CN214293107U

CN214293107U - Truss manipulator, working platform and leveling mechanism

Info

Publication number: CN214293107U
Application number: CN202120246668.XU
Authority: CN
Inventors: 谢金台; 曾茂林; 李许
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-01-28
Filing date: 2021-01-28
Publication date: 2021-09-28
Anticipated expiration: 2031-01-28

Abstract

The utility model relates to a truss manipulator, work platform and levelling mechanism, levelling mechanism include first connecting piece, second connecting piece, support piece and first retaining member. The first connecting piece is provided with a connecting hole, a first spherical groove and a second spherical groove, the first spherical groove is communicated with one end of the connecting hole, and the second spherical groove is communicated with the other end of the connecting hole. The second connecting piece includes connecting portion and sets up the first spherical surface portion at the tip of connecting portion, and connecting portion insert and establish in the connecting hole, first spherical surface portion and the rotatable cooperation of first sphere groove. The supporting piece is sleeved on the connecting part and provided with a second spherical surface part, and the second spherical surface part is rotatably matched with the second spherical groove; the first locking piece is sleeved on the connecting portion and is spaced from the supporting piece, and a first locking space is formed between the first locking piece and the supporting piece. The leveling mechanism avoids connection looseness.

Description

Truss manipulator, working platform and leveling mechanism

Technical Field

The utility model relates to a mechanical equipment technical field especially relates to a truss manipulator, work platform and levelling mechanism.

Background

When some high-precision mechanical equipment such as a truss manipulator is installed, the working platform of the truss manipulator needs to be guaranteed to have good levelness and flatness, and then the movement stability of the truss manipulator is guaranteed. However, due to unevenness of the ground and processing and mounting errors, the upper surfaces of the plurality of columns standing on the ground are difficult to be ensured in the same plane, and at this time, if the working platform is directly mounted on the columns, it is obviously impossible to ensure that the working platform has good flatness.

Generally, the above problems require adjusting the flatness of the work platform by adjusting the gap between the work platform and the upper surface of the upright, and most of the methods used for adjusting the flatness of the work platform include inserting screws into the mounting surface of the work platform or the mounting surface of the upright, pushing the upright downwards or upwards by the screws to level the work platform, and then sleeving the screws with nuts to lock the work platform and the upright. But work platform after the leveling and the upper surface of stand can form certain contained angle usually, if directly overlap the nut on the screw this moment, can make nut and work platform or stand also form certain contained angle, and then cause the deformation of lock nut and screw easily, also lead to being connected of nut and screw to become flexible easily.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a truss manipulator, a working platform and a leveling mechanism for avoiding the problem of loose connection.

In one aspect, the present application provides a leveling mechanism, comprising:

the first connecting piece is provided with a connecting hole, a first spherical groove communicated with one end of the connecting hole and a second spherical groove communicated with the other end of the connecting hole;

the second connecting piece comprises a connecting part and a first spherical surface part arranged at one end of the connecting part, the connecting part is inserted into the connecting hole, and the first spherical surface part is rotatably matched with the first spherical groove;

the supporting piece is sleeved on the connecting part and provided with a second spherical surface part, and the second spherical surface part is in rotatable fit with the second spherical groove;

the first locking piece is sleeved on the connecting part and is spaced from the supporting piece, and a first locking space is formed between the first locking piece and the supporting piece.

The second spherical surface part of the support piece is in running fit with the second spherical groove, so that the support piece can freely rotate towards each direction by taking the center of the second spherical groove as a rotating center, the angle of the upper surface of the support piece can be adjusted, the upper surface of the support piece and the lower surface of the cross beam can be completely attached, an included angle between the support piece and the cross beam is avoided, and the reliable positioning of the support piece is guaranteed. In a similar way, the first spherical surface part and the first spherical groove of first connecting piece are normal running fit, can make the connecting portion free angle of adjustment of first connecting piece, guarantee that first retaining member locks behind connecting portion, and first retaining member can laminate completely with the upper surface of crossbeam, and two faces of laminating completely can provide bigger frictional force under the effect of locking force to prevent not hard up the emergence of first retaining member, improved the stability of being connected of crossbeam and stand.

