Anti-falling truss manipulator

Abstract

The utility model is suitable for the technical field of anti-falling manipulators, and provides an anti-falling truss manipulator which comprises a support, a connecting rod and a connecting rod. The Y-axis truss is fixed at the top of the bracket through a bolt; the X-axis truss is fixed to the sliding end of the top of the Y-axis truss through a bolt; the moving table is fixed to the sliding end of the outer side wall of the X-axis truss through a bolt; the fixed sleeve is fixed on the outer side wall of the movable table through a bolt; the gear motor, the controller and the storage battery are embedded and fixed to the outer side wall of the movable table through bolts, the controller and the storage battery are located on one side of the gear motor, and the controller is located above the storage battery; rotation of the gear can be stopped through a one-way movement mechanism formed by the pawl and the ratchet wheel, so that the toothed plate cannot descend, falling of the toothed plate is avoided, falling of the manipulator and a clamped workpiece is avoided, and stability and safety of the truss manipulator during use are guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of anti-falling manipulators, in particular to an anti-falling truss manipulator. Background Art

[0002] A truss robot is a fully automatic industrial equipment based on a rectangular X, Y, and Z coordinate system that can adjust the workpiece's position or achieve trajectory motion. However, truss robots can sometimes malfunction during operation, causing the Z-axis to fall. This damages the robot, the workpiece, and poses a threat to the operator's safety.

[0003] In the prior art, a reference may be made to the Chinese patent publication number CN 219788347 U, which discloses a Z-axis anti-fall truss manipulator, including a truss manipulator and a Z-axis anti-fall mechanism. The truss manipulator includes two brackets, two trusses, a slide rail, a sliding plate, an electric shaft, and a robotic arm. The utility model performs a rapid emergency stop on the electric shaft, so that the truss manipulator quickly stops the downward movement along the Z-axis, thereby playing an anti-fall role, protecting the truss manipulator, and preventing the truss manipulator from falling and being damaged.

[0004] The comparative document provides a Z-axis anti-fall truss manipulator, but the push rod in the above patent is set on the gear, which hinders the rotation of the gear and limits the number of rotations of the gear (here it can only rotate half a circle), thereby limiting the lifting distance of the tooth plate, making it impossible to lift the tooth plate with a large stroke, which is inconvenient to use the truss manipulator.

[0005] Therefore, an anti-falling truss manipulator is proposed. Utility Model Content

[0006] The utility model provides an anti-falling truss manipulator, aiming to solve the above-mentioned problems.

[0007] The utility model is implemented as follows: an anti-fall truss manipulator includes: a bracket; a Y-axis truss fixed to the top of the bracket by bolts; an X-axis truss fixed to the sliding end of the top of the Y-axis truss by bolts; a movable platform fixed to the sliding end of the outer wall of the X-axis truss by bolts; a fixing sleeve fixed to the outer wall of the movable platform by bolts; and a reduction motor, a controller and a battery embedded and fixed to the outer wall of the movable platform by bolts, the controller and battery being located on one side of the reduction motor, and the controller being located above the battery; a gear fixed to the output end of the reduction motor; a toothed plate sliding on the inner side wall of the fixing sleeve; an infrared receiver embedded in the outer wall of the toothed plate; an infrared transmitter embedded in the inner side wall of the fixing sleeve near the toothed plate; a connecting shaft fixed at the center of the outer wall of the gear; a ratchet fixed at one end of the connecting shaft; a rotating rod rotating at a position above the ratchet side of the outer wall of the fixing sleeve; a pawl fixed at one end of the rotating rod; and an electromagnetic coil fixed to the outer wall of the fixing sleeve near the pawl by screws.

[0008] A fall-proof truss manipulator also includes a limit plate welded to the top of the tooth plate; a buffer pad fixed to the top of the fixing sleeve by adhesive; and a manipulator embedded and fixed to the bottom of the tooth plate by bolts.

[0009] Preferably, the Y-axis truss and the X-axis truss are perpendicular to each other, and the sliding ends on the Y-axis truss and the X-axis truss are driven by electric push rods.

[0010] Preferably, the gear and the gear plate are connected via gear meshing.

