CN209364619U - A kind of truss manipulator convenient for adjusting scheduling - Google Patents
A kind of truss manipulator convenient for adjusting scheduling Download PDFInfo
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- CN209364619U CN209364619U CN201821954084.2U CN201821954084U CN209364619U CN 209364619 U CN209364619 U CN 209364619U CN 201821954084 U CN201821954084 U CN 201821954084U CN 209364619 U CN209364619 U CN 209364619U
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Abstract
The utility model discloses a kind of truss manipulators convenient for adjusting scheduling, including including the first frame, the second frame, the first driver plate and the second driver plate, equal level is fixedly connected with the first frame in the Z-axis direction at second frame both ends, two first frame both ends are vertically fixedly connected with first support in the Y-axis direction, control panel is fixedly connected on one of them described first support side, second frame is fixedly connected with double end motor far from two the first frame side middles.The beneficial effect is that: 1: the horizontal back and forth movement of the second connecting plate can be achieved, be easy to implement manipulator connection frame and manipulator is driven to make X-direction movement on the first driver plate, facilitate and adjust X-axis scheduling；2: achievable manipulator makees Y direction movement, facilitates and adjusts Y-axis scheduling；3: achievable manipulator makees Z-direction movement, facilitates and adjusts Z axis scheduling, whole transmission is more stable, because transmission parts are less, so reducing production cost.
Description
Technical field
The utility model relates to a kind of truss manipulator, in particular to a kind of truss manipulator convenient for adjusting scheduling belongs to
In lathe equipments technical field.
Background technique
Truss manipulator be it is a kind of establish in right angle X, Y on the basis of Z system of 3 axes, carries out station adjustment to workpiece, or
Realize the full-automatic equipment of the functions such as the track movement of workpiece, existing truss robot manipulator structure is complex, in X, Y, Z
Adjust more troublesome in three axis directions, each transmission parts that connect are relatively more, so that producing cost is relatively high.
Utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies of existing technologies, provide it is a kind of convenient for adjust scheduling
Truss manipulator.
In order to solve the above-mentioned technical problem, the utility model provides the following technical solution:
A kind of truss manipulator convenient for adjusting scheduling of the utility model, including the first frame, the second frame, first
Driver plate and the second driver plate, equal level is fixedly connected with the first frame in the Z-axis direction at second frame both ends, and two
A first frame both ends are vertically fixedly connected with first support in the Y-axis direction, one of them described first support
Control panel is fixedly connected on side, second frame is fixedly connected with far from two the first frame side middles
Double end motor, two output ends of double end motor tool can pass through shaft coupling and be sequentially connected with first rotating shaft, and two described the
One shaft is fixedly connected to drive bevel gear far from double end motor one end, two drive bevel gears engage be connected with from
Dynamic bevel gear, equal level is fixedly connected with the first screw rod to two driven wheel of differential axis clients in the Z-axis direction, described in two
First screw rod both passes through inside corresponding first frame, and the surface that two first screw rods are located inside the first frame is equal
It is threaded with the first threaded block, between two first frames and is located between the opposite flank of two the first threaded blocks
Level is fixedly connected with the first driver plate, and first driver plate upper surface is fixedly connected with the second single head motor by rack,
The second single head motor output end is sequentially connected with the second shaft by shaft coupling, and second shaft is far from the second single head electricity
Machine one end is fixedly connected with rotary sleeve, and the rotary sleeve internal slide is connected with swingle, the swingle pass through rotary sleeve and
It is fixedly connected with L-type swivel plate positioned at rotary sleeve lateral ends, L-type swivel plate another side is rotatably connected to by pin shaft
Third connecting plate, the third connecting plate are connected with third transmission by the first sliding block vertical sliding motion far from L-type swivel plate side
Plate, the third driver plate upper and lower side have been respectively fixedly connected with the first connecting plate and the second connecting plate, first connecting plate one
Side slidably connects the second driver plate by the second sliding block level, and the second transmission board ends are vertically fixedly connected with second
Bracket, two second support bottom ends are fixedly connected in corresponding first threaded block upper surface, second connecting plate one
Side is slidably connected on the first driver plate side by third sliding block, and second connecting plate is vertical far from the first driver plate side
It is fixedly connected with the first single head motor, the first single head motor output end is sequentially connected with the second screw rod, institute by shaft coupling
It states the first connecting plate and the second threaded block is connected with by Four-slider vertical sliding motion far from the second driver plate side, described second
Bar passes through the second threaded block and is threadedly coupled with the second threaded block, and second threaded block is solid far from the first connecting plate side level
Surely it is connected with fixed plate, the fixed plate lower surface is vertically fixedly connected with connecting rod, and the connecting rod is far from fixed plate one end
It is fixedly connected with manipulator connection frame, the control panel and double end motor, the first single head motor and the second single head motor are equal
It is electrically connected.
