CN217669396U - Truss type mechanical arm convenient for replacing clamp - Google Patents
Truss type mechanical arm convenient for replacing clamp Download PDFInfo
- Publication number
- CN217669396U CN217669396U CN202221383489.1U CN202221383489U CN217669396U CN 217669396 U CN217669396 U CN 217669396U CN 202221383489 U CN202221383489 U CN 202221383489U CN 217669396 U CN217669396 U CN 217669396U
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- Prior art keywords
- truss
- butt joint
- anchor clamps
- manipulator
- installation head
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- 210000001503 joint Anatomy 0.000 claims abstract description 44
- 238000009434 installation Methods 0.000 claims abstract description 20
- 125000004122 cyclic group Chemical group 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a truss-like manipulator convenient to change anchor clamps relates to truss-like manipulator technical field, this truss-like manipulator convenient to change anchor clamps, including the truss, be provided with the Z axle on the transverse guide of truss, the lower extreme fixedly connected with installation head of Z axle, the downside of installation head is provided with the anchor clamps shell, the last fixed surface of anchor clamps shell is connected with the butt joint, and the last fixed surface of butt joint is connected with butt joint piece, and the lower surface of installation head is seted up with the identical butt joint groove of butt joint, and the surface of installation head is provided with the joint pole that slides and runs through into the butt joint inslot, and the butt joint piece is seted up the identical joint groove with the joint pole to one side of joint pole on the surface, this truss-like manipulator convenient to change anchor clamps, has simplified the operating degree of difficulty of staff when changing the anchor clamps, has solved the inconvenient problem of changing of anchor clamps on the current truss-like manipulator effectively, has ensured the practicality and the use value of the device.
Description
Technical Field
The utility model relates to a truss-like manipulator technical field, in particular to truss-like manipulator convenient to change anchor clamps.
Background
The truss manipulator is a full-automatic industrial device which is established on the basis of a rectangular X, Y and Z coordinate system and used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like.
Truss manipulator is through anchor clamps with work piece centre gripping rethread multidirectional removal reach the effect of the removal of help work piece, but the anchor clamps size on the truss manipulator of current majority is comparatively single, and the anchor clamps of general truss manipulator can only be got one type of work piece clamp, and current anchor clamps are comparatively complicated with manipulator hand claw unit connection simultaneously, just so cause anchor clamps very trouble when changing, consequently influenced efficiency and speed when changing the anchor clamps.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a truss-like manipulator convenient to change anchor clamps, can solve anchor clamps trouble very when changing, consequently influenced the problem of efficiency and speed when changing the anchor clamps.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a truss-like manipulator convenient to change anchor clamps, including the truss, be provided with the Z axle on the transverse guide of truss, the lower extreme fixedly connected with installation head of Z axle, the downside of installation head is provided with the anchor clamps shell, the last fixed surface of anchor clamps shell is connected with the butt joint, the last fixed surface of butt joint is connected with the butt joint piece, the lower surface of installation head is offered with the butt joint groove identical with the butt joint, the surface of installation head is provided with the joint pole that slides and runs through into the butt joint inslot, the butt joint piece is towards one side of joint pole and is offered the joint groove identical with the joint pole on the surface, the joint pole is located one of installation head and serves fixedly connected with contact head outward, the contact head is established the supporting spring on the joint pole towards a side surface of joint pole and fixed connection activity cover between the installation head surface, the outer surface thread bush of installation head is equipped with the activity lantern ring, the cyclic annular chute with the contact head contact is seted up to the lower surface of activity lantern ring.
Preferably, the contact head is formed in a hemispherical shape.
Preferably, the bottom wall sliding connection of anchor clamps shell has two rack splint, and the opposite one side of two rack splint slides and runs through the surface of anchor clamps shell, and the rack splint is located the lower surface of the outer one side of anchor clamps shell and is provided with the clamp tooth.
Preferably, the upper and lower both sides inner wall of anchor clamps shell rotates between to be connected with the rotation axis, and the rotation axis is located between two rack splint, and fixed cover is equipped with drive gear on the rotation axis, all sets up the tooth's socket of being connected with drive gear meshing on the opposite face of two rack splint.
Preferably, an extension groove is formed in the upper surface of the butt joint, the upper end of the rotating shaft rotatably penetrates into the extension groove, a built-in cavity is formed in the Z shaft, a driving motor is fixedly connected to the bottom wall of the built-in cavity, and a driving shaft is fixedly connected to an output shaft of the driving motor, the lower end of the driving shaft rotatably penetrates out of the lower surface of the mounting head.
Preferably, the lower surface of the driving shaft is fixedly connected with the splicing blocks, the splicing blocks are arranged in a cross shape, and the upper surface of the rotating shaft is provided with splicing grooves matched with the splicing blocks.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) This truss-like manipulator convenient to change anchor clamps has simplified the operating degree of difficulty of staff when changing the anchor clamps, has solved the inconvenient problem of changing of anchor clamps on the current truss-like manipulator effectively, has ensured device's practicality and use value.
(2) This truss-like manipulator convenient to change anchor clamps through setting up the contact head into hemispherical, has increased the smooth degree of contact head with cyclic annular chute contact surface like this, has consequently reduced produced frictional force when the contact head slides along cyclic annular chute inclined plane to avoided the dead problem of mechanical card to appear in the contact head slip in-process, consequently guaranteed smoothness nature and stability when installing the anchor clamps.
(3) This truss-like manipulator convenient to change anchor clamps docks with the splice groove through the splice piece, has reduced the degree of difficulty of staff when installing anchor clamps actuating mechanism like this, speed when having ensured anchor clamps installation effectively to and the speed that can normally use after the anchor clamps installation, consequently ensured the availability factor of this manipulator.
Drawings
The invention will be further described with reference to the following figures and examples:
fig. 1 is a schematic structural view of a truss-type manipulator convenient for replacing a clamp according to the present invention;
FIG. 2 is a schematic view of the clamp of the present invention with the outer shell removed;
FIG. 3 is a side plan view of the fixing mechanism of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 3;
fig. 5 is a schematic structural view of the opposite surface of the driving shaft and the rotating shaft according to the present invention.
Reference numerals: 1. a truss; 2. a Z axis; 3. a mounting head; 4. a clamp housing; 5. a butt joint; 6. a butt joint block; 7. a butt joint groove; 8. a movable collar; 9. a clamping and connecting rod; 10. a clamping groove; 11. a contact head; 12. a support spring; 13. a rack bar clamp plate; 14. a rotating shaft; 15. a drive gear; 16. an extension groove; 17. a cavity is arranged inside; 18. a drive motor; 19. a drive shaft; 20. splicing blocks; 21. and (6) splicing the grooves.
Detailed Description
Referring to fig. 1, the present invention provides a technical solution: the utility model provides a truss-like manipulator convenient to change anchor clamps, includes truss 1, is provided with Z axle 2 on truss 1's the transverse guide, is provided with drive assembly simultaneously between truss 1 and the Z axle 2, and truss 1, Z axle 2 and drive assembly are the prior art of disclosing so do not do too much repeated here simultaneously.
Referring to fig. 2-4, the lower end of the z-axis 2 is fixedly connected with the mounting head 3, the lower side of the mounting head 3 is provided with a fixture housing 4, the upper surface of the fixture housing 4 is fixedly connected with the docking head 5, the upper surface of the docking head 5 is fixedly connected with four docking blocks 6 arranged in a circumferential array with the axis of the docking head 5 as a rotation point, and the lower surface of the mounting head 3 is provided with four docking slots 7 respectively matched with the four docking heads 5, so that when the mounting head 3 is docked with the docking head 5, the docking blocks 6 extend into the docking slots 7 and are matched with the docking slots 7.
Furthermore, the outer surface of the mounting head 3 is provided with four clamping rods 9 which respectively penetrate through the four butt joint grooves 7 in a sliding manner, and one side surface of the butt joint block 6 facing the clamping rod 9 is provided with a clamping groove 10 which is matched with the clamping rod 9, so that when the clamping rod 9 extends into the clamping groove 10, the clamping rod 9 has a limiting effect on the butt joint block 6, and the mounting head 3 and the butt joint 5 are fixed together.
Furthermore, a contact head 11 is fixedly connected to one end of the clamping rod 9, which is located outside the mounting head 3, the contact head 11 is hemispherical, a supporting spring 12 movably sleeved on the clamping rod 9 is fixedly connected between one side surface of the contact head 11, which faces the clamping rod 9, and the outer surface of the mounting head 3, and when the contact head 11 is not in contact with any structure, the supporting spring 12 forms thrust on the contact head 11, so that the initial position of the clamping rod 9 is contracted into the inner wall of the mounting head 3, and thus when the butt joint block 6 extends into the butt joint groove 7, the clamping rod 9 cannot affect the butt joint block 6.
Further, the outer surface thread sleeve of the mounting head 3 is provided with a movable sleeve ring 8, so that the movable sleeve ring 8 rotates to be capable of upwards or downwards displacing on the mounting head 3, the lower surface of the movable sleeve ring 8 is provided with an annular chute in contact with the contact head 11, the movable sleeve ring 8 rotates, and the annular chute on the movable sleeve ring 8 is enabled to be in extrusion with the contact head 11, so that the clamping rod 9 is enabled to be displaced to one side in the butt joint groove 7, meanwhile, the supporting spring 12 contracts, so that the clamping rod 9 is enabled to be displaced into the clamping groove 10, the clamp is fixed on the mounting head 3, otherwise, when the clamp needs to be dismounted, the movable sleeve ring 8 only needs to be reversely rotated, so that the movable sleeve ring 8 is enabled to be upwards displaced, the contact head 11 loses extrusion, so that the clamping rod 9 is restored to the initial position under the action of the supporting spring 12, the clamp can be dismounted, the operation difficulty of workers when the clamp is replaced is simplified through the mode, and the problem that the clamp on the existing truss type manipulator is inconvenient is effectively solved, and the replacement practicability and the device is guaranteed.
Through setting up contact 11 to hemispherical in this scheme, increased the smooth degree of contact 11 with cyclic annular chute contact surface like this, consequently reduced contact 11 and produced frictional force when sliding along cyclic annular chute inclined plane to avoided contact 11 to slide the dead problem of mechanical card to appear in-process, consequently guaranteed smoothness nature and stability when installing the anchor clamps.
Referring to fig. 2-3 and 5, the bottom wall of the clamp housing 4 is slidably connected with two rack clamping plates 13, opposite sides of the two rack clamping plates 13 slidably penetrate through the outer surface of the clamp housing 4, and clamping teeth are disposed on the lower surfaces of the rack clamping plates 13 located on the outer side of the clamp housing 4, so that the two rack clamping plates 13 are displaced in opposite directions, and thus the clamping teeth can clamp and fix an object, thereby carrying the object.
Further, it is connected with rotation axis 14 to rotate between the upper and lower both sides inner wall of anchor clamps shell 4, and rotation axis 14 is located between two rack splint 13 simultaneously, and fixed cover is equipped with drive gear 15 on the rotation axis 14, all sets up the tooth's socket of being connected with drive gear 15 meshing on two rack splint 13's the opposite face simultaneously, consequently can drive two rack splint 13 displacements through drive gear 15 rotations.
Furthermore, an extension groove 16 is formed in the upper surface of the butt joint 5, the upper end of the rotating shaft 14 rotatably penetrates into the extension groove 16, a built-in cavity 17 is formed in the Z shaft 2, a driving motor 18 is fixedly connected to the bottom wall of the built-in cavity 17, a driving shaft 19 with the lower end rotatably penetrating through the lower surface of the mounting head 3 is fixedly connected to an output shaft of the driving motor 18, and meanwhile, the driving shaft 19 and the extension groove 16 are located at the same vertical position, so that when the mounting head 3 is in butt joint with the butt joint 5, the lower end of the driving shaft 19 extends into the extension groove 16.
Further, the lower surface of the driving shaft 19 is fixedly connected with the splicing blocks 20, meanwhile, the splicing blocks 20 are arranged in a cross shape, the upper surface of the rotating shaft 14 is provided with the splicing grooves 21 matched with the splicing blocks 20, therefore, when the butt joint 5 and the mounting head 3 are fixed together, the splicing blocks 20 are matched with the splicing grooves 21 in a butt joint mode, therefore, the driving shaft 19 can rotate by driving the rotating shaft 14 through starting the driving motor 18, so that the two rack clamping plates 13 can be driven to move, the difficulty of workers in mounting the clamp driving mechanism is reduced through the mode, the speed of the clamp during mounting is effectively guaranteed, and the speed of normal use after the clamp is mounted, so that the use efficiency of the manipulator is guaranteed.
The working principle is as follows: when the device is used, the butt joint block 6 extends into the butt joint groove 7, and then the movable sleeve ring 8 is rotated, so that the annular inclined groove on the movable sleeve ring 8 is extruded to the contact 11, the clamping rod 9 is displaced towards one side in the butt joint groove 7, and meanwhile, the supporting spring 12 contracts, so that the clamping rod 9 is displaced into the clamping groove 10, and the fixture is fixed on the mounting head 3;
when the clamp needs to be removed, the movable collar 8 is rotated reversely, so that the movable collar 8 is displaced upwards and the contact head 11 loses its compression, and therefore the clamping rod 9 is restored to the original position under the action of the supporting spring 12, so that the clamp can be removed.
Claims (6)
1. The utility model provides a truss-like manipulator convenient to change anchor clamps, includes truss (1), is provided with Z axle (2), its characterized in that on the transverse guide of truss (1): the lower extreme fixedly connected with installation head (3) of Z axle (2), the downside of installation head (3) is provided with anchor clamps shell (4), the last fixed surface of anchor clamps shell (4) is connected with butt joint (5), the last fixed surface of butt joint (5) is connected with butt joint piece (6), the lower surface of installation head (3) is seted up with butt joint groove (7) identical with butt joint (5), the surface of installation head (3) is provided with joint pole (9) that slide and run through into in butt joint groove (7), butt joint piece (6) are seted up on one side surface towards butt joint pole (9) with the identical joint groove (10) of joint pole (9), joint pole (9) are located one of installation head (3) outer fixedly connected with contact head (11), fixedly connected with movable sleeve establishes supporting spring (12) on joint pole (9) towards between one side surface of butt joint pole (9) and installation head (3) surface, the surface thread cover of installation head (3) is equipped with movable lantern ring-shaped chute (8), the lower surface of movable lantern ring (8) is seted up with the cyclic annular chute that contacts with contact head (11).
2. The truss-like manipulator of claim 1, wherein the jig is replaceable by: the contact head (11) is hemispherical.
3. The truss-like manipulator of claim 1, wherein the jig is replaceable by: the diapire sliding connection of anchor clamps shell (4) has two rack splint (13), and the surface of anchor clamps shell (4) is run through in the slip of one side that two rack splint (13) are opposite, and the lower surface that rack splint (13) lie in the outer one side of anchor clamps shell (4) is provided with and presss from both sides the tooth.
4. A truss robot for facilitating jig replacement as defined in claim 3, wherein: the clamp is characterized in that a rotating shaft (14) is rotatably connected between the inner walls of the upper side and the lower side of the clamp shell (4), the rotating shaft (14) is located between the two rack clamping plates (13), a driving gear (15) is fixedly sleeved on the rotating shaft (14), and tooth grooves meshed with the driving gear (15) are formed in opposite surfaces of the two rack clamping plates (13).
5. The truss-like manipulator of claim 4, wherein the jig is replaceable by: an extension groove (16) is formed in the upper surface of the butt joint (5), the upper end of the rotating shaft (14) rotates to penetrate into the extension groove (16), a built-in cavity (17) is formed in the Z shaft (2), a driving motor (18) is fixedly connected to the bottom wall of the built-in cavity (17), and a driving shaft (19) with the lower end rotating to penetrate out of the lower surface of the mounting head (3) is fixedly connected to an output shaft of the driving motor (18).
6. The truss-like manipulator of claim 5, wherein the jig is replaceable by: the lower surface of the driving shaft (19) is fixedly connected with a splicing block (20), the splicing block (20) is in a cross shape, and the upper surface of the rotating shaft (14) is provided with a splicing groove (21) which is matched with the splicing block (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221383489.1U CN217669396U (en) | 2022-06-01 | 2022-06-01 | Truss type mechanical arm convenient for replacing clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221383489.1U CN217669396U (en) | 2022-06-01 | 2022-06-01 | Truss type mechanical arm convenient for replacing clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217669396U true CN217669396U (en) | 2022-10-28 |
Family
ID=83705855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221383489.1U Active CN217669396U (en) | 2022-06-01 | 2022-06-01 | Truss type mechanical arm convenient for replacing clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217669396U (en) |
-
2022
- 2022-06-01 CN CN202221383489.1U patent/CN217669396U/en active Active
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