Assistance mechanical arm structure based on truss robot

Abstract

The invention provides an assistance mechanical arm structure based on a truss robot. The assistance mechanical arm structure comprises a longitudinal arm, a transverse arm and an electric push rod. The longitudinal arm is movably connected in a connecting hole in the top of a rotating table through a connecting rod. The transverse arm is movably connected to one end of the longitudinal arm, and the length-through electric push rod is arranged in the transverse arm. A square connecting block is arranged on the side face of one end of the transverse arm. Due to the cooperation effect of the rotating table, the electric push rod and various levels of arm rods, a Z-axis arm can bend, rotate, stretch and contract, when blocking happens to the XY plane of the top of a working position, the structure can change the shape flexibly and wind around an obstacle to work normally at the bottom work position, the problem that when blocking of a solid object exists on the XY plane of the top of thework position of an existing truss robot, the Z-axis arm cannot wind wound the solid object of the XY plane is solved, and practicability and adaptability of the device are improved.

Description

technical field [0001] The invention belongs to the technical field of truss robots, and more specifically relates to a structure of a power-assisted mechanical arm based on a truss robot. Background technique [0002] The truss robot is also called a Cartesian robot. It uses the XYZ Cartesian coordinate system as the basic mathematical model, and the single-axis mechanical arm driven by the servo motor and stepping motor as the basic working unit. The robot system constructed by the commonly used transmission method can complete the arrival at any point in the XYZ three-dimensional coordinate system and follow the controllable motion trajectory. [0003] For example, in the patent with the application number: CN201721603204.X, a truss robot Z-axis combined grasping mechanism is disclosed, including the Z-axis and the tooling main board arranged at the lower end of the Z-axis; the lower end of the Z-axis is provided with a cylinder clamp Holding mechanism one; the cylinder ...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above technical problems, the present invention provides a power-assisted mechanical arm structure based on a truss robot to solve the problem that when the XY plane at the top of the working position of the existing truss robot is blocked by a physical object, the Z-axis arm cannot bypass the physical object on the XY plane. homework problem

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