CN220030295U - Truss manipulator joint limiting mechanism - Google Patents
Truss manipulator joint limiting mechanism Download PDFInfo
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- CN220030295U CN220030295U CN202321518824.9U CN202321518824U CN220030295U CN 220030295 U CN220030295 U CN 220030295U CN 202321518824 U CN202321518824 U CN 202321518824U CN 220030295 U CN220030295 U CN 220030295U
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- truss manipulator
- motor
- electric telescopic
- manipulator joint
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- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a truss manipulator joint limiting mechanism, which has the technical scheme that: the device comprises a support frame, guide rails are fixedly arranged on two sides of the top of the support frame, a movable frame is connected to a slideway on the top of the guide rails, a slideway is fixedly arranged on the front face of the movable frame, a movable block is connected to the front face of the slideway in a sliding manner, two symmetrical electric telescopic rods are fixedly arranged on the front face of the movable block, a limiting clamping device is connected to the output end of each electric telescopic rod and used for clamping objects in a certain movable range to move, a braking device is arranged on the outer wall of the support frame and the outer wall of the movable frame and used for driving the movable frame to move with the movable block, and the device relates to the technical field of truss manipulator joint limiting.
Description
Technical Field
The utility model relates to the technical field of truss manipulator joint limiting, in particular to a truss manipulator joint limiting mechanism.
Background
The present application number is CN202223246030.X discloses a truss manipulator joint limit mechanism, relates to truss manipulator technical field, and includes: the cylinder, the output fixedly connected with electric slide rail of cylinder, the bottom sliding connection of electric slide rail has the sliding plate, the equal fixedly connected with link up plate in both sides around the sliding plate bottom, the bottom fixedly connected with fixed plate of link up plate, the both sides of fixed plate all rotate and are connected with electric pivot, the fixed plate rotates through electric pivot and is connected with first grip block, second grip block and third grip block, torsion spring has been cup jointed in 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 tight with the centre gripping thing automatically through torsion spring's torsion when making this manipulator with the centre gripping thing centre gripping, have motor control to press from both sides tight fault-tolerant higher relatively, can reduce the centre gripping thing because the manipulator exerts the great probability of being pressed from both sides bad of pressure.
The prior art has the following defects: although the aforementioned truss manipulator joint limiting mechanism can reduce the probability of clamping objects being damaged due to the fact that the manipulator applies pressure, the aforementioned truss manipulator joint limiting mechanism provides a pretightening force for the second clamping plate through the spring, so that the second clamping plate can have enough clamping force to clamp objects, when the structure clamps some heavier objects and the appearance of the objects is cylindrical, if the structure is required to clamp a rotating shaft with a large volume and a heavy weight, two ends of the rotating shaft need to be clamped through the first clamping plate and the second clamping plate, the clamping mode is to wrap one end of the rotating shaft through the first clamping plate and the second clamping plate just like a human hand, and after the rotating shaft is clamped, because of the infinite structure between the first clamping plate and the second clamping plate, the spring can drive the second clamping plate to expand to two sides due to the stress, and finally the rotating shaft can drop in the transportation.
Therefore, it is necessary to invent a truss manipulator joint limit mechanism.
Disclosure of Invention
Therefore, the utility model provides a truss manipulator joint limiting mechanism for solving the problems in the background technology.
In order to achieve the above object, the present utility model provides the following technical solutions: the truss manipulator joint limiting mechanism comprises a support frame, wherein guide rails are fixedly arranged on two sides of the top of the support frame, a slideway on the top of each guide rail is connected with a movable frame, a slideway is fixedly arranged on the front surface of each movable frame, a movable block is slidably connected on the front surface of each slideway, and two symmetrical electric telescopic rods are fixedly arranged on the front surface of each movable block;
the electric telescopic rod is characterized in that the output end of the electric telescopic rod is connected with a limiting clamping device, the limiting clamping device is used for clamping objects to move in a certain moving range, a braking device is installed on the outer walls of the supporting frame and the moving frame, and the braking device is used for driving the moving frame to move with the moving block.
