CN220516815U - Lower triaxial wrist - Google Patents
Lower triaxial wrist Download PDFInfo
- Publication number
- CN220516815U CN220516815U CN202322153485.5U CN202322153485U CN220516815U CN 220516815 U CN220516815 U CN 220516815U CN 202322153485 U CN202322153485 U CN 202322153485U CN 220516815 U CN220516815 U CN 220516815U
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- China
- Prior art keywords
- assembly
- connecting plate
- axis
- floating
- angle adjusting
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 22
- 238000007667 floating Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000005056 compaction Methods 0.000 claims abstract description 11
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 claims abstract 8
- 210000004907 gland Anatomy 0.000 claims description 4
- 238000003754 machining Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 2
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model is applicable to the technical field of machining, and provides a lower triaxial wrist which comprises an included angle adjusting assembly, a paw assembly and a floating compaction assembly; the upper end of the Y-axis assembly is fixed on a truss vertical beam through a vertical beam connecting plate, the included angle adjusting assembly is fixed at the lower end of the Y-axis assembly, the claw assembly and the floating compacting assembly are fixed at the bottom of the included angle adjusting assembly, and the knuckle workpiece is tightly supported by the claw assembly and is compacted and positioned by the floating compacting assembly; the Y-axis sliding plate is fixedly connected with a guide rail sliding block mechanism, a vertical beam connecting plate is in sliding connection with the guide rail sliding block mechanism, a Y-axis motor is fixedly connected to the vertical beam connecting plate, a gear of the gear-rack mechanism is arranged on the Y-axis motor, a rack of the gear-rack mechanism is arranged on the Y-axis sliding plate, a reinforcing rib is arranged at the bottom of the Y-axis sliding plate, and an electric control box is fixedly connected to the bottom of the reinforcing rib; the utility model solves the problem of compatibility of steering knuckles with different deflection angles when the truss manipulator translates and feeds materials to the machine tool along the Y-axis direction.
Description
Technical Field
The utility model belongs to the technical field of machining, and particularly relates to a lower triaxial wrist.
Background
Along with the continuous development of science and technology, the pace of automatic production lines replacing traditional manual labor is continuously accelerated, and the automatic equipment with simple structure, excellent functions and accurate positioning greatly improves the production efficiency. In the process of machining and producing the knuckle workpiece, the truss manipulator is required to feed and discharge the machine tool, and the truss manipulator is required to feed and discharge the machine tool under the condition of avoiding interference due to the problem of the internal structure of the machine tool and the problem of the relative position relationship between the machine tool and the truss; secondly, the truss manipulator is required to be compatible with steering knuckles with different deflection angles so as to adapt to the production changing requirements of series of workpieces; in addition, when the truss manipulator grabs the workpiece with the angle, if the workpiece is not placed stably or the positioning precision of the paw is not enough, the workpiece is scratched easily.
The utility model designs a lower triaxial wrist for solving the technical problems, and has important value and practical significance.
Disclosure of Invention
The utility model provides a lower triaxial wrist, which aims to solve the problem of compatibility of steering knuckles with different deflection angles when a truss manipulator translates and feeds materials to the inside of a machine tool along the Y-axis direction.
