CN218747818U - Truss manipulator joint limiting mechanism - Google Patents
Truss manipulator joint limiting mechanism Download PDFInfo
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- CN218747818U CN218747818U CN202223246030.XU CN202223246030U CN218747818U CN 218747818 U CN218747818 U CN 218747818U CN 202223246030 U CN202223246030 U CN 202223246030U CN 218747818 U CN218747818 U CN 218747818U
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Abstract
The utility model relates to a truss manipulator technical field, especially a truss manipulator joint stop gear, the air cylinder comprises an air cylinder, the electronic slide rail of output fixedly connected with of cylinder, the bottom sliding connection of electronic slide rail has the sliding plate, the equal fixedly connected with of both sides links up the board around the sliding plate bottom, the bottom fixedly connected with fixed plate of linking up the board, the both sides of fixed plate are all rotated and are connected with electronic pivot, the fixed plate is rotated through electronic pivot and is connected with first grip block, second grip block and third grip block, torque spring has been cup jointed to the pivot between first grip block and the second grip block. The utility model has the advantages that: through set up torsion spring between first grip block and second grip block, can press from both sides the centre gripping thing through torsion spring's torsion is automatic when making this manipulator with the centre gripping thing centre gripping tightly the centre gripping thing, it is higher to have motor control to press from both sides tight fault-tolerant rate relatively, can reduce the centre gripping thing because the manipulator applies the great probability that is pressed from both sides bad.
Description
Technical Field
The utility model relates to a truss manipulator technical field, especially a truss manipulator joint stop gear.
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 motion and the like, and the truss manipulator needs to lock the manipulator joint to complete clamping after aligning a clamping object.
The industrial robot joint limiting mechanism disclosed in the Chinese patent CN202221538450.2 overcomes the defects of small motion range, low reliability, high cost and the like of a general universal robot joint limiting structure. The motion range of the J1 axis of the robot can be larger than +/-180 degrees, and the application occasion with a larger joint motion range can be met, so that the robot acts more flexibly.
The existing truss manipulator joint has the following defects: the existing truss manipulator joint mostly adopts a motor to control the rotation and tightness of the joint, the pressure and the angle applied during clamping are completely controlled by the motor, and clamping marks are easily left on the surface of a clamped object or the clamped object is directly damaged when the control is not proper.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming, provide a truss manipulator joint stop gear, effectively solved prior art not enough.
The purpose of the utility model is realized through the following technical scheme: the utility model provides a truss manipulator joint stop gear, includes the cylinder, the electronic slide rail of output fixedly connected with of cylinder, the bottom sliding connection of electronic slide rail has the sliding plate, the equal fixedly connected with of both sides links up the board around the sliding plate bottom, the bottom fixedly connected with fixed plate of linking up the board, the both sides of fixed plate are all rotated and are connected with electronic pivot, the fixed plate rotates through electronic pivot and is connected with first grip block, the bottom of first grip block is rotated and is connected with the second grip block, the bottom of second grip block is rotated and is connected with the third grip block, torque spring has been cup jointed at the pivot middle part between first grip block and the second grip block.
Optionally, the torsion of the torsion spring makes the second clamping plate rotate towards the inner side, the torsion of the torsion spring is greater than ten newtons, and the friction of the second clamping plate on the clamped object under the action of the torsion spring is greater than the gravity of the clamped object.
Adopt above-mentioned technical scheme: through set up torsion spring between first grip block and second grip block, can press from both sides the centre gripping thing through torsion spring's torsion is automatic when making this manipulator with the centre gripping thing centre gripping tightly the centre gripping thing, it is higher to have motor control to press from both sides tight fault-tolerant rate relatively, can reduce the centre gripping thing because the manipulator applies the great probability that is pressed from both sides bad.
Optionally, the inner side of the third clamping plate is provided with anti-slip threads, and the inner side surface of the third clamping plate is in a vertical state under the action of gravity when the third clamping plate is acted by external force.