Preferably, the braking device includes: the motor I, the screw rod I, the motor II and the screw rod II;
the first output end of the motor is fixedly connected with the first outer wall of the screw rod, and the second output end of the motor is fixedly connected with the second outer wall of the screw rod.
Preferably, the first bottom of the motor is fixedly connected with the top of the left side of the support frame, the outer wall of the screw rod is in threaded connection with the inner wall of the left side of the movable frame, the second bottom of the motor is fixedly connected with the top of the right side of the movable frame, and the outer wall of the screw rod is in threaded connection with the inner wall of the movable block.
Preferably, the limiting clamping device comprises: two upper clamping plates, two lower clamping plates and two springs;
the two bottom clamping plates are fixedly provided with connecting rods at the tops, the two bottom inner walls of the upper clamping plates are respectively connected with the two outer walls of the connecting rods in a rotating mode, and the two inner walls of the springs are respectively contacted with the two outer walls of the connecting rods.
Preferably, the two ends of the spring are respectively contacted with the bottom of the upper clamping plate and the top of the lower clamping plate, the inner walls of the tops of the two upper clamping plates are fixedly provided with rotating shafts, and the outer walls of the rotating shafts are rotationally connected with servo motors II.
Preferably, the limiting clamping device further comprises: two rotating blocks and two rotating grooves;
the two rotating grooves are respectively formed in the bottoms of the left side and the right side of the upper clamping plate, the two rotating blocks are respectively and fixedly connected with the opposite surfaces of the top of the lower clamping plate, and the outer walls of the rotating blocks are in sliding connection with the inner walls of the rotating grooves.
Preferably, a connecting plate is fixedly arranged at the output end of the electric telescopic rod, a first servo motor is fixedly arranged at the top of the connecting plate, and two symmetrical bidirectional electric telescopic rods are fixedly arranged at the output end of the first servo motor.
Preferably, the output ends at two sides of the bidirectional electric telescopic rod are fixedly provided with connecting frames, the inner walls of opposite surfaces of the two connecting frames are respectively and rotatably connected with the outer walls of the rotating shafts, and the outer walls of the two connecting frames are respectively and fixedly connected with the two outer walls of the servo motor.
The beneficial effects of the utility model are as follows: through setting up dwang and rotation groove, the dwang slides in the rotation inslot, just so has restricted the rotation scope of dwang, and the dwang is connected with the lower plate, like this when centre gripping some cylindric and the big and heavy object of weight, the spring produces the back of warp, will have the rotation groove to restrict the rotation scope of dwang and lower plate to the joint department is connected with the punch holder to the lower plate is spacing, thereby can prevent that the spring from driving the lower plate gradually to the both sides extension and leading to the object of centre gripping to drop, guarantees that the object can transport to appointed place safely.
Drawings
FIG. 1 is a front view of the present utility model;
FIG. 2 is a top view of the present utility model;
FIG. 3 is a front view of a mobile frame provided by the present utility model;
FIG. 4 is a front view of the spacing clip device provided by the present utility model;
FIG. 5 is a right side view of the upper and lower clamping plates provided by the present utility model;
FIG. 6 is a rear view of the upper and lower clamping plates provided by the present utility model;
fig. 7 is an enlarged view of area a of fig. 6 in accordance with the present utility model.
In the figure: the device comprises a support frame 1, a guide rail 2, a movable frame 3, a slideway 4, a movable block 5, a first motor 6, a first screw rod 7, a second servo motor 8, a second screw rod 9, an electric telescopic rod 10, a connecting plate 11, a first servo motor 12, a bidirectional electric telescopic rod 13, a connecting frame 14, a second servo motor 15, a rotating shaft 16, an upper clamping plate 17, a lower clamping plate 18, a spring 19, a connecting rod 20, a rotating block 21 and a rotating groove 22.