A lower triaxial wrist, characterized in that: comprising a Y-axis component and a wrist,
the wrist comprises an included angle adjusting assembly, a paw assembly and a floating compaction assembly;
the upper end of the Y-axis assembly is fixed on a truss vertical beam through a vertical beam connecting plate, the included angle adjusting assembly is fixed at the lower end of the Y-axis assembly, the paw assembly and the floating compaction assembly are fixed at the bottom of the included angle adjusting assembly, and the knuckle workpiece is tightly supported by the paw assembly and is compacted and positioned by the floating compaction assembly;
the Y-axis sliding plate is fixedly connected with a guide rail sliding block mechanism, the vertical beam connecting plate is in sliding connection with the guide rail sliding block mechanism, the Y-axis motor is fixedly connected to the vertical beam connecting plate, a gear of the gear-rack mechanism is arranged on the Y-axis motor, a rack of the gear-rack mechanism is arranged on the Y-axis sliding plate, a reinforcing rib is arranged at the bottom of the Y-axis sliding plate, and the bottom of the reinforcing rib is fixedly connected with an electric control box;
the floating compression assembly comprises a support column, a floating bottom plate, a floating sleeve, a guide rod, a spring and a pressure adjusting screw, wherein the support column is connected with the floating bottom plate through the screw, the floating sleeve is arranged on the floating bottom plate, the guide rod is sleeved with an oil-free bushing, the guide rod is in sliding connection with the oil-free bushing, the oil-free bushing is arranged inside the floating sleeve and is fixedly compressed through an end cover, the spring is arranged between the guide rod and the pressure cover, the pressure adjusting screw is arranged on the floating bottom plate and is propped against the spring and the pressure cover,
the support column is fixed on the rotary connecting plate, two ends of the cross rod are connected to the guide rods through pins, and the ejector rod is fixed on the cross rod through two support rods.
On the basis of the technical scheme, the included angle adjusting assembly comprises a fixed connecting plate, a rotary connecting plate, an included angle adjusting pin shaft and an angle adjusting block, wherein the fixed connecting plate is fixedly connected to the Y-axis sliding plate, one end of the rotary connecting plate is movably connected with the fixed connecting plate through the pin shaft, and the other end of the rotary connecting plate is connected with the angle adjusting block through the angle adjusting block.
On the basis of the technical scheme, the finger assembly comprises two fingers, fingers and finger patches, wherein the two fingers are fixedly connected to the lower ends of the two fingers, the finger patches are arranged on the fingers, and the two fingers are fixedly connected to the rotary connecting plate.
On the basis of the technical scheme, the vertical beam connecting plates and the Y-axis sliding plates are aligned in zero point installation on the side surfaces.
Preferably, the two ends of the Y-axis sliding plate are fixedly connected with buffering limiting mechanisms. The buffering limiting mechanism limits the movable range of the two ends of the vertical beam connecting plate.
Advantageous effects
Compared with the prior art, the utility model has the beneficial effects that: on the one hand, the gripper assembly of this device can be compatible to different model knuckle work pieces, has improved the commonality of equipment, and on the one hand, when truss manipulator snatched the work piece of taking the angle, the pressure is snatched in balance to the floating compaction structure, reduces work piece loss, and on the other hand, this device sets up two wrists at the Y axle, but Y axle direction is flexible, snatchs two work pieces simultaneously, has effectively improved and snatched efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only one embodiment of the present utility model, and that other embodiments of the drawings may be derived from the drawings provided without inventive effort for a person skilled in the art.
Fig. 1: the structure of the utility model is schematically shown;
fig. 2: a front view of the present utility model;
fig. 3: a top view of the present utility model;
fig. 4: right side view of the present utility model;
fig. 5: the paw assembly is structurally and schematically shown in the utility model;
fig. 6: the floating compaction assembly is structurally schematic;
fig. 7: the floating compression assembly of the present utility model is a cross-sectional view.
Detailed Description
The utility model is further illustrated by the following figures and examples:
embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Referring to fig. 1 to 4, the present utility model provides a technical solution:
a lower triaxial wrist: comprising a Y-axis assembly 1 and a wrist,
the wrist comprises an included angle adjusting assembly 2, a paw assembly 3 and a floating compaction assembly 4;
the upper end of the Y-axis assembly 1 is fixed on a truss vertical beam through a vertical beam connecting plate 101, the included angle adjusting assembly 2 is fixed at the lower end of the Y-axis assembly 1, the paw assembly 3 and the floating compacting assembly 4 are fixed at the bottom of the included angle adjusting assembly 2, and the knuckle workpiece 5 is tightly supported by the paw assembly 3 and is compacted and positioned by the floating compacting assembly 4;
the Y-axis sliding plate 102 is fixedly connected with a guide rail sliding block mechanism 105, the vertical beam connecting plate 101 is in sliding connection with the guide rail sliding block mechanism 105, the Y-axis motor 103 is fixedly connected to the vertical beam connecting plate 101, a gear of the gear rack mechanism 104 is arranged on the Y-axis motor 103, a rack of the gear rack mechanism 104 is arranged on the Y-axis sliding plate 102, a reinforcing rib 108 is arranged at the bottom of the Y-axis sliding plate 102, and an electric control box 109 is fixedly connected to the bottom of the reinforcing rib 108.