Optionally, an electric push rod is fixedly connected to the center of the bottom of the sliding plate, a lifting plate is fixedly connected to the output end of the electric push rod, steel wire ropes are fixedly connected to two ends of the bottom of the lifting plate, one ends of the two steel wire ropes are fixedly connected to the bottoms of the two second clamping plates respectively, and the tension of the steel wire ropes on the second clamping plates when the electric push rod contracts is larger than the torque of the torque springs on the second clamping plates.
Adopt above-mentioned technical scheme: through the wire rope that sets up the pulling in the both sides of second grip block, when needs open the second grip block and carry out the centre gripping, shrink electric putter makes the lifter plate rise to make wire rope upwards stimulate to open the second grip block, make electric putter reset after aiming at the centre gripping thing, then the centre gripping to the centre gripping thing is accomplished to the second grip block under torque spring's effect, thereby when making the second grip block can accomplish the centre gripping through torque spring, can be opened and aim at the centre gripping thing and accomplish the centre gripping.
Optionally, an arc plate is fixedly connected to the outer side of the bottom of the first clamping plate, the arc plate is located on the outer side of the torsion spring, and the arc plate and the steel wire rope are located in the middle of the first clamping plate.
Optionally, the arc-shaped plate is arc-shaped, and the friction coefficient between the arc-shaped plate and the steel wire rope is smaller than five zeros.
Adopt above-mentioned technical scheme: the arc-shaped plate is arranged on the outer side of the torsion spring, so that the arc-shaped plate can be matched with the steel wire rope to form a fixed pulley structure at the rotating shaft, the steel wire rope can pull the second clamping plate to rotate after being bent, and the steel wire rope is prevented from interfering with the torsion spring.
The utility model has the advantages of it is following:
1. this truss manipulator joint stop gear through set up torsion spring between first grip block and second grip block, makes this manipulator can press from both sides the centre gripping thing through torsion spring's torsion is automatic when with the centre gripping thing centre gripping tightly, and it is higher to have motor control to press from both sides tight fault-tolerant rate relatively, can reduce the centre gripping thing because the great probability that is pressed from both sides bad of manipulator applied pressure.
2. This truss manipulator joint stop gear, wire rope through setting up the pulling in the both sides of second grip block, when needs open the second grip block and carry out the centre gripping, shrink electric putter makes the lifter plate rise, thereby make wire rope upwards stimulate open the second grip block, make electric putter reset after aiming at the centre gripping thing, then the centre gripping to the centre gripping thing is accomplished to the second grip block under torque spring's effect, thereby when making the second grip block can accomplish the centre gripping through torque spring, can be opened and aim at the centre gripping thing and accomplish the centre gripping.
3. This truss manipulator joint stop gear sets up the arc through the outside at torsion spring, makes it can form the fixed pulley structure with the wire rope cooperation in pivot department, makes wire rope can stimulate the second grip block rotation after the bending, also avoids wire rope and torsion spring to produce the interference.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic side view of the present invention;
fig. 3 is an enlarged schematic view of a portion a of fig. 2 according to the present invention;
FIG. 4 is a schematic sectional view of the present invention;
fig. 5 is an enlarged schematic view of the structure at B in fig. 4 according to the present invention.
In the figure: 1-cylinder, 2-electric slide rail, 3-sliding plate, 4-connecting plate, 5-fixed plate, 6-electric rotating shaft, 7-first clamping plate, 8-second clamping plate, 9-third clamping plate, 10-torsion spring, 11-electric push rod, 12-lifting plate, 13-steel wire rope and 14-arc plate.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
As shown in fig. 1 to 5, a truss manipulator joint limiting mechanism, which comprises a cylinder 1, an output end fixedly connected with electric slide rail 2 of the cylinder 1, a bottom sliding connection of the electric slide rail 2 has a sliding plate 3, a front side and a back side of the bottom of the sliding plate 3 are fixedly connected with a connection plate 4, a bottom fixedly connected with fixing plate 5 of the connection plate 4, two sides of the fixing plate 5 are rotatably connected with an electric rotating shaft 6, the fixing plate 5 is rotatably connected with a first clamping plate 7 through the electric rotating shaft 6, the bottom of the first clamping plate 7 is rotatably connected with a second clamping plate 8, the bottom of the second clamping plate 8 is rotatably connected with a third clamping plate 9, and a torsion spring 10 is sleeved in the middle of a rotating shaft between the first clamping plate 7 and the second clamping plate 8.