Detailed Description
The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.
Referring to fig. 1-7, the utility model provides a truss manipulator joint limiting mechanism, and in order to achieve the above purpose, the utility model provides the following technical scheme: the device comprises a support frame 1, wherein guide rails 2 are fixedly arranged on two sides of the top of the support frame 1, a movable frame 3 is connected to a slideway on the top of the guide rail 2, a slideway 4 is fixedly arranged on the front surface of the movable frame 3, the output end of a motor I6 is fixedly connected with the outer wall of a screw rod I7, the bottom of the motor I6 is fixedly connected with the top of the left side of the support frame 1, the outer wall of the screw rod I7 is in threaded connection with the inner wall of the left side of the movable frame 3, when a truss manipulator is needed to clamp an object, the motor I6 needs to be driven to drive the screw rod I7 to rotate, the screw rod I7 can drive the movable frame 3 to move on the guide rail 2, the motor I6 and other devices such as a motor and a servo motor are arranged in advance and can be freely assembled and reversed, meanwhile, the rotating speed and the rotating time can be used for inputting instructions on a computer in advance to practice corresponding functions, and the screw rod I7 is driven to rotate in a designated direction, so that the movable frame 3 is driven to move to the position above the object to be clamped;
the front of the slideway 4 is slidably connected with a moving block 5, the output end of a motor II 8 is fixedly connected with the outer wall of a screw rod II 9, the bottom of the motor II 8 is fixedly connected with the top of the right side of the moving frame 3, the outer wall of a screw rod I7 is in threaded connection with the inner wall of the moving block 5, after the moving frame 3 moves to the upper part of an object to be clamped, the motor II 8 is driven to drive the screw rod II 9 to rotate, so that the screw rod II 9 is driven to rotate in a specified direction, and the moving block 5 is driven to move to the upper part of the object to be clamped on the slideway 4;
the front of the moving block 5 is fixedly provided with two symmetrical electric telescopic rods 10, the output end of each electric telescopic rod 10 is fixedly provided with a connecting plate 11, after the moving block 5 moves to the position above an object to be clamped, the electric telescopic rods 10 are driven, so that the electric telescopic rods 10 push the connecting plates 11 downwards, and the connecting plates 11 drive the limiting clamping device to move downwards to the position of the object to be clamped;
the top of the two lower clamping plates 18 is fixedly provided with connecting rods 20, the inner walls of the bottoms of the two upper clamping plates 17 are respectively and rotatably connected with the outer walls of the two connecting rods 20, the inner walls of the two springs 19 are respectively and rotatably connected with the outer walls of the two connecting rods 20, the two ends of the springs 19 are respectively and rotatably connected with the bottoms of the upper clamping plates 17 and the top of the lower clamping plates 18, the inner walls of the tops of the two upper clamping plates 17 are fixedly provided with rotating shafts 15, the outer walls of the rotating shafts 15 are rotatably connected with servo motors 16, and connecting frames 14 are respectively and rotatably connected with the outer walls of the two rotating shafts 15, after a limiting clamping device moves to an object to be clamped, the two connecting frames 14 are driven to retract, so that the connecting frames 14 drive the upper clamping plates 17 and the lower clamping plates 18 to move in the direction of the object, and the upper clamping plates 17 and the lower clamping plates 18 can move to a proper distance, and simultaneously, when the two servo motors 16 drive the upper clamping plates 17 and the lower clamping plates 18 to rotate, the two clamping plates 16 can clamp the object to clamp the object in the direction, and the lower clamping blocks 18 can not clamp the object in the rotating direction, and the upper clamping blocks 18 can be clamped by the rotating shafts 17, and the two clamping blocks 18 can be clamped by the rotating shafts 18, and the two clamping blocks can be clamped by the rotating shafts 18, and the upper clamping blocks can be clamped by the clamping the upper clamping blocks and the clamping blocks 18;