[0011] Preferably, the infrared receiver and the infrared transmitter match.

[0012] Preferably, the ratchet and the pawl form a one-way motion mechanism.

[0013] Preferably, the pawl is made of iron material, the electromagnetic coil generates magnetism when energized, and the electromagnetic coil is magnetically adsorbed and connected to the pawl after energization.

[0014] Preferably, the Y-axis truss, X-axis truss, reduction motor, battery, infrared receiver and electromagnetic coil are all electrically connected to the controller.

[0015] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0016] The one-way motion mechanism formed by the pawl and ratchet can stop the rotation of the gear, so that the tooth plate cannot descend, thereby preventing the tooth plate from falling, and then preventing the manipulator and the clamped workpiece from falling, ensuring the stability and safety of the truss manipulator during use. After the electromagnetic coil is energized to adsorb the pawl, the pawl is away from the ratchet, so that the number of rotations of the ratchet and gear is not restricted, thereby realizing a large stroke lifting of the tooth plate, which is convenient for the use of the truss manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the use of the utility model;

[0018] Figure 2 It is a structural diagram of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the mobile platform and the fixed sleeve of the utility model;

[0020] Figure 4 This is a schematic diagram of the connection between the gear and the tooth plate of the utility model;

[0021] Figure 5 It is a schematic diagram of the ratchet and pawl structure of the utility model.

[0022] In the figure: 1. Bracket; 2. Y-axis truss; 3. X-axis truss; 4. Moving platform; 5. Fixed sleeve; 6. Reducer motor; 7. Controller; 8. Battery; 9. Gear; 10. Gear plate; 11. Infrared receiver; 12. Infrared transmitter; 13. Connecting shaft; 14. Ratchet; 15. Rotating rod; 16. Pawl; 17. Electromagnetic coil; 18. Limit plate; 19. Buffer pad; 20. Manipulator. DETAILED DESCRIPTION

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0024] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] The present invention provides a fall-proof truss manipulator. Figure 1-5 As shown, it includes a bracket 1, the top of the bracket 1 is fixedly connected to the Y-axis truss 2 by bolts, the sliding end of the top of the Y-axis truss 2 is fixedly connected to the X-axis truss 3 by bolts, the Y-axis truss 2 and the X-axis truss 3 are perpendicular to each other, and the sliding ends on the Y-axis truss 2 and the X-axis truss 3 are driven by electric push rods, the sliding end of the outer wall of the X-axis truss 3 is fixedly connected to the moving platform 4 by bolts, the outer wall of the moving platform 4 away from the X-axis truss 3 is fixedly connected to the fixing sleeve 5 by bolts, and a reduction motor 6, a controller 7 and a battery 8 are embedded and fixed by bolts at a side position of the outer wall of one side of the moving platform 4 close to the fixing sleeve 5, the controller 7 and the battery 8 are located on one side of the reduction motor 6, and the controller 7 is located above the battery 8, the output end of the reduction motor 6 is fixedly connected to the gear 9, and a tooth plate 10 is slidably connected to the inner wall of one side of the fixing sleeve 5, the tooth plate 10 forms a Z axis in the vertical direction, and the tooth plate 10 An infrared receiver 11 is embedded in the outer wall of one side, an infrared transmitter 12 is embedded in the inner wall of one side of the fixed sleeve 5 near the side position of the tooth plate 10, a connecting shaft 13 is fixed at the central position of the outer wall of one side of the gear 9, a ratchet 14 is fixed at one end of the connecting shaft 13, a rotating rod 15 is rotatably connected to the upper side of the outer wall of one side of the fixed sleeve 5 near the ratchet 14, a pawl 16 is fixed at one end of the rotating rod 15, an electromagnetic coil 17 is fixed by screws at the upper position of the pawl 16 on the outer wall of one side of the fixed sleeve 5, a limiting plate 18 is welded to the top of the tooth plate 10, a buffer pad 19 is fixed by adhesive at the top of the fixed sleeve 5 near the lower position of the limiting plate 18, the bottom of the tooth plate 10 is fixed with a manipulator 20 by bolts, the Y-axis truss 2, the X-axis truss 3, the reduction motor 6, the battery 8, the infrared receiver 11 and the electromagnetic coil 17 are all electrically connected to the controller 7.