Example 1: torsion of the torsion spring 10 enables the second clamping plate 8 to rotate towards the inner side, torsion of the torsion spring 10 is larger than ten newtons, friction of the second clamping plate 8 to a clamped object under the action of the torsion spring 10 is larger than gravity of the clamped object, the torsion spring 10 is arranged between the first clamping plate 7 and the second clamping plate 8, the clamped object can be automatically clamped through torsion of the torsion spring 10 when the manipulator clamps the clamped object, the fault tolerance rate is relatively high through motor control clamping, and the probability that the clamped object is damaged due to the fact that the manipulator applies pressure is large can be reduced.
Example 2: antiskid lines are formed in the inner side of the third clamping plate 9, and the inner side face of the third clamping plate 9 is in a vertical state under the action of gravity when the third clamping plate is acted by external force.
Example 3: the electric push rod 11 is fixedly connected to the center of the bottom of the sliding plate 3, the lifting plate 12 is fixedly connected to the output end of the electric push rod 11, steel wire ropes 13 are fixedly connected to two ends of the bottom of the lifting plate 12, one ends of the two steel wire ropes 13 are fixedly connected to the bottoms of the two second clamping plates 8 respectively, when the electric push rod 11 contracts, the tensile force of the steel wire ropes 13 to the second clamping plates 8 is larger than the torsional force of the torsion springs 10 to the second clamping plates 8, the steel wire ropes 13 capable of being pulled are arranged on two sides of the second clamping plates 8, when the second clamping plates 8 need to be opened for clamping, the lifting plate 12 is lifted by contracting the electric push rod 11, so that the steel wire ropes 13 are pulled upwards to open the second clamping plates 8, the electric push rod 11 is reset after the clamping objects are aligned, the second clamping plates 8 complete clamping of the clamping objects under the action of the torsion springs 10, and the second clamping plates 8 can be opened to be aligned with the clamping objects to complete clamping of the clamping objects through the springs 10.
Example 4: the outer side of the bottom of the first clamping plate 7 is fixedly connected with an arc-shaped plate 14, the arc-shaped plate 14 is located on the outer side of the torsion spring 10, and the arc-shaped plate 14 and the steel wire rope 13 are located in the middle of the first clamping plate 7.
Example 5: the arc plate 14 is arc-shaped, the friction coefficient between the arc plate 14 and the steel wire rope 13 is smaller than zero five, the arc plate 14 is arranged on the outer side of the torsion spring 10 and can be matched with the steel wire rope 13 to form a fixed pulley structure at the rotating shaft, the steel wire rope 13 can pull the second clamping plate 8 to rotate after being bent, and the steel wire rope 13 is prevented from interfering with the torsion spring 10.
The working principle of the utility model is as follows:
s1, before clamping, pulling the second clamping plate 8 open by a steel wire rope 13;
s2, after the object to be clamped is aligned, the electric push rod 11 is loosened, and the object to be clamped is clamped by the second clamping plate 8 under the action of the torsion spring.
Compared with the prior art, the utility model discloses for prior art have following beneficial effect:
1. this truss manipulator joint stop gear through set up torsion spring 10 between first grip block 7 and second grip block 8, makes this manipulator can press from both sides the centre gripping thing through torsion spring 10's torsion is automatic when with the centre gripping thing centre gripping tightly the centre gripping thing, and it is higher to have motor control to press from both sides tight fault-tolerant rate relatively, can reduce the centre gripping thing because the great probability that is pressed from both sides bad of manipulator applied pressure.
2. This truss manipulator joint stop gear, wire rope 13 through setting up the pulling in the both sides of second grip block 8, when needs open second grip block 8 and carry out the centre gripping, shrink electric putter 11 makes lifter plate 12 rise, thereby make wire rope 13 upwards stimulate to open second grip block 8, make electric putter 11 reset after aiming at the centre gripping thing, then second grip block 8 accomplishes the centre gripping to the centre gripping thing under torsion spring 10's effect, thereby make when second grip block 8 can accomplish the centre gripping through torsion spring 10, can be opened and aim at the centre gripping thing and accomplish the centre gripping.