the top of the connecting plate 11 is fixedly provided with a first servomotor 12, the output end of the first servomotor 12 is fixedly provided with two symmetrical bidirectional electric telescopic rods 13, after an object is clamped, the orientation of the object needs to be adjusted, the first servomotor 12 is driven, the connecting plate 11 is driven to rotate through the first servomotor 12, and therefore the clamp and the object are driven to rotate and reverse;
the two rotating blocks 21 are fixedly connected with opposite surfaces of the top of the lower clamp plate 18 respectively, the outer wall of the rotating block 21 is slidably connected with the inner wall of the rotating groove 22, after the upper clamp plate 17 and the lower clamp plate 18 need to hold up a cylindrical object, the springs 19 can push the lower clamp plate 18 to move towards two sides of the object due to gravity, the rotating block 21 moves along with the lower clamp plate, the rotating block 21 rotates in the rotating groove 22 and is limited by the rotating groove 22 after rotating for a certain distance, the rotating block 21 cannot continue to rotate, and therefore the joint of the lower clamp plate 18 and the upper clamp plate 17 is limited, and therefore after the upper clamp plate 17 and the lower clamp plate 18 hold up the cylindrical object, the lower clamp plate 18 can also have enough support to prevent the lower clamp plate 18 from expanding outwards continuously.
The bi-directional electric telescopic rod 13 adopts a bi-directional synchronous telescopic electric push rod with a patent number of CN201720750940.1, the spring 19 adopts a torsion spring, the spring and the torsion spring are common standard parts or parts known to a person skilled in the art, and the structure and the principle of the bi-directional electric telescopic rod are known to the person skilled in the art through technical manuals or through routine experimental methods.
The output end of the electric telescopic rod 10 is connected with a limiting clamping device, and the limiting clamping device comprises: two upper clamping plates 17, two lower clamping plates 18, two springs 19, the spacing clamping device still includes: the limiting clamping device is used for clamping objects to move in a certain moving range, the supporting frame 1 and the outer wall of the moving frame 3 are provided with a braking device, and the braking device comprises: the braking device is used for driving the moving frame 3 and the moving block 5 to move.
The application process of the utility model is as follows: when the truss manipulator is required to clamp an object, the first motor 6 is driven, the first motor 6 drives the first screw rod 7 to rotate towards the appointed direction, the movable frame 3 is driven to move to the position above the object to be clamped, the second motor 8 is driven to drive the second screw rod 9 to rotate, the movable block 5 is driven to move to the position above the object to be clamped, the electric telescopic rod 10 is driven, the electric telescopic rod 10 downwards pushes the connecting plate 11, the connecting plate 11 drives the limiting clamp device to move downwards to the position of the object to be clamped, the two-way electric telescopic rod 13 is driven to drive the connecting frame 14 to retract, the connecting frame 14 drives the upper clamp plate 17 and the lower clamp plate 18 to move towards the object, the upper clamp plate 17 and the lower clamp plate 18 can move to a proper distance, the second servo motor 16 is driven, the second servo motor 16 drives the rotary shaft 15 to rotate, the upper clamp plate 17 and the lower clamp plate 18 to move towards the object, the object is driven to retract through the electric telescopic rod 10, the object is driven to lift, the object is required to be adjusted, and the first servo motor 12 drives the clamp 11 to rotate towards the object to rotate towards the appointed position, and the object is driven to rotate towards the appointed position.
The above description is only of the preferred embodiments of the present utility model, and any person skilled in the art may modify the present utility model or make modifications to the present utility model equivalent thereto using the technical solutions described above. Therefore, any simple modification or equivalent made according to the technical solution of the present utility model falls within the scope of the protection claimed by the present utility model.