As shown in fig. 6 and 7, the floating compression assembly 4 comprises a support column 401, a floating base plate 402, a floating sleeve 403, a guide rod 404, a spring 408 and a pressure adjusting screw 409, wherein the support column 401 is connected with the floating base plate 402 through the screw, the floating sleeve 403 is installed on the floating base plate 402, the guide rod 404 is sleeved with an oil-free bushing 405, the guide rod 404 is in sliding connection with the oil-free bushing 405, the oil-free bushing 405 is installed inside the floating sleeve 403 and is fixedly compressed through an end cover 406, the spring 408 is installed between the guide rod 404 and the gland 407, the pressure adjusting screw 409 is installed on the floating base plate 402 and is propped against the spring 408 and the gland 407,
the support column 401 is fixed on the rotary connecting plate 202, two ends of the cross rod 411 are connected to the guide rod 404 through pins 415, and the ejector rod 413 is fixed on the cross rod 411 through two support rods 412.
The included angle adjusting assembly 2 comprises a fixed connecting plate 201, a rotary connecting plate 202, an included angle adjusting pin 203 and an angle adjusting block 204, wherein the fixed connecting plate 201 is fixedly connected to the Y-axis sliding plate 102, and the rotary connecting plate 202 and the fixed connecting plate 201 are movably connected with one end through the pin 203 and are connected with the other end through the angle adjusting block 204.
As shown in fig. 5, the finger assembly 3 includes a two-finger 301, fingers 302, and a finger patch 303, the lower end of the two-finger 301 is fixedly connected with two fingers 302, the finger patch 303 is mounted on the finger 302, and the two-finger paw 301 is fixedly connected to the rotary connection plate 202.
Zero alignment 110 is arranged on the side surfaces of the vertical beam connecting plate 101 and the Y-axis sliding plate 102.
Two ends of the Y-axis sliding plate 102 are fixedly connected with buffer limiting mechanisms 106.
The buffer limiting mechanism 106 limits the movable range of the two ends of the vertical beam connecting plate 101.
The upper end of the Y-axis assembly 1 is fixed on a truss vertical beam through a vertical beam connecting plate 101, two sets of wrists are arranged at the lower end of the Y-axis assembly 1, and two workpieces can be simultaneously grabbed, so that the efficiency can be effectively improved.
The Y-axis assembly 1 drives a gear rack mechanism 104 through a Y-axis motor 103 to realize the extension and retraction of a Y-axis sliding plate 102, a vertical beam connecting plate 101 and the Y-axis sliding plate 102 are guided through a guide rail sliding block mechanism 105, and the sliding range is limited through buffer limiting mechanisms 106 at two ends.
The fixed connecting plate 201 and the rotary connecting plate 202 of the included angle adjusting assembly 2 are respectively connected with the Y-axis assembly 1 and the paw assembly 3, and compatibility of workpieces with different deflection angles is realized by replacing the angle adjusting blocks 204 with corresponding models. The angle adjusting block 204 is a machined adjusting block, and can be adapted to the steering knuckle of the corresponding model.
The hand-grabbing assembly 3 realizes positioning and supporting of inner holes of knuckle workpieces of different types through finger patches 303 of corresponding types;
as the hand grip assembly 3 grips different knuckles, the knuckles are uneven, possibly resulting in damage to the equipment or knuckles due to uneven pressure,
the floating compaction assembly 4 compacts the knuckle work by the jack 413, and the compaction force is adjusted by the pressure adjusting screw 409.
The present utility model has been described above by way of example, but the present utility model is not limited to the above-described embodiments, and any modifications or variations based on the present utility model fall within the scope of the present utility model.