The technical solution of the present application is further described below:

in one embodiment, the first connecting piece is provided with a first external thread, and the second locking piece is provided with a first internal thread matched with the first external thread.

In one embodiment, the leveling mechanism further comprises a gasket, the gasket is sleeved on the connecting portion, and the gasket abuts against one side, close to the supporting member, of the first locking member.

In one embodiment, the connecting portion is provided with a second external thread, and the first locking member is provided with a second internal thread matching the second external thread.

In one embodiment, the connecting portion is clearance-fitted with the connecting hole.

In one embodiment, the support member is a clearance fit with the connecting portion.

On the other hand, this application still provides a work platform, including stand, crossbeam and foretell leveling mechanism, the stand with first connecting piece is connected, the crossbeam is locked in the first locking space.

The levelness of the cross beam can be guaranteed by the aid of the leveling device, the leveling mechanism is in running fit with the second spherical groove through the second spherical surface portion of the support piece, the support piece can rotate freely in all directions by taking the center of the second spherical groove as a rotating center, the angle of the upper surface of the support piece can be adjusted, the upper surface of the support piece can be completely attached to the lower surface of the cross beam, included angles between the support piece and the cross beam are avoided, and reliable positioning of the support piece is guaranteed. In a similar way, the first spherical surface part and the first spherical groove of first connecting piece are normal running fit, can make the connecting portion free angle of adjustment of first connecting piece, guarantee that first retaining member locks behind connecting portion, and first retaining member can laminate completely with the upper surface of crossbeam, and two faces of laminating completely can provide bigger frictional force under the effect of locking force to prevent not hard up the emergence of first retaining member, improved the stability of being connected of crossbeam and stand.

In one embodiment, the upright column comprises a first mounting plate, the cross beam comprises a second mounting plate, the first mounting plate and the second mounting plate are connected through at least two leveling mechanisms, and at least two leveling mechanisms are arranged at intervals.

On the other hand, this application still provides a truss manipulator, including manipulator body, guide rail and foretell work platform, the guide rail is followed the crossbeam sets up, the manipulator body with guide rail sliding fit.

The truss manipulator adopts the working platform, and the working platform can ensure the levelness of the cross beam by adopting the leveling device, so that the levelness of the guide rail is ensured, and the motion stability of the manipulator body is further ensured. And leveling mechanism passes through support piece's second spherical surface portion and second spherical groove normal running fit for support piece can use the center in second spherical groove as the rotation center to each side free rotation, thereby can adjust the angle of support piece's upper surface, guarantees that support piece's upper surface and the lower surface of crossbeam can laminate completely, avoids appearing the contained angle between support piece and the crossbeam, guarantees support piece's reliable location. In a similar way, the first spherical surface portion and the first spherical groove normal running fit of first connecting piece can make the connecting portion free angle of adjustment of first connecting piece, guarantee that first retaining member locks behind connecting portion, first retaining member can laminate completely with the upper surface of crossbeam, two faces of laminating completely can provide bigger frictional force under the effect of locking force, thereby prevented not hard up the emergence of first retaining member, the stability of being connected of crossbeam and stand has been improved, and then the stability of truss manipulator has been improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a work platform according to an embodiment;

FIG. 2 is an enlarged view of a portion A shown in FIG. 1;

FIG. 3 is a schematic structural diagram of a leveling mechanism according to an embodiment;

FIG. 4 is a cross-sectional view of the leveling mechanism shown in FIG. 3;

fig. 5 is a schematic structural diagram of a first connecting element according to an embodiment.

Description of reference numerals:

10. a leveling mechanism; 11. a first connecting member; 111. a support portion; 112. connecting holes; 113. a first spherical groove; 114. a second spherical groove; 12. a second connecting member; 121. a first spherical portion; 122. a connecting portion; 13. a support member; 131. a second spherical portion; 14. a first locking member; 15. a second locking member; 16. a gasket; 20. a column; 21. a first mounting plate; 30. a cross beam; 31. a second mounting plate.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Specifically, as shown in fig. 1-2, the working platform of an embodiment includes columns 20 and beams 30, where the columns 20 are used to support the beams 30, but due to unevenness of the ground and machining and installation errors, the upper surfaces of the columns 20 standing on the ground are difficult to be ensured in the same plane, and it is obvious that if the beams 30 are directly installed on the columns 20, the beams 30 cannot be ensured to have good flatness and straightness. In order to ensure the levelness of the cross beam 30, the working platform of the present application further includes a leveling mechanism 10, the leveling mechanism 10 connects the upright columns 20 and the cross beam 30, and the leveling mechanism 10 is used for adjusting the size of the gap between the cross beam 30 and each upright column 20, so as to ensure that the cross beam 30 is in a horizontal state. Specifically, referring to fig. 2, the upright column 20 includes a first mounting plate 21, the cross beam 30 includes a second mounting plate 31, at least two leveling mechanisms 10 are connected between the first mounting plate 21 and the second mounting plate 31 at intervals, and the first mounting plate 21 and the second mounting plate 31 are supported by the at least two leveling mechanisms arranged at intervals, so that the connection stability of the upright column and the cross beam is improved.

However, when the adjusted cross member 30 is angled with respect to the upper surface of the upright post 20, the locking member of the adjustment mechanism is angled with respect to the surface of the cross member 30 that provides frictional force thereto, such that the locking member not only does not provide sufficient locking frictional force, but is also easily loosened when subjected to impact loads or fluctuating loads. Under this condition, can make the axis coincidence of retaining member and connecting piece, cause the deformation of connecting piece easily, gnaw the tooth, and then lead to connecting not hard up.

In view of the above problems, the present application provides a leveling mechanism 10. Referring to fig. 3-5, fig. 3-5 show a schematic structural diagram of a leveling mechanism 10 according to an embodiment of the present invention. Specifically, the leveling mechanism 10 of an embodiment includes a first link 11, a second link 12, a support member 13, and a first locking member 14. The first connecting member 11 has a connecting hole 112, a first spherical groove 113 and a second spherical groove 114. The first spherical groove is a spherical groove, and the first spherical groove 113 communicates with one end of the connection hole 112 and penetrates the first connection member 11. The second spherical groove is a spherical groove, and the second spherical groove 114 communicates with the other end of the connection hole 112 and penetrates the first connection member 11. The second connecting member 12 includes a connecting portion 122 and a first spherical portion 121 disposed at an end of the connecting portion 122, the connecting portion 122 is inserted into the connecting hole 112, and the first spherical portion 121 is rotatably engaged with the first spherical groove 113. The supporting member 13 is sleeved on the connecting portion 122, and the supporting member 13 is provided with a second spherical surface portion 131, which is rotatably matched with the second spherical surface groove 114; the first locking member 14 is sleeved on the connecting portion 122 and spaced from the supporting member 13, and a first locking space is formed between the first locking member 14 and the supporting member 13.

Specifically, referring to fig. 2, taking the leveling mechanism 10 applied to the work platform as an example, the first connecting member 11 is used to connect the first mounting plate 21 on the upright post 20. Preferably, the first connecting member 11 is a hollow screw, and the levelness of the beam 30 is adjusted by screwing or suspending the first connecting member 11 on or off the first mounting plate 21 to adjust the first height to be used as a reference on the first mounting plate 21. When the height of the first connecting member 11 is adjusted, the supporting member 13 is placed on the first connecting member 11, and the second spherical surface portion 131 of the supporting member 13 is placed in the second spherical surface groove 114. Then the cross beam 30 is placed on the supporting member 13, the mounting hole position of the second mounting plate 31 of the cross beam 30 is aligned with the mounting hole position of the supporting member 13, then the connecting portion 122 of the second connecting member 12 passes through the connecting hole 112, the supporting member 13 and the second mounting plate 31 in sequence, the first spherical surface portion 121 of the second connecting member 12 is placed in the first spherical surface groove, and finally the first locking member 14 is sleeved on the first connecting member 11, so that the second mounting plate 31 is locked in the locking space formed by the first locking member 14 and the supporting member 13, and the leveling of the cross beam 30 is realized.

