bar and the nut by matching with connecting rod limits, and the lower connecting plate and connecting rod are clearance fit, the clamp arm
It is fixedly arranged on the bottom of lower connecting plate, second elasticity is arranged in the connecting rod between the upper junction plate and lower connecting plate
Part.
Preferably, the connecting rod and the quantity for being arranged the second elastic component thereon are at least three, and the connection
Bar is arranged around the upper junction plate and lower connecting plate annular array.
Preferably, the support column includes the column body being detachably connected and lower prop, and the bottom of the lower prop is equipped with
Pedestal is equipped with reinforcing rib between the lower prop and pedestal.
After adopting the above technical scheme, the utility model compared with the background art, has the advantages that
1, the lateral bolster and vertical bolster that the utility model is arranged in the horizontal and vertical directions can prevent machine
The hard collision and contact firmly that tool hand occurs during grabbing and placing workpiece or material with other component, improving equipment makes
Safety.
2, the support column of the utility model is detachably connected by column body and lower prop, convenient for the installation of crossbeam, and
It supports column bottom to be equipped with pedestal and reinforcing rib, guarantees that there is enough stability when equipment uses.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the partial enlarged view in Fig. 1 at A；
Fig. 3 is the cross-sectional view of mounting base；
Fig. 4 is the partial enlarged view in Fig. 3 at B.
Description of symbols:
1. support column, 11. column bodies, 12., 121. pedestals, 122. reinforcing ribs；
2. crossbeam；3. transverse-moving mechanism；41. driving device, 42. lifting arms；5. control device；
6. mounting base, 61. link blocks, 62. connecting holes；
7. lateral bolster, 71. first connectors, 711. first connecting portions, 712. jacks, 713. first stopper sections, 72.
Second connector, 721. second connecting portions, 722. third interconnecting pieces, 73. first elastic components；
8. vertical bolster, 81. upper junction plates, 82. connecting rods, 83. lower connecting plates, 84. second elastic components；
9. clamp arm.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
In the present invention it should be noted that term " on " "lower" " left side " " right side " "vertical" "horizontal" "inner" "outside" etc.
It is to be based on the orientation or positional relationship shown in the drawings, it is only for convenient for description the utility model and simplify description, without
It is that the device of indication or suggestion the utility model or element must have a particular orientation, therefore should not be understood as practical new to this
The limitation of type.
Embodiment
Refering to what is shown in Fig. 1, the utility model discloses a kind of high-precision truss manipulator, including support column 1, crossbeam 2, cross
Telephone-moving structure 3, vertical shift mechanism, control device 5 and clamping device.
Support column 1 includes the column body 11 being detachably connected and lower prop 12, and the bottom of lower prop 12 is equipped with pedestal 121,
Reinforcing rib 122 is equipped between lower prop 12 and pedestal 121.Crossbeam 2 is fixedly arranged on the top of support column 1, and transverse-moving mechanism 3 is in crossbeam 2
Upper carry out transverse shifting, vertical shift mechanism are set on transverse-moving mechanism 3 comprising driving device 41 and lifting arm 42.
Cooperate shown in Fig. 1 and Fig. 2, clamping device is set to the bottom end of the lifting arm, and clamping device includes mounting base 6, cross
To bolster 7, vertical bolster 8 and clamp arm 9, the top both ends of mounting base 6 have up extended to form link block 61, link block 61
By the end Joint of lateral bolster 7 and lifting arm 42, clamp arm 9 is fixed in the bottom of mounting base 6 by vertical bolster 8
End.
Cooperate shown in Fig. 1 to Fig. 4, link block 61 is equipped with the connecting hole 62 towards 6 center of mounting base, lateral bolster 7
Including the first connector 71, the second connector 72 and the first elastic component 73, the first connector 71 includes first connecting portion 711, the
One interconnecting piece 711 is matched with link block 61, and the one end matched with link block 61 is equipped with jack 712 in the axial direction,
First connecting portion 711 is to be threadedly coupled with connecting hole 62, and first connecting portion 711 is equipped with the first stopper section in the outside of connecting hole 62
713.Second connector 72 includes the second connecting portion 721 and third interconnecting piece 722 of orthogonal setting, second connecting portion 721
It is fixedly arranged on the side wall of lifting arm 42, third interconnecting piece 722 is plugged in jack 712, second connecting portion 721 and first connecting portion
The first elastic component 73 is equipped between 711, and the first elastic component 73 is sheathed on third interconnecting piece 722.
The installation process of lateral bolster 7 is as follows: being first attached first connecting portion 711 and connecting hole 62, first
After elastic component 73 is sheathed on third interconnecting piece 722, then third interconnecting piece 722 is plugged in jack 712.Then by mounting base
6 are resisted against the bottom of lifting arm 42, compress second connecting portion 721 by the first elastic component 73, later again by second connecting portion 721
It is fixed on the side wall of lifting arm 42.When mounting base 6 is collided, the power of collision is transferred to the first bullet by the first connector 71
Property part 73, so that its is offset impact force, the first elastic component 73 further compressed.
Cooperate shown in Fig. 1 and Fig. 2, vertical bolster 8 includes upper junction plate 81, connecting rod 82, lower connecting plate 83 and second
Elastic component 84, upper junction plate 81 are fixedly arranged on the bottom of mounting base 6, and connecting rod 82 is vertically arranged on upper junction plate 81, lower connection
Plate 83 is arranged in connecting rod 82 and the nut by matching with connecting rod 82 limits, between lower connecting plate 83 and connecting rod 82 are
Gap cooperation, clamp arm 9 are fixedly arranged on the bottom of lower connecting plate 83, are arranged in the connecting rod 82 between upper junction plate 81 and lower connecting plate 83
There is the second elastic component 84.When clamp arm 9 is collided, the power of collision is transferred to the second elastic component 84 by lower connecting plate 83, makes it
Impact force is offset, the second elastic component 84 is further compressed.In the present embodiment, connecting rod 82 and it is arranged the second bullet thereon
Property part 84 quantity be at least three, and connecting rod 82 is arranged around upper junction plate 81 and 83 annular array of lower connecting plate.As
It is preferred that the first elastic component 73 and the second elastic component 84 are spring.
The lateral bolster 7 and vertical bolster 8 being arranged in the horizontal and vertical directions can prevent manipulator from grabbing
It is contacted with during placement workpiece or material with the hard collision of other component generation and firmly, improves the safety that equipment uses
Property.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
It is subject to the protection scope in claims.
Claims (6)
1. a kind of high-precision truss manipulator, including support column, crossbeam, transverse-moving mechanism, vertical shift mechanism, control device and clamping dress
It sets, the crossbeam is fixedly arranged on the top of support column, and the transverse-moving mechanism carries out transverse shifting on crossbeam, and the vertical shift mechanism is set
In on transverse-moving mechanism comprising driving device and lifting arm, the clamping device are set to the bottom end of the lifting arm, and feature exists
In: the clamping device includes that mounting base, lateral bolster, vertical bolster and clamp arm, the top both ends of the mounting base are past
On extended to form link block, the link block passes through the end Joint of lateral bolster and the lifting arm, the clamp arm
The bottom end of the mounting base is fixed in by vertical bolster.
2. a kind of high-precision truss manipulator as described in claim 1, it is characterised in that: the link block is equipped with towards peace
Fill seat center connecting hole, it is described transverse direction bolster include the first connector, the second connector and the first elastic component, described first
Connector includes first connecting portion, and the first connecting portion is matched with link block, the one end matched with the link block
Equipped with jack in the axial direction, second connector includes the second connecting portion and third interconnecting piece of orthogonal setting,
The second connecting portion is fixedly arranged on the side wall of lifting arm, and the third interconnecting piece is plugged in jack, the second connecting portion
First elastic component is equipped between first connecting portion, and first elastic component is sheathed on third interconnecting piece.
3. a kind of high-precision truss manipulator as claimed in claim 2, it is characterised in that: the first connecting portion and connecting hole
To be threadedly coupled, the first connecting portion is equipped with the first stopper section in the outside of connecting hole.
4. a kind of high-precision truss manipulator as described in claim 1, it is characterised in that: the vertical bolster includes upper company
Fishplate bar, connecting rod, lower connecting plate and the second elastic component, the upper junction plate are fixedly arranged on the bottom of mounting base, and the connecting rod is hung down
Direct puncture is set on upper junction plate, and the lower connecting plate is arranged in connecting rod and the nut by matching with connecting rod limits,
The lower connecting plate and connecting rod are clearance fit, and the clamp arm is fixedly arranged on the bottom of lower connecting plate, and the upper junction plate is under
Second elastic component is arranged in connecting rod between connecting plate.
5. a kind of high-precision truss manipulator as claimed in claim 4, it is characterised in that: the connecting rod and be arranged thereon
The quantity of the second elastic component be at least three, and the connecting rod is set around the upper junction plate and lower connecting plate annular array
It sets.
6. a kind of high-precision truss manipulator as described in any one in claim 1-5, it is characterised in that: the support column includes
The bottom of the column body and lower prop being detachably connected, the lower prop is equipped with pedestal, is equipped between the lower prop and pedestal
Reinforcing rib.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821970971.9U CN209078738U (en) | 2018-11-28 | 2018-11-28 | A kind of high-precision truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821970971.9U CN209078738U (en) | 2018-11-28 | 2018-11-28 | A kind of high-precision truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209078738U true CN209078738U (en) | 2019-07-09 |
Family
ID=67125847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821970971.9U Expired - Fee Related CN209078738U (en) | 2018-11-28 | 2018-11-28 | A kind of high-precision truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209078738U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111602492A (en) * | 2020-05-23 | 2020-09-01 | 安徽省农业科学院蚕桑研究所 | Tray loading device of full-automatic straw seedling tray loader |
-
2018
- 2018-11-28 CN CN201821970971.9U patent/CN209078738U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111602492A (en) * | 2020-05-23 | 2020-09-01 | 安徽省农业科学院蚕桑研究所 | Tray loading device of full-automatic straw seedling tray loader |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190709 Termination date: 20211128 |