Claims (8)
1. The utility model provides a truss manipulator joint stop gear, includes support frame (1), support frame (1) top both sides all fixed mounting has guide rail (2), guide rail (2) top slide is connected with and removes frame (3), remove frame (3) front fixed mounting has slide (4), slide (4) front sliding connection has movable block (5), movable block (5) front fixed mounting has two symmetrical electric telescopic handle (10);
the method is characterized in that: the electric telescopic rod is characterized in that the output end of the electric telescopic rod (10) is connected with a limiting clamping device, the limiting clamping device is used for clamping objects to move in a certain moving range, a braking device is arranged on the outer walls of the supporting frame (1) and the moving frame (3), and the braking device is used for driving the moving frame (3) and the moving block (5) to move.
2. The truss manipulator joint spacing mechanism of claim 1, wherein said brake means comprises: a motor I (6), a screw rod I (7), a motor II (8) and a screw rod II (9);
the output end of the motor I (6) is fixedly connected with the outer wall of the screw rod I (7), and the output end of the motor II (8) is fixedly connected with the outer wall of the screw rod II (9).
3. The truss manipulator joint limiting mechanism according to claim 2, wherein the bottom of the first motor (6) is fixedly connected with the top of the left side of the supporting frame (1), the outer wall of the first screw rod (7) is in threaded connection with the inner wall of the left side of the movable frame (3), the bottom of the second motor (8) is fixedly connected with the top of the right side of the movable frame (3), and the outer wall of the first screw rod (7) is in threaded connection with the inner wall of the movable block (5).
4. The truss manipulator joint spacing mechanism of claim 1, wherein the spacing gripping means comprises: two upper clamping plates (17), two lower clamping plates (18) and two springs (19);
the top of the two lower clamping plates (18) is fixedly provided with a connecting rod (20), the inner walls of the bottoms of the two upper clamping plates (17) are respectively connected with the outer walls of the two connecting rods (20) in a rotating mode, and the inner walls of the two springs (19) are respectively contacted with the outer walls of the two connecting rods (20).
5. The truss manipulator joint limiting mechanism according to claim 4, wherein two ends of the spring (19) are respectively contacted with the bottom of the upper clamping plate (17) and the top of the lower clamping plate (18), the inner walls of the tops of the two upper clamping plates (17) are fixedly provided with rotating shafts (15), and the outer walls of the rotating shafts (15) are rotatably connected with a second servo motor (16).
6. The truss manipulator joint spacing mechanism of claim 5, wherein said spacing gripping means further comprises: two rotating blocks (21) and two rotating grooves (22);
the two rotating grooves (22) are respectively formed in the bottoms of the left side and the right side of the upper clamping plate (17), the two rotating blocks (21) are respectively fixedly connected with the opposite surfaces of the top of the lower clamping plate (18), and the outer walls of the rotating blocks (21) are in sliding connection with the inner walls of the rotating grooves (22).
7. The truss manipulator joint limiting mechanism according to claim 6, wherein a connecting plate (11) is fixedly arranged at the output end of the electric telescopic rod (10), a first servo motor (12) is fixedly arranged at the top of the connecting plate (11), and two symmetrical bidirectional electric telescopic rods (13) are fixedly arranged at the output end of the first servo motor (12).
8. The truss manipulator joint limiting mechanism according to claim 7, wherein connecting frames (14) are fixedly installed at two side output ends of the bidirectional electric telescopic rod (13), inner walls of opposite faces of the two connecting frames (14) are respectively and rotatably connected with outer walls of the two rotating shafts (15), and outer walls of the two connecting frames (14) are respectively and fixedly connected with outer walls of the two servo motors (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321518824.9U CN220030295U (en) | 2023-06-15 | 2023-06-15 | Truss manipulator joint limiting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321518824.9U CN220030295U (en) | 2023-06-15 | 2023-06-15 | Truss manipulator joint limiting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220030295U true CN220030295U (en) | 2023-11-17 |
Family
ID=88737858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321518824.9U Active CN220030295U (en) | 2023-06-15 | 2023-06-15 | Truss manipulator joint limiting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220030295U (en) |
-
2023
- 2023-06-15 CN CN202321518824.9U patent/CN220030295U/en active Active
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