The leveling mechanism 10 is rotationally matched with the second spherical groove 114 through the second spherical surface portion 131 of the supporting member 13, so that the supporting member 13 can rotate freely in all directions by taking the center of the second spherical groove 114 as a rotation center, the angle of the upper surface of the supporting member 13 can be adjusted, the upper surface of the supporting member 13 can be completely attached to the lower surface of the cross beam 30, an included angle between the supporting member 13 and the cross beam 30 is avoided, and the reliable positioning of the supporting member 13 is ensured. In a similar way, first spherical surface portion 121 and first spherical surface groove 113 normal running fit of first connecting piece 11 can make connecting portion 122 of first connecting piece 11 freely angle of adjustment, guarantee that first retaining member 14 locks behind connecting portion 122, first retaining member 14 can laminate completely with the upper surface of crossbeam 30, two faces of laminating completely can provide bigger frictional force under the effect of locking force, thereby prevented not hard up emergence of first retaining member 14, the stability of being connected of crossbeam 30 and stand 20 has been improved.

Further, referring to fig. 3-4, a supporting portion 111 is disposed at an end of the first connecting member 11 away from the supporting portion 13, the leveling mechanism 10 further includes a second locking member 15, the second locking member 15 is disposed on the first connecting member 11 and spaced from the supporting portion 111, and a second locking space is formed between the second locking member 15 and the supporting portion 111. Specifically, the table boards of the force columns can be locked from the upper and lower sides of the table board of the column 20 by the supporting portion 111 and the second locker 15, so that the first connecting member 11 is stably connected with the table board of the column 20, and the height of the first connecting member 11 extending out of the table board can be locked by the second locker 15, thereby ensuring the levelness of the beam 30. The first connecting member 11 may be fixed to the first mounting plate 21 of the upright post 20 by other means, for example, after the height of the first connecting member 11 is adjusted, the first connecting member 11 and the first mounting plate 21 of the upright post 20 are screwed, welded, or bonded.

Further, the first coupling member 11 is provided with a first external thread, and the second locking member 15 is provided with a first internal thread matched with the first external thread, so that the second locking member 15 is threadedly coupled with the first coupling member 11. Preferably, the first external thread is arranged on the first connecting piece 11, so that the height of the first connecting piece 11 on the first mounting plate 21 of the upright post 20 can be adjusted in a screwing-in or screwing-out mode, and the adjustment is quick and convenient. And through the cooperation of first external screw thread and first internal thread, can lock fast or loosen second retaining member 15, be convenient for levelling mechanism 10's installation and dismantlement. Preferably, the second locking member 15 is a nut.

Specifically, the connecting portion 122 is provided with a second external thread, and the first locking member 14 is provided with a second internal thread matching the second external thread, so that the first locking member 14 is screwed with the connecting portion 122. The second locking piece 15 can be locked or loosened quickly through the matching of the second external thread and the second internal thread, so that the leveling mechanism 10 can be mounted and dismounted conveniently.

Specifically, the leveling mechanism 10 further includes a pad 16, the pad 16 is sleeved on the connecting portion 122, and the pad 16 abuts against a side of the first locking member 14 close to the supporting member 13. The cross beam 30 can be prevented from being crushed by the first locking member 14 by separating the cross beam 30 from the first locking member 14 by the spacer 16 and increasing the contact area of the first locking member 14 with the cross beam 30 by the spacer 16.

Further, the connecting portion 122 is in clearance fit with the connecting hole 112, thereby ensuring that the inclination angle of the second connecting member 12 is adjustable. Specifically, the adjustable inclination angle of the second connecting member 12 can be designed to have a fit clearance between the connecting portion 122 and the connecting hole 112 according to specific requirements. Specifically, the diameter of the connecting portion 122 can be determined by calculation according to the stress condition according to the specific application, and the aperture size of the connecting hole 112 can be designed according to the required fit clearance between the connecting portion 122 and the connecting hole 112 after the diameter of the connecting portion is not determined.

Similarly, the supporting member 13 is in clearance fit with the connecting portion 122, so as to ensure that the inclination angle of the first supporting member 13 is adjustable. Similarly, the adjustable inclination angle of the supporting member 13 can be designed to have a fit clearance between the supporting member 13 and the connecting portion 122 according to specific requirements.