As a kind of optimal technical scheme of the utility model, first driver plate is set with the third sliding block place of being slidably connected
There is first sliding groove, second driver plate and the second sliding block place of being slidably connected are equipped with second sliding slot.
As a kind of optimal technical scheme of the utility model, is equipped with inside two first frame upper surfaces
Three sliding slots.
As a kind of optimal technical scheme of the utility model, the third driver plate is set with the first sliding block place of being slidably connected
There is the 4th sliding slot.
As a kind of optimal technical scheme of the utility model, between the L-type swivel plate and rotary sleeve and it is located at rotation
Reset spring is connected between bar.
The utility model beneficial effect achieved is: 1: utilize the second single head motor driven, swingle, rotary sleeve,
, it can be achieved that the horizontal back and forth movement of the second connecting plate, is easy to implement machine under cooperation between reset spring and third connecting plate etc.
Tool hand connection frame drives manipulator to make X-direction movement on the first driver plate, facilitates and adjusts X-axis scheduling；2: single using first
Head motor driven, cooperation between the second screw rod and the second threaded block facilitate tune, it can be achieved that manipulator makees Y direction movement
Save Y-axis scheduling；3: utilizing double end motor driven, the cooperation between drive bevel gear and driven wheel of differential passes through the first screw rod
Threaded connection with the first threaded block facilitates and adjusts Z axis scheduling, whole transmission is more, it can be achieved that manipulator makees Z-direction movement
Stablize, because transmission parts are less, so reducing production cost.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is the whole positive structure schematic of the utility model；
Fig. 2 is that first frame of the utility model connect overlooking structure diagram with the second frame；
Fig. 3 is that first driver plate of the utility model connect positive structure schematic with the second driver plate；
Fig. 4 is the L-type swivel plate attachment structure schematic diagram of the utility model；
Fig. 5 is the first connecting plate and second connecting plate and the trailing flank structural representation of third driver plate of the utility model
Figure；
Fig. 6 is the second threaded block side, sectional structural schematic diagram of the utility model.
In figure: 1, first support；2, the first frame；3, the second frame；4, the first driver plate；5, first sliding groove； 6,
First threaded block；7, the first screw rod；8, double end motor；9, second support；10, the second driver plate；11, second sliding slot；12, first
Connecting plate；13, the second threaded block；14, the second screw rod；15, fixed plate；16, connecting rod；17, manipulator connection frame；18, first
Single head motor；19, the second connecting plate；20, third driver plate；21, third connecting plate；22, L-type swivel plate；23, swingle；
24, the second single head motor；25, rotary sleeve；26, reset spring；27, rack；28, first rotating shaft；29, drive bevel gear；30, from
Dynamic bevel gear；31, third sliding slot；32, the second shaft；33, the first sliding block；34, the second sliding block；35, the 4th sliding slot；36, third
Sliding block；37, Four-slider；38, control panel.
Specific embodiment
It is illustrated below in conjunction with preferred embodiment of the attached drawing to the utility model, it should be understood that described herein excellent
It selects embodiment to be only used for describing and explaining the present invention, is not used to limit the utility model.
Embodiment
As shown in figures 1 to 6, it is a kind of convenient for adjust scheduling truss manipulator, including the first frame 2, the second frame 3,
First driver plate 4 and the second driver plate 10, equal level is fixedly connected with the first frame in the Z-axis direction at the second frame 3 both ends
Frame 2, two 2 both ends of the first frame are vertically fixedly connected with first support 1, one of first support 1 in the Y-axis direction
Control panel 38 is fixedly connected on side, the second frame 3 is fixedly connected with far from two 2 side middles of the first frame
Double end motor 8,8 two output ends of double end motor tool can pass through shaft coupling and be sequentially connected with first rotating shaft 28, and two first turn
Axis 28 is fixedly connected to drive bevel gear 29 far from 8 one end of double end motor, two drive bevel gears 29 engage be connected with from
Dynamic bevel gear 30, equal level is fixedly connected with the first screw rod 7 to two 30 axis clients of driven wheel of differential in the Z-axis direction, and two
One screw rod 7 both passes through inside corresponding first frame 2, and two the first screw rods 7 are located at the equal spiral shell in surface inside the first frame 2