Claims (6)
1. A lower triaxial wrist, characterized in that: comprises a Y-axis component (1) and a wrist,
the wrist comprises an included angle adjusting assembly (2), a paw assembly (3) and a floating compaction assembly (4);
the upper end of the Y-axis assembly (1) is fixed on a truss vertical beam through a vertical beam connecting plate (101), the included angle adjusting assembly (2) is fixed at the lower end of the Y-axis assembly (1), the claw assembly (3) and the floating compacting assembly (4) are fixed at the bottom of the included angle adjusting assembly (2), and the knuckle workpiece (5) is tightly supported by the claw assembly (3) and is compacted and positioned by the floating compacting assembly (4);
the Y-axis sliding plate (102) is fixedly connected with a guide rail sliding block mechanism (105), the vertical beam connecting plate (101) is in sliding connection with the guide rail sliding block mechanism (105), a Y-axis motor (103) is fixedly connected to the vertical beam connecting plate (101), a gear of the gear rack mechanism (104) is arranged on the Y-axis motor (103), a rack of the gear rack mechanism (104) is arranged on the Y-axis sliding plate (102), a reinforcing rib (108) is arranged at the bottom of the Y-axis sliding plate (102), and an electric control box (109) is fixedly connected to the bottom of the reinforcing rib (108);
the floating compaction assembly (4) comprises a support column (401), a floating bottom plate (402), a floating sleeve (403), a guide rod (404), a spring (408) and a pressure adjusting screw (409), wherein the support column (401) is connected with the floating bottom plate (402) through the screw, the floating sleeve (403) is installed on the floating bottom plate (402), the guide rod (404) is sleeved with an oil-free bushing (405), the guide rod (404) is in sliding connection with the oil-free bushing (405), the oil-free bushing (405) is installed inside the floating sleeve (403) and is fixedly compacted through an end cover (406), the spring (408) is installed between the guide rod (404) and the gland (407), the pressure adjusting screw (409) is installed on the floating bottom plate (402) and is propped against the spring (408) and the gland (407),
the support column (401) is fixed on the rotary connecting plate (202), two ends of the cross rod (411) are connected to the guide rod (404) through pins (415), and the ejector rod (413) is fixed on the cross rod (411) through two support rods (412).
2. A lower triaxial wrist according to claim 1, characterised in that: the included angle adjusting assembly (2) comprises a fixed connecting plate (201), a rotating connecting plate (202), an included angle adjusting pin shaft (203) and an angle adjusting block (204), wherein the fixed connecting plate (201) is fixedly connected to the Y-axis sliding plate (102), one end of the rotating connecting plate (202) is movably connected with the fixed connecting plate (201) through the pin shaft (203), and the other end of the rotating connecting plate is connected with the angle adjusting block (204).
3. A lower triaxial wrist according to claim 1, characterised in that: the hand claw assembly (3) comprises two finger hand claws (301), fingers (302) and finger patches (303), wherein the lower ends of the two finger hand claws (301) are fixedly connected with two fingers (302), the finger patches (303) are arranged on the fingers (302), and the two finger hand claws (301) are fixedly connected to the rotary connecting plate (202).
4. A lower triaxial wrist according to claim 1, characterised in that: zero point alignment (110) is arranged on the side surfaces of the vertical beam connecting plate (101) and the Y-axis sliding plate (102).
5. A lower triaxial wrist according to claim 2, characterised in that: and two ends of the Y-axis sliding plate (102) are fixedly connected with buffer limiting mechanisms (106).
6. A lower triaxial wrist according to claim 5, characterised in that: the buffer limiting mechanism (106) limits the movable range of the two ends of the vertical beam connecting plate (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322153485.5U CN220516815U (en) | 2023-08-10 | 2023-08-10 | Lower triaxial wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322153485.5U CN220516815U (en) | 2023-08-10 | 2023-08-10 | Lower triaxial wrist |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220516815U true CN220516815U (en) | 2024-02-23 |
Family
ID=89930379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322153485.5U Active CN220516815U (en) | 2023-08-10 | 2023-08-10 | Lower triaxial wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220516815U (en) |
-
2023
- 2023-08-10 CN CN202322153485.5U patent/CN220516815U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |