CN111267146B - Connecting device for truss manipulator with protective structure - Google Patents
Connecting device for truss manipulator with protective structure Download PDFInfo
- Publication number
- CN111267146B CN111267146B CN202010243742.2A CN202010243742A CN111267146B CN 111267146 B CN111267146 B CN 111267146B CN 202010243742 A CN202010243742 A CN 202010243742A CN 111267146 B CN111267146 B CN 111267146B
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- China
- Prior art keywords
- wall
- shell
- rotating shaft
- manipulator
- protective shell
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000001681 protective effect Effects 0.000 title claims abstract description 60
- 238000009434 installation Methods 0.000 claims description 35
- 238000007789 sealing Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 8
- 230000005389 magnetism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000012945 sealing adhesive Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a connecting device for a truss manipulator with a protective structure, which comprises a mounting shell, a manipulator and a connecting frame hanging plate, wherein the manipulator is arranged below the mounting shell, the connecting frame hanging plate is movably connected with an external connecting frame, a stepping motor is arranged in an inner cavity of the mounting shell, mounting plates are fixedly arranged at the top and the bottom of the stepping motor, a first rotating shaft is fixedly connected with the outer wall of the output end of the left end of the stepping motor.
Description
Technical Field
The invention relates to the technical field of truss manipulators, in particular to a connecting device for a truss manipulator with a protection structure.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance. In industrial automation production, truss manipulators are often used, the existing manipulators have no protection function, mechanical faults are easy to cause when the existing manipulators are impacted by external accidents, and the manipulators are polluted by dust and easily influence the normal operation of the manipulators after being used for a long time, so that the truss manipulators with the protection structures are needed to solve the problem.
Disclosure of Invention
The invention aims at: aiming at the problems existing at present, the connecting device for the truss manipulator is provided with a protection structure.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The utility model provides a connecting device for truss manipulator with protective structure, includes installation casing, manipulator and armature frame hanger plate, the manipulator sets up in the below of installation casing, armature frame hanger plate fixed connection installs the top outer wall of casing, and the outside armature frame of swing joint of armature frame hanger plate, be provided with step motor in the inner chamber of installation casing, step motor's top and bottom all fixed mounting have the mounting panel, the inner chamber wall of mounting panel fixed connection installation casing, step motor left end output's outer wall fixedly connected with first pivot, and step motor's output shaft outer wall fixed mounting has first gear, the back wall meshing of first gear has the second gear, the right side center trompil fixed mounting of second gear has the second pivot, the place ahead of installation casing is provided with preceding protective housing, and the rear of installation casing is provided with the back protective housing, step motor's the equal trompil of the left and right sides wall of installation casing is installed the bearing, step motor's one end all runs through the bearing in the first pivot and the second pivot is kept away from to the outside of installation casing, the first pivot both ends are connected to the first pivot both ends of step motor, the second pivot is connected to the both ends of second pivot.
Preferably, the manipulator comprises a rotary disk body and a manipulator clamping arm, the manipulator clamping arm is movably connected with the rotary disk body, the top outer wall of the rotary disk body is fixedly connected with the bottom outer wall of the installation shell, a rotating motor is installed on the inner wall of the manipulator clamping arm, the output end of the rotating motor is connected with the rotary disk body, a paw locating pin is fixedly installed on the left inner wall of the manipulator clamping arm, and a paw clamp is installed on the right inner wall of the manipulator clamping arm.
Preferably, the first rotating shaft is arranged in the second rotating shaft and is arranged in the middle in the inner cavity of the installation shell, and the first rotating shaft is arranged in front of the second rotating shaft.
Preferably, the first rotating shaft is arranged on the outer wall of the second rotating shaft in a sleeved mode, and the outer wall of the sleeve is fixedly connected with the inner wall of the installation shell.
Preferably, the front protective shell and the rear protective shell are arc-shaped plates, and the front protective shell and the rear protective shell are integrally cylindrical.
Preferably, the magnetic attraction strips are arranged at the joints of the edges of the inner walls of the front protective shell and the rear protective shell, and sealing adhesive strips are fixedly arranged on the outer walls of the magnetic attraction strips.
Preferably, the magnetic attraction strips on the front protective shell and the rear protective shell are installed in a different mode.
Preferably, the bending parts of the front protective shell and the rear protective shell are arranged to be reinforced with metal plates, and the thickness is set to be 3MM.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
The invention has the advantages that the front protective shell and the rear protective shell are arranged, so that the mechanical arm can be well protected, the damage to the mechanical arm when the mechanical arm is in face of external accidental collision is avoided, the structural stability is greatly improved, the long-time work of the mechanical arm is protected, and the pollution caused by dust or oil stain can be avoided by the installation of the sealing strip at the joint of the front protective shell and the rear protective shell; meanwhile, the front protective shell and the rear protective shell are driven by the linkage of the stepping motor, the gear and the two rotating shafts, so that the effects of closing and unfolding can be automatically realized, the operation is simple, the control and the stability are convenient, and the protection effect of the manipulator at the present stage is met.
Drawings
FIG. 1 is an internal block diagram of the present invention;
FIG. 2 is an enlarged view of the invention at A of FIG. 1;
FIG. 3 is an enlarged view of the portion B of FIG. 1 in accordance with the present invention;
FIG. 4 is a schematic view of a manipulator according to the present invention;
Fig. 5 is a schematic diagram of a linkage structure of the stepping motor according to the present invention.
In the figure: 1. a mounting shell; 2. a manipulator; 3. a connector suspension plate; 4. a front protective shell; 5. a rear protective shell; 6. a first rotating shaft; 7. a second rotating shaft; 8. a bearing; 9. a sleeve; 10. a mounting plate; 11. a stepping motor; 12. a first gear; 13. a second gear; 14. sealing and sticking strips; 15. a magnetic strip; 21. a rotating disc body; 22. a manipulator clamping arm; 23. clamping by a paw; 24. a paw locating pin; 25. a rotating electric machine.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Example 1, as shown in fig. 1-5:
The utility model provides a connecting device for truss manipulator with protective structure, including installation casing 1, manipulator 2 and armature frame hanger plate 3, manipulator 2 sets up in the below of installation casing 1, the top outer wall of installation casing 1 is connected fixedly to armature frame hanger plate 3, and the outside armature frame of swing joint of armature frame hanger plate 3 is provided with step motor 11 in the inner chamber of installation casing 1, step motor 11's top and bottom all fixed mounting have mounting panel 10, the outer wall fixed connection of mounting panel 10 installs the inner chamber wall of casing 1, step motor 11 left end output's outer wall fixedly connected with first pivot 6, and step motor 11's output shaft outer wall fixed mounting has first gear 12, the rear wall of the first gear 12 is meshed with a second gear 13, a right side center hole of the second gear 13 is fixedly provided with a second rotating shaft 7, the front of the installation shell 1 is provided with a front protection shell 4, the rear of the installation shell 1 is provided with a rear protection shell 5, the left side wall and the right side wall of the installation shell 1 are respectively provided with a hole and are provided with a bearing 8, one ends of the first rotating shaft 6 and the second rotating shaft 7 far away from the stepping motor 11 penetrate through the bearing 8 and extend to the outer side of the installation shell 1, the two ends of the top of the front protection shell 4 are connected with the first rotating shaft 6, the two ends of the top of the rear protection shell 5 are connected with the second rotating shaft 7, the first rotating shaft 6 is arranged in the inner cavity of the installation shell 1 in a centered manner, the first rotating shaft 6 is arranged in front of the second rotating shaft 7, the first rotating shaft 6 is arranged on the outer wall of the second rotating shaft 7, sleeves 9 are sleeved on the outer wall of the sleeves 9, the outer wall of the sleeves 9 is fixedly connected with the inner wall of the mounting shell 1, the first rotating shaft 6 and the second rotating shaft 7 are convenient to rotate, the structure is stable, the manipulator 2 comprises a rotating disc body 21 and a manipulator clamping arm 22, the manipulator clamping arm 22 is movably connected with the rotating disc body 21, the top outer wall of the rotating disc body 21 is fixedly connected with the bottom outer wall of the mounting shell 1, a rotating motor 25 is arranged on the inner wall of the manipulator clamping arm 22, the output end of the rotating motor 25 is connected with the rotating disc body 21, a paw locating pin 24 is fixedly arranged on the left inner wall of the manipulator clamping arm 22, and the right inner wall of the manipulator clamping arm 22 is provided with a gripper clamping 23, after the gripper clamps a workpiece through the arrangement of the structure on the manipulator 2, a bolt cylinder acts to prevent the workpiece from falling due to gas interruption and power failure, meanwhile, the manipulator clamping arm 22 and the rotating disc body 21 are provided, the rotating disc body 21 is in a locking state during normal operation, a guide rail lock is in a clamping state during power failure and gas interruption, the front protective shell 4 and the rear protective shell 5 are arc-shaped plates, the front protective shell 4 and the rear protective shell 5 are integrally cylindrical, the front protective shell 4 and the rear protective shell 5 can be combined through electric power to form a protective shell of the manipulator 2, and magnetic strips 15 are arranged at the connecting parts of the edges of the inner walls of the front protective shell 4 and the rear protective shell 5, the outer wall of every magnetism is inhaled strip 15 and is all fixed mounting has sealed strip 14, have certain sealed effect, can play a dustproof and grease proofing effect, the magnetism on preceding protecting crust 4 and the back protecting crust 5 is inhaled strip 15 for the opposite sex installation, preceding protecting crust 4 and back protecting crust 5 inhale the setting of strip 15 through the opposite sex magnetism, the crooked department that can be fine when merging adsorbs, preceding protecting crust 4 and back protecting crust 5 sets up to strengthen the panel beating, the thickness sets up to 3MM, preceding protecting crust 4 and back protecting crust 5 have fine crashproof effect, and stable in structure has protected the stability of structure on the manipulator 2.
When the manipulator 2 is to be protected, the stepping motor 11 is turned on through a power supply and a switch, the stepping motor 11 can be rotated to drive the first gear 12 to rotate, the second gear 13 is meshed with the rear wall of the first gear 12, the first gear 12 drives the first rotating shaft 6 to rotate, the second gear 13 can further drive the second rotating shaft 7 to rotate, and therefore the front protective shell 4 and the rear protective shell 5 rotate until the front protective shell 4 and the rear protective shell 5 are matched and sealed, the front protective shell 4 and the rear protective shell 5 are integrally arranged in a cylindrical shape, the front protective shell 4 and the rear protective shell 5 have a good anti-collision effect, a certain sealing effect and a dustproof and oil-proof effect can be achieved; through the setting of structure on manipulator 2, after the work piece is held tightly to the paw, can carry out bolt cylinder action, prevent to lead to the work piece to drop because of outage, be equipped with manipulator arm lock 22 and rotary disk body 21 simultaneously, rotary disk body 21 is in the locking state during normal operating, and the guide rail lock is in the locking state during outage, outage.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (6)
1. Connecting device for truss manipulator with protective structure, including installation casing (1), manipulator (2) and armature hang board (3), its characterized in that: the mechanical arm (2) is arranged below the installation shell (1), the connection of the connection hanging plate (3) to the top outer wall of the installation shell (1) is fixed, the connection of the connection hanging plate (3) to the outside connection is fixed, a stepping motor (11) is arranged in the inner cavity of the installation shell (1), the top and the bottom of the stepping motor (11) are fixedly provided with installation plates (10), the outer wall of the installation plate (10) is fixedly connected with the inner cavity wall of the installation shell (1), the outer wall of the output end of the left end of the stepping motor (11) is fixedly connected with a first rotating shaft (6), the outer wall of the output shaft of the stepping motor (11) is fixedly provided with a first gear (12), the rear wall of the first gear (12) is meshed with a second gear (13), the center opening of the right side of the second gear (13) is fixedly provided with a second rotating shaft (7), the front protection shell (4) is arranged in front of the installation shell (1), the rear protection shell (5) is arranged behind the installation shell (1), the left side wall of the installation shell (1) is fixedly connected with a first rotating shaft (8) and the first rotating shaft (8) extends to the outer side of the first rotating shaft (8) and extends to the first rotating shaft (8), the two ends of the top of the front protective shell (4) are connected with a first rotating shaft (6), and the two ends of the top of the rear protective shell (5) are connected with a second rotating shaft (7); the front protective shell (4) and the rear protective shell (5) are arc-shaped plates, and the front protective shell (4) and the rear protective shell (5) are integrally arranged in a cylindrical shape; the magnetic strip (15) is installed at the joint of the inner wall edges of the front protective shell (4) and the rear protective shell (5), and the sealing strip (14) is fixedly installed on the outer wall of each magnetic strip (15).
2. The connection device for a truss manipulator provided with a protective structure according to claim 1, wherein: the manipulator (2) comprises a rotary disc body (21) and a manipulator clamping arm (22), the manipulator clamping arm (22) is movably connected with the rotary disc body (21), the top outer wall of the rotary disc body (21) is fixedly connected with the bottom outer wall of the installation shell (1), a rotating motor (25) is installed on the inner wall of the manipulator clamping arm (22), the output end of the rotating motor (25) is connected with the rotary disc body (21), a paw locating pin (24) is fixedly installed on the left inner wall of the manipulator clamping arm (22), and a paw clamping (23) is installed on the right inner wall of the manipulator clamping arm (22).
3. The connection device for a truss manipulator provided with a protective structure according to claim 1, wherein: the first rotating shaft (6) is arranged in the middle of the second rotating shaft (7) in the inner cavity of the installation shell (1), and the first rotating shaft (6) is arranged in front of the second rotating shaft (7).
4. A truss manipulator connection assembly provided with a protective structure as defined in claim 3, wherein: the first rotating shafts (6) are arranged on the outer walls of the second rotating shafts (7) in a sleeved mode, and the outer walls of the sleeves (9) are fixedly connected with the inner walls of the installation shells (1).
5. The connection device for a truss manipulator provided with a protective structure according to claim 1, wherein: the magnetic attraction strips (15) on the front protective shell (4) and the rear protective shell (5) are installed in a different mode.
6. The connection device for a truss manipulator provided with a protective structure according to claim 1, wherein: the bending part of the front protective shell (4) and the rear protective shell (5) is set to be a reinforced sheet metal, and the thickness is set to be 3MM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010243742.2A CN111267146B (en) | 2020-03-31 | 2020-03-31 | Connecting device for truss manipulator with protective structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010243742.2A CN111267146B (en) | 2020-03-31 | 2020-03-31 | Connecting device for truss manipulator with protective structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111267146A CN111267146A (en) | 2020-06-12 |
| CN111267146B true CN111267146B (en) | 2024-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010243742.2A Active CN111267146B (en) | 2020-03-31 | 2020-03-31 | Connecting device for truss manipulator with protective structure |
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| Country | Link |
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| CN (1) | CN111267146B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407076B (en) * | 2021-12-29 | 2023-05-26 | 北京新光凯乐汽车冷成型件股份有限公司 | Intelligent-based anti-collision mechanism for machinery |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211916898U (en) * | 2020-03-31 | 2020-11-13 | 宁夏巨能机器人股份有限公司 | Connecting device provided with protective structure and used for truss manipulator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3819247A1 (en) * | 1988-06-06 | 1989-12-07 | Kernforschungsanlage Juelich | Double cover system for lock vessels |
| CN207256250U (en) * | 2017-10-16 | 2018-04-20 | 东莞市盈合精密塑胶有限公司 | A kind of die workpiece conveying robot |
| CN208342881U (en) * | 2018-04-23 | 2019-01-08 | 佛山市金福隆金属材料有限公司 | A kind of manipulator for being convenient for heat dissipation noise reduction with safeguard function |
| CN108818516A (en) * | 2018-08-28 | 2018-11-16 | 泰州市峦之湄服装机械有限公司 | It is a kind of to clamp stable mechanical arm |
| CN109227581A (en) * | 2018-09-28 | 2019-01-18 | 广州索博自动化装备有限公司 | Unpowered ATC protective cover |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211916898U (en) * | 2020-03-31 | 2020-11-13 | 宁夏巨能机器人股份有限公司 | Connecting device provided with protective structure and used for truss manipulator |
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| CN111267146A (en) | 2020-06-12 |
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