Line is connected with the first threaded block 6, between two the first frames 2 and is located at water between the opposite flank of two the first threaded blocks 6
Flat to be fixedly connected with the first driver plate 4,4 upper surface of the first driver plate is fixedly connected with the second single head motor 24 by rack 27,
Second single head motor, 24 output end is sequentially connected with the second shaft 32 by shaft coupling, and the second shaft 32 is far from the second single head motor
24 one end are fixedly connected with rotary sleeve 25, and 25 internal slide of rotary sleeve is connected with swingle 23, and swingle 23 passes through rotary sleeve 25
And be located at 25 lateral ends of rotary sleeve and be fixedly connected with L-type swivel plate 22,22 another side of L-type swivel plate is rotated by pin shaft to be connected
It is connected to third connecting plate 21, third connecting plate 21 is connected with far from 22 side of L-type swivel plate by 33 vertical sliding motion of the first sliding block
Third driver plate 20,20 upper and lower side of third driver plate have been respectively fixedly connected with the first connecting plate 12 and the second connecting plate 19, and first
12 side of connecting plate slidably connects the second driver plate 10 by 34 level of the second sliding block, and 10 both ends of the second driver plate are vertically solid
Surely it is connected with second support 9, two 9 bottom ends of second support are fixedly connected with to be connected in corresponding first threaded block, 6 upper surface, second
19 side of fishplate bar is slidably connected on 4 side of the first driver plate by third sliding block 36, and the second connecting plate 19 is far from the first transmission
4 side of plate is vertically fixedly connected with the first single head motor 18, and 18 output end of the first single head motor is sequentially connected with by shaft coupling
Second screw rod 14, the first connecting plate 12 are connected with second by 37 vertical sliding motion of Four-slider far from 10 side of the second driver plate
Threaded block 13, the second screw rod 14 pass through the second threaded block 13 and are threadedly coupled with the second threaded block 13, and the second threaded block 13 is separate
First connecting plate, 12 side level is fixedly connected with fixed plate 15, and 15 lower surface of fixed plate is vertically fixedly connected with connecting rod 16,
Connecting rod 16 is fixedly connected with manipulator connection frame 17 far from 15 one end of fixed plate, and control panel 38 and double end motor 8, first are single
Head motor 18 and the second single head motor 24 are electrically connected.
First driver plate 4 is equipped with first sliding groove 5, the second driver plate 10 and the second sliding block with 36 place of being slidably connected of third sliding block
34 places of being slidably connected are equipped with second sliding slot 11, facilitate the X-direction for adjusting manipulator, inside two 2 upper surfaces of the first frame
It is equipped with third sliding slot 31, facilitates the Z-direction for adjusting manipulator, third driver plate 20 is set with 33 place of being slidably connected of the first sliding block
There is the 4th sliding slot 35, drives third driver plate 20 to move horizontally when swingle 23 being facilitated to rotate, L-type swivel plate 22 and rotary sleeve 25
Between and be connected between swingle 23 reset spring 26, rotation can be compressed convenient for reset spring 26 when the rotation of rotary sleeve 25
23 moving rotary of bull stick.
Specifically, when the utility model is used, truss mechanical arm is first fixedly mounted on 17 following table of manipulator connection frame
Face, starts double end motor 8 by control panel 38, two rotations of first rotating shafts 28 drive drive bevel gears 29 with from mantle tooth
30 gear motions are taken turns, the rotation of the first screw rod 7 is easy to implement, the first threaded block 6 is threadedly coupled to follow fortune with the first screw rod 7
It is dynamic, it realizes that second support 9 makees Z-direction back and forth movement, convenient for adjusting the Z axis scheduling of mechanical arm, starts the second single head motor
24, the rotation of the second shaft 32 drives rotary sleeve 25 to rotate, and under the action of reset spring 26, swingle 23 is sliding in rotary sleeve 25
Dynamic rotation, drives the first sliding block 33 to slide up and down in the 4th sliding slot 35, so that it is round-trip to pull third driver plate 20 to make X-direction
Movement starts the first single head motor 18 convenient for adjusting the X-axis scheduling of mechanical arm, and the rotation of the second screw rod 14 drives the second screw thread
Block 13 makees Y direction back and forth movement in the first connecting plate 12 under the action of Four-slider 37, convenient for adjusting the Y of mechanical arm
Axis scheduling.
Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention, it is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic
It is equivalently replaced.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of truss manipulator convenient for adjusting scheduling, including the first frame (2), the second frame (3), the first driver plate
(4) and the second driver plate (10), which is characterized in that equal level is fixedly connected in the Z-axis direction at the second frame (3) both ends
Have the first frame (2), two the first frame (2) both ends are vertically fixedly connected with first support in the Y-axis direction
(1), it is fixedly connected with control panel (38) on one of them described first support (1) side, second frame (3) is separate
Two the first frame (2) side middles are fixedly connected with double end motor (8), (8) two output end tools of the double end motor
It can be sequentially connected with first rotating shaft (28) by shaft coupling, two first rotating shafts (28) are far from double end motor (8) one end
It being fixedly connected to drive bevel gear (29), two drive bevel gears (29), which are engaged, is connected with driven wheel of differential (30),
Equal level is fixedly connected with the first screw rod (7) two driven wheel of differential (30) axis clients in the Z-axis direction, and two described
One screw rod (7) both passes through corresponding first frame (2) inside, and two first screw rods (7) are located in the first frame (2)
The surface in portion is threaded with the first threaded block (6), between two first frames (2) and is located at two the first screw threads
Level is fixedly connected with the first driver plate (4) between the opposite flank of block (6), and the first driver plate (4) upper surface passes through machine
Frame (27) is fixedly connected with the second single head motor (24), and the second single head motor (24) output end is sequentially connected by shaft coupling
Having the second shaft (32), second shaft (32) is fixedly connected with rotary sleeve (25) far from second single head motor (24) one end,
Rotary sleeve (25) internal slide is connected with swingle (23), and the swingle (23) passes through rotary sleeve (25) and is located at rotation
Set (25) lateral ends are fixedly connected with L-type swivel plate (22), and L-type swivel plate (22) another side is rotated by pin shaft to be connected
It is connected to third connecting plate (21), the third connecting plate (21) is hung down far from L-type swivel plate (22) side by the first sliding block (33)
It directly slidably connects third driver plate (20), third driver plate (20) upper and lower side has been respectively fixedly connected with the first connecting plate
(12) and the second connecting plate (19), the first connecting plate (12) side slidably connect second by the second sliding block (34) level
Driver plate (10), the second driver plate (10) both ends are vertically fixedly connected with second support (9), two second supports
(9) bottom end is fixedly connected in corresponding first threaded block (6) upper surface, and the second connecting plate (19) side is sliding by third
Block (36) is slidably connected on the first driver plate (4) side, and second connecting plate (19) is hung down far from the first driver plate (4) side
Directly it is fixedly connected with the first single head motor (18), the first single head motor (18) output end is sequentially connected with the by shaft coupling
Two screw rods (14), first connecting plate (12) are connected far from the second driver plate (10) side by Four-slider (37) vertical sliding motion
It is connected to the second threaded block (13), second screw rod (14) passes through the second threaded block (13) and connects with the second threaded block (13) screw thread
It connects, second threaded block (13) is fixedly connected with fixed plate (15), the fixation far from the first connecting plate (12) side level
Plate (15) lower surface is vertically fixedly connected with connecting rod (16), and the connecting rod (16) is fixedly connected far from fixed plate (15) one end
Have manipulator connection frame (17), the control panel (38) and double end motor (8), the first single head motor (18) and the second single head
Motor (24) is electrically connected.
2. a kind of truss manipulator convenient for adjusting scheduling according to claim 1, which is characterized in that first transmission
Plate (4) and third sliding block (36) place of being slidably connected are equipped with first sliding groove (5), second driver plate (10) and the second sliding block (34)
Place be slidably connected equipped with second sliding slot (11).
3. a kind of truss manipulator convenient for adjusting scheduling according to claim 1, which is characterized in that two described first
Third sliding slot (31) are equipped with inside frame (2) upper surface.
4. a kind of truss manipulator convenient for adjusting scheduling according to claim 1, which is characterized in that the third transmission
Plate (20) and the first sliding block (33) place of being slidably connected are equipped with the 4th sliding slot (35).
5. a kind of truss manipulator convenient for adjusting scheduling according to claim 1, which is characterized in that the L-type rotation
It is connected with reset spring (26) between plate (22) and rotary sleeve (25) and between swingle (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821954084.2U CN209364619U (en) | 2018-11-26 | 2018-11-26 | A kind of truss manipulator convenient for adjusting scheduling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821954084.2U CN209364619U (en) | 2018-11-26 | 2018-11-26 | A kind of truss manipulator convenient for adjusting scheduling |
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| Publication Number | Publication Date |
|---|---|
| CN209364619U true CN209364619U (en) | 2019-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821954084.2U Active CN209364619U (en) | 2018-11-26 | 2018-11-26 | A kind of truss manipulator convenient for adjusting scheduling |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110748696A (en) * | 2019-10-28 | 2020-02-04 | 曲阜师范大学 | Intelligent remote control device for mine support control valve |
| CN113144484A (en) * | 2021-05-24 | 2021-07-23 | 西南交通大学 | Fire safety device arranged at building corridor entrance guard |
-
2018
- 2018-11-26 CN CN201821954084.2U patent/CN209364619U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110748696A (en) * | 2019-10-28 | 2020-02-04 | 曲阜师范大学 | Intelligent remote control device for mine support control valve |
| CN113144484A (en) * | 2021-05-24 | 2021-07-23 | 西南交通大学 | Fire safety device arranged at building corridor entrance guard |
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