3. According to the truss manipulator joint limiting mechanism, the arc-shaped plate 14 is arranged on the outer side of the torsion spring 10, so that the arc-shaped plate can be matched with the steel wire rope 13 to form a fixed pulley structure at a rotating shaft, the steel wire rope 13 can pull the second clamping plate 8 to rotate after being bent, and the steel wire rope 13 is prevented from interfering with the torsion spring 10.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It will be understood by those skilled in the art that the invention, including any combination of the elements of the above description and the detailed description and illustrated in the accompanying drawings, is not limited to the details and should not be construed as limited to the embodiments set forth herein for the sake of brevity. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a truss manipulator joint stop gear which characterized in that: including cylinder (1), output fixedly connected with electric slide rail (2) of cylinder (1), the bottom sliding connection of electric slide rail (2) has sliding plate (3), the equal fixedly connected with linkage plate (4) in both sides around sliding plate (3) bottom, the bottom fixedly connected with fixed plate (5) of linkage plate (4), the both sides of fixed plate (5) are all rotated and are connected with electronic pivot (6), fixed plate (5) are rotated through electronic pivot (6) and are connected with first grip block (7), the bottom of first grip block (7) is rotated and is connected with second grip block (8), the bottom of second grip block (8) is rotated and is connected with third grip block (9), torque spring (10) have been cup jointed at the pivot middle part between first grip block (7) and second grip block (8).
2. The truss manipulator joint limiting mechanism of claim 1, wherein: the torsion of the torsion spring (10) enables the second clamping plate (8) to rotate inwards, the torsion of the torsion spring (10) is larger than ten newtons, and the friction force of the second clamping plate (8) on a clamped object under the action of the torsion spring (10) is larger than the gravity of the clamped object.
3. The truss manipulator joint limiting mechanism of claim 2, wherein: the anti-skidding lines are arranged on the inner side of the third clamping plate (9), and the inner side face of the third clamping plate (9) is in a vertical state under the action of gravity when the third clamping plate is acted by an external force.
4. The truss manipulator joint limiting mechanism of claim 3, wherein: the steel wire rope clamping device is characterized in that an electric push rod (11) is fixedly connected to the center of the bottom of the sliding plate (3), an output end of the electric push rod (11) is fixedly connected with a lifting plate (12), steel wire ropes (13) are fixedly connected to two ends of the bottom of the lifting plate (12), one ends of the two steel wire ropes (13) are fixedly connected with the bottoms of the two second clamping plates (8) respectively, and the tension of the steel wire ropes (13) on the second clamping plates (8) is larger than the torsion of the torsion spring (10) on the second clamping plates (8) when the electric push rod (11) contracts.
5. The truss manipulator joint limiting mechanism of claim 4, wherein: the outer side of the bottom of the first clamping plate (7) is fixedly connected with an arc-shaped plate (14), the arc-shaped plate (14) is located on the outer side of the torsion spring (10), and the arc-shaped plate (14) and the steel wire rope (13) are located in the middle of the first clamping plate (7).
6. The truss manipulator joint limiting mechanism of claim 5, wherein: the arc-shaped plate (14) is arc-shaped, and the friction coefficient of the arc-shaped plate (14) and the steel wire rope (13) is smaller than five zero points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223246030.XU CN218747818U (en) | 2022-12-05 | 2022-12-05 | Truss manipulator joint limiting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223246030.XU CN218747818U (en) | 2022-12-05 | 2022-12-05 | Truss manipulator joint limiting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218747818U true CN218747818U (en) | 2023-03-28 |
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ID=85679200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223246030.XU Active CN218747818U (en) | 2022-12-05 | 2022-12-05 | Truss manipulator joint limiting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218747818U (en) |
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2022
- 2022-12-05 CN CN202223246030.XU patent/CN218747818U/en active Active
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