Gripping device for truss robot

Abstract

The utility model relates to the technical field of truss robots, and discloses a grabbing device for a truss robot, which solves the problem that the existing grabbing device for the truss robot is inconvenient to turn over and adjust a workpiece, and comprises a grabbing mechanism which is connected to the top end of the truss robot in a penetrating manner, the grabbing mechanism is composed of a first support, a second support, a double-end lead screw, a first servo motor, a first grabbing assembly and a second grabbing assembly, the first support and the second support are connected to the two ends of the top of the truss robot correspondingly, the double-end lead screw is rotationally connected between the first support and the second support, the first servo motor is connected to one side of the second support, and the first grabbing assembly is connected to the other side of the second support. A strip-shaped sliding groove is formed in the top end of the truss robot, and the first grabbing assembly and the second grabbing assembly are slidably connected into the strip-shaped sliding groove and arranged on the double-end lead screw in a sleeving mode. By means of the grabbing device, workpieces or objects of different sizes can be grabbed, lifting and overturning adjustment can be achieved, and use convenience is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss robots, in particular to a grasping device for a truss robot. Background Art

[0002] Truss robots, also called rectangular coordinate robots and gantry robots, are widely used in production workshops to grab and transfer objects.

[0003] Authorization announcement number CN215433674U discloses a truss robot grasping device, which, by setting a grasping mechanism, a telescopic hydraulic telescopic rod can adjust the distance between two clamps, so that the clamps can grasp objects of different sizes; however, when the truss robot is actually used, especially when it is used for grasping workpiece processing, it is usually necessary to flip the workpiece to achieve multi-sided processing of the workpiece, and the grasping mechanism cannot be flipped and adjusted during use, and the use effect is not good. Therefore, the present application improves it and proposes a grasping device for a truss robot. Utility Model Content

[0004] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a grasping device for a truss robot, which effectively solves the problem that the prior art grasping device of the truss robot is inconvenient to flip and adjust the workpiece.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a grasping device for a truss robot, comprising a grasping mechanism, which is inserted and connected to the top of the truss robot, and the grasping mechanism is composed of a first support, a second support, a double-headed screw, a servo motor 1, a first grasping component and a second grasping component. The first support and the second support are respectively fixedly connected to the two ends of the top of the truss robot, the double-headed screw is rotatably connected between the first support and the second support, the servo motor 1 is fixedly connected to one side of the second support and is fixedly connected to the double-headed screw, and a strip slide is provided on the top of the truss robot. The first grasping component and the second grasping component are both slidably connected to the inside of the strip slide, and the first grasping component and the second grasping component are both sleeved on the double-headed screw and threadedly connected to it.

[0006] Preferably, the first grabbing assembly and the second grabbing assembly are both composed of a limit slider, a hydraulic telescopic rod, a mounting seat and a splint, the limit slider is slidably connected to the inside of the strip slide, the limit slider is provided with a threaded groove matching the double-headed screw rod, the hydraulic telescopic rod is inserted into the middle position of the limit slider and fixedly connected thereto, the mounting seat is fixedly connected to the bottom end of the hydraulic telescopic rod, and the splint is connected to one side of the mounting seat.

[0007] Preferably, the mounting base is composed of a first shell, a second shell, a connecting shaft, a worm gear, a worm and two servo motors. The first shell is fixedly connected to the bottom end of the hydraulic telescopic rod, the second shell is fixedly connected to the bottom end of the first shell, the connecting shaft is inserted and connected to the interior of the first shell and is rotatably connected to it, the worm gear is located inside the first shell and is sleeved on the connecting shaft, the worm is rotatably connected to the interior of the second shell and is meshed with the worm gear, and the two servo motors are fixedly connected to one end of the second shell and are fixedly connected to the worm.

[0008] Preferably, the connecting shaft and the first housing are rotationally connected via a roller bearing and a plane bearing respectively.

[0009] Preferably, a plurality of threaded holes are provided at one end of the side of the connecting shaft, a clamping sleeve is fixedly provided on one side of the clamping plate, and a plurality of locking bolts matching the threaded holes are inserted through the side of the clamping sleeve.

[0010] Compared with the prior art, the beneficial effects of the utility model are:

[0011] (1) During operation, the spacing can be adjusted by setting a grasping mechanism consisting of a first support, a second support, a double-headed screw, a servo motor, a first grasping assembly and a second grasping assembly. The grasping of the workpiece or article is achieved by the first grasping assembly and the second grasping assembly, and the workpiece or article can be grasped stably for workpieces or articles of different sizes.