The working platform can ensure the levelness of the cross beam 30 by adopting the leveling device, and the leveling mechanism 10 is in running fit with the second spherical groove 114 through the second spherical surface part 131 of the support piece 13, so that the support piece 13 can freely rotate towards each direction by taking the center of the second spherical groove 114 as a rotation center, the angle of the upper surface of the support piece 13 can be adjusted, the upper surface of the support piece 13 can be completely attached to the lower surface of the cross beam 30, an included angle between the support piece 13 and the cross beam 30 is avoided, and the reliable positioning of the support piece 13 is ensured. In a similar way, first spherical surface portion 121 and first spherical surface groove 113 normal running fit of first connecting piece 11 can make connecting portion 122 of first connecting piece 11 freely angle of adjustment, guarantee that first retaining member 14 locks behind connecting portion 122, first retaining member 14 can laminate completely with the upper surface of crossbeam 30, two faces of laminating completely can provide bigger frictional force under the effect of locking force, thereby prevented not hard up emergence of first retaining member 14, the stability of being connected of crossbeam 30 and stand 20 has been improved.

Further, this application another aspect still provides a truss manipulator, and specifically, the truss manipulator of an embodiment includes manipulator body, guide rail and the work platform of any above-mentioned embodiment, and the guide rail sets up along crossbeam 30, and manipulator body and guide rail sliding fit.

The truss manipulator adopts the working platform, and the working platform can ensure the levelness of the cross beam 30 by adopting the leveling device, so that the levelness of the guide rail is ensured, and the motion stability of the manipulator body is further ensured. And the leveling mechanism 10 is in running fit with the second spherical groove 114 through the second spherical portion 131 of the supporting member 13, so that the supporting member 13 can freely rotate in each direction by taking the center of the second spherical groove 114 as a rotation center, thereby adjusting the angle of the upper surface of the supporting member 13, ensuring that the upper surface of the supporting member 13 can be completely attached to the lower surface of the cross beam 30, avoiding an included angle between the supporting member 13 and the cross beam 30, and ensuring reliable positioning of the supporting member 13. In a similar way, first spherical surface portion 121 and first spherical surface groove 113 normal running fit of first connecting piece 11, can make connecting portion 122 of first connecting piece 11 can freedom angle of adjustment, guarantee that first retaining member 14 locks behind connecting portion 122, first retaining member 14 can laminate completely with crossbeam 30's upper surface, two faces of laminating completely can provide bigger frictional force under the effect of locking force, thereby first retaining member 14 not hard up emergence has been prevented, crossbeam 30 and stand 20's stability of being connected has been improved, and then truss manipulator's stability has been improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A leveling mechanism, comprising:

the supporting piece is sleeved on the connecting part and provided with a second spherical surface part, and the second spherical surface part is in rotatable fit with the second spherical groove; and the number of the first and second groups,

2. The leveling mechanism as recited in claim 1, wherein a support portion is disposed at an end of the first connecting member away from the support portion, the leveling mechanism further comprises a second locking member, the second locking member is sleeved on the first connecting member and spaced from the support portion, and a second locking space is formed between the second locking member and the support portion.

3. The leveling mechanism of claim 2, wherein the first connector is provided with a first external thread and the second connector is provided with a first internal thread that mates with the first external thread.

4. The leveling mechanism as recited in claim 1 further comprising a spacer disposed over the connecting portion and abutting a side of the first retaining member adjacent the support member.

5. The leveling mechanism of claim 1, wherein the connecting portion is provided with a second external thread and the first locking member is provided with a second internal thread that mates with the second external thread.

6. The leveling mechanism of claim 1, wherein the connecting portion is a clearance fit with the connecting hole.

7. The leveling mechanism of claim 1, wherein the support is a clearance fit with the connection.

8. A work platform comprising uprights, cross-members and a levelling mechanism according to any one of claims 1 to 7, the uprights being connected to the first connecting members and the cross-members being locked in the first locking spaces.

9. The work platform of claim 8, wherein the column comprises a first mounting plate, the beam comprises a second mounting plate, the first mounting plate and the second mounting plate are connected by at least two leveling mechanisms, and at least two leveling mechanisms are spaced apart.

10. A truss manipulator comprising a manipulator body, a guide rail and a work platform as claimed in any one of claims 8 to 9, the guide rail being disposed along the cross-member, the manipulator body being in sliding engagement with the guide rail.