[0012] (2) By setting up a first grasping assembly and a second grasping assembly consisting of a limit slider, a hydraulic telescopic rod, a mounting seat and a clamping plate, lifting and lowering adjustment can be achieved, thereby facilitating the movement of workpieces or objects. By setting up a mounting seat consisting of a first shell, a second shell, a connecting shaft, a worm gear, a worm and a servo motor, the workpiece can be driven to perform flipping adjustment, so as to facilitate multi-faceted processing of the workpiece and improve the convenience and functionality of the grasping operation. By setting up threaded holes, ferrules and locking bolts, the clamping plate can be replaced, and the corresponding clamping plate can be selected according to the type of workpiece or object. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0014] In the attached picture:

[0015] Figure 1 This is a schematic diagram of the structure of the grabbing device for the truss robot of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the grabbing mechanism of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the first grabbing component of the utility model;

[0018] Figure 4 This is a schematic diagram of the internal structure of the mounting base of the utility model;

[0019] Figure 5 This is a schematic diagram of the structure of the mounting seat of the utility model;

[0020] In the figure: 1. grabbing mechanism; 2. truss robot; 3. first support; 4. second support; 5. double-headed screw; 6. servo motor one; 7. first grabbing assembly; 8. second grabbing assembly; 9. strip slide; 10. limit slider; 11. hydraulic telescopic rod; 12. mounting seat; 13. clamping plate; 14. threaded groove; 15. first shell; 16. second shell; 17. connecting shaft; 18. worm gear; 19. worm; 20. servo motor two; 21. roller bearing; 22. plane bearing; 23. threaded hole; 24. ferrule; 25. locking bolt. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments; based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0022] Depend on Figure 1 and Figure 2 The utility model provides a grasping device for a truss robot, comprising a grasping mechanism 1, which is inserted and connected to the top of the truss robot 2. The grasping mechanism 1 is composed of a first support 3, a second support 4, a double-headed screw 5, a servo motor 16, a first grasping component 7 and a second grasping component 8. The first support 3 and the second support 4 are respectively fixedly connected to the two ends of the top of the truss robot 2, the double-headed screw 5 is rotatably connected between the first support 3 and the second support 4, the servo motor 16 is fixedly connected to one side of the second support 4 and is fixedly connected to the double-headed screw 5, a strip slide 9 is provided on the top of the truss robot 2, the first grasping component 7 and the second grasping component 8 are both slidably connected to the inside of the strip slide 9, and the first grasping component 7 and the second grasping component 8 are both sleeved on the double-headed screw 5 and threadedly connected thereto;

[0023] When in use, the grasping mechanism 1 is driven to move by the truss robot 2. When grasping, the servo motor 6 is started, and the double-headed screw 5 is driven to rotate by the servo motor 6. The first grasping component 7 and the second grasping component 8 are driven to move to both ends by the double-headed screw 5 and are located on both sides of the workpiece or object. Then, the servo motor 6 drives the first grasping component 7 and the second grasping component 8 to move in the direction of the workpiece or object, so as to grasp the workpiece or object.

[0024] Depend on Figures 1 to 3 It is given that the first grabbing assembly 7 and the second grabbing assembly 8 are both composed of a limit slider 10, a hydraulic telescopic rod 11, a mounting seat 12 and a clamping plate 13. The limit slider 10 is slidably connected to the inside of the strip slide 9. The limit slider 10 is provided with a threaded groove 14 matching the double-headed screw rod 5. The hydraulic telescopic rod 11 is inserted into the middle position of the limit slider 10 and is fixedly connected thereto. The mounting seat 12 is fixedly connected to the bottom end of the hydraulic telescopic rod 11, and the clamping plate 13 is connected to one side of the mounting seat 12.

[0025] After the grabbing is completed, the hydraulic telescopic rod 11 is contracted to drive the mounting seat 12 and the clamping plate 13 to rise, thereby driving the workpiece or object to move upward, making it easier to move the workpiece or object;

[0026] Depend on Figure 3 and Figure 4 It is given that the mounting seat 12 is composed of a first housing 15, a second housing 16, a connecting shaft 17, a worm gear 18, a worm 19 and a servo motor 20. The first housing 15 is fixedly connected to the bottom end of the hydraulic telescopic rod 11, the second housing 16 is fixedly connected to the bottom end of the first housing 15, the connecting shaft 17 is inserted and connected to the inside of the first housing 15 and is rotatably connected thereto, the worm gear 18 is located inside the first housing 15 and is sleeved on the connecting shaft 17, the worm 19 is rotatably connected to the inside of the second housing 16 and is meshed with the worm gear 18, the servo motor 20 is fixedly connected to one end of the second housing 16 and is fixedly connected to the worm 19, and the connecting shaft 17 and the first housing 15 are rotatably connected through a roller bearing 21 and a plane bearing 22 respectively;

[0027] When grabbing the workpiece being processed, if it is necessary to flip and adjust the workpiece to realize processing on different surfaces of the workpiece, the servo motor 20 is started, and the servo motor 20 drives the worm 19 to rotate, and the worm 19 drives the worm wheel 18 to rotate, and the worm wheel 18 drives the connecting shaft 17 to rotate, so that the workpiece can be driven to flip and adjust, and the adaptability is improved. The roller bearing 21 can realize radial limitation of the connecting shaft 17 and improve the mobility of the connecting shaft 17, and the plane bearing 22 can realize axial limitation of the connecting shaft 17 and improve the mobility of the connecting shaft 17;

[0028] Depend on Figures 3 to 5It is shown that a plurality of threaded holes 23 are provided at one end of the side of the connecting shaft 17, a clamping sleeve 24 is fixedly provided at one side of the clamping sleeve 13, and a plurality of locking bolts 25 matching the threaded holes 23 are inserted through the side of the clamping sleeve 24;

[0029] When it is necessary to grasp different types of workpieces or objects, the locking bolt 25 is removed, and then the clamping sleeve 24 and the clamping plate 13 are removed, and the clamping plate 13 is replaced with a matching one.

[0030] During operation, by setting a grasping mechanism consisting of a first support, a second support, a double-headed screw, a servo motor 1, a first grasping component and a second grasping component, the spacing adjustment can be achieved, and the grasping work of the workpiece or the object can be achieved through the first grasping component and the second grasping component, which can be adapted to stable grasping of workpieces or objects of different sizes; by setting a first grasping component and a second grasping component consisting of a limit slider, a hydraulic telescopic rod, a mounting seat and a splint, lifting and lowering adjustment can be achieved, thereby facilitating the movement of the workpiece or the object; by setting a mounting seat consisting of a first shell, a second shell, a connecting shaft, a worm gear, a worm and a servo motor 2, the workpiece can be driven to perform flipping adjustment, so as to facilitate multi-faceted processing of the workpiece, thereby improving the convenience and functionality of the grasping operation; by setting threaded holes, ferrules and locking bolts, the splint can be replaced, and the corresponding splint can be selected according to the type of workpiece or object.

Claims

1. A grasping device for a truss robot, comprising a grasping mechanism (1), characterized in that: The grabbing mechanism (1) is connected through the top of the truss robot (2). The grabbing mechanism (1) is composed of a first support (3), a second support (4), a double-headed screw (5), a servo motor (6), a first grabbing component (7) and a second grabbing component (8). The first support (3) and the second support (4) are respectively fixedly connected to the two ends of the top of the truss robot (2). The double-headed screw (5) is rotatably connected between the first support (3) and the second support (4). The servo motor (6) is fixedly connected to one side of the second support (4) and is fixedly connected to the double-headed screw (5). A strip slide (9) is provided at the top of the truss robot (2). The first grabbing component (7) and the second grabbing component (8) are both slidably connected to the inside of the strip slide (9). The first grabbing component (7) and the second grabbing component (8) are both sleeved on the double-headed screw (5) and threadedly connected thereto. The first grabbing assembly (7) and the second grabbing assembly (8) are both composed of a limit slider (10), a hydraulic telescopic rod (11), a mounting seat (12) and a clamping plate (13); the limit slider (10) is slidably connected to the inside of the strip slide groove (9); a thread groove (14) matching the double-headed screw rod (5) is provided on the limit slider (10); the hydraulic telescopic rod (11) is inserted into the middle position of the limit slider (10) and is fixedly connected thereto; the mounting seat (12) is fixedly connected to the bottom end of the hydraulic telescopic rod (11); and the clamping plate (13) is connected to one side of the mounting seat (12); The mounting base (12) is composed of a first housing (15), a second housing (16), a connecting shaft (17), a worm wheel (18), a worm (19) and a second servo motor (20). The first housing (15) is fixedly connected to the bottom end of the hydraulic telescopic rod (11), the second housing (16) is fixedly connected to the bottom end of the first housing (15), the connecting shaft (17) is inserted and connected to the inside of the first housing (15) and is rotatably connected thereto, the worm wheel (18) is located inside the first housing (15) and is sleeved on the connecting shaft (17), the worm (19) is rotatably connected to the inside of the second housing (16) and is meshed with the worm wheel (18), and the second servo motor (20) is fixedly connected to one end of the second housing (16) and is fixedly connected to the worm (19).

2. The grasping device for a truss robot according to claim 1, characterized in that: The connecting shaft (17) and the first housing (15) are rotationally connected via a roller bearing (21) and a plane bearing (22) respectively.

3. The grasping device for a truss robot according to claim 1, characterized in that: A plurality of threaded holes (23) are provided at one end of the side of the connecting shaft (17), a clamping sleeve (24) is fixedly provided on one side of the clamping sleeve (13), and a plurality of locking bolts (25) matching the threaded holes (23) are inserted through the side of the clamping sleeve (24).

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