[0026] It should be noted that, since the existing anti-fall truss manipulator cannot make the tooth plate rise and fall with a large stroke, it is not convenient to use the truss manipulator. In this embodiment, the one-way motion mechanism formed by the pawl 16 and the ratchet 14 can stop the rotation of the gear 9, so that the tooth plate 10 cannot fall, thereby preventing the tooth plate 10 from falling, and further preventing the manipulator and the clamped workpiece from falling, ensuring the stability and safety of the truss manipulator during use. After the electromagnetic coil 17 is energized to adsorb the pawl 16, the pawl 16 is away from the ratchet 14, so that the number of rotations of the ratchet 14 and the gear 9 is not restricted, thereby realizing the large-stroke lifting and lowering of the tooth plate 10, which is convenient for the use of the truss manipulator.

[0027] Specifically, in this embodiment, the present solution mainly includes an infrared receiver 11, an infrared transmitter 12, a ratchet 14, a pawl 16 and an electromagnetic coil 17. When a fault occurs and causes the tooth plate 10 to fall, the tooth plate 10 moves downward on the inner side of the fixed sleeve 5, and the infrared receiver 11 on the tooth plate 10 moves downward synchronously. When the infrared receiver 11 drops to the horizontal side of the infrared transmitter 12, the infrared rays emitted by the infrared transmitter 12 are received by the infrared receiver 11. At this time, after the controller 7 receives the information, the controller 7 controls the battery 8 to stop supplying power to the electromagnetic coil 17. The electromagnetic coil 17 loses its magnetism after power is cut off, and the ratchet 16 stops supplying power to the electromagnetic coil 17. One end of the pawl 16 rotates downward under the action of its own gravity, and the pawl 16 is stuck on one side of the ratchet 14, and the ratchet 14 cannot rotate. When the ratchet 14 cannot rotate, the gear 9 connected by the connecting shaft 13 cannot rotate either. Since the gear 9 and the tooth plate 10 are meshed, the tooth plate 10 cannot descend, thereby preventing the tooth plate 10 from falling. When the tooth plate 10 cannot be stopped and continues to move downward, the limit plate 18 at the top of the tooth plate 10 contacts the buffer pad 19 at the top of the fixed sleeve 5. The buffer pad 19 cushions the impact force, reduces the impact force when the limit plate 18 contacts the fixed sleeve 5, and prevents the tooth plate 10 from continuing to fall downward.

[0028] In a further preferred embodiment of the present invention, Figure 1 、 Figure 2 and Figure 4 As shown, the gear 9 and the toothed plate 10 are connected via gear tooth meshing.

[0029] In this embodiment, the meshing connection enables the gear 9 to rotate and drive the tooth plate 10 to move up and down, thereby achieving the lifting of the manipulator 20.

[0030] In a further preferred embodiment of the present invention, Figure 2-3 As shown, the infrared receiver 11 and the infrared transmitter 12 match.

[0031] In this embodiment, the position information of the tooth plate 10 is transmitted by infrared rays, so that when the tooth plate 10 falls to a set position, an anti-falling operation can be performed.

[0032] In a further preferred embodiment of the present invention, Figure 5 As shown, the ratchet 14 and the pawl 16 form a one-way motion mechanism. The pawl 16 is made of iron material. The electromagnetic coil 17 generates magnetism when energized, and the electromagnetic coil 17 is magnetically adsorbed and connected to the pawl 16 after energization.

[0033] In this embodiment, after the electromagnetic coil 17 is energized to adsorb the pawl 16, the pawl 16 moves away from the ratchet 14, so that the rotation of the ratchet 14 is not restricted, and the ratchet 14 can rotate forward and reverse, thereby realizing the lifting and lowering of the toothed plate 10.

[0034] It should be noted that for the aforementioned embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0035] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative, such as the division of the above-mentioned units. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or communication connection between each other shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunications or other forms.

[0036] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope to be protected by the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making any creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also fall within the scope to be protected by the present invention.

Claims

1. A fall-proof truss manipulator, characterized in that: include: Bracket (1); A Y-axis truss (2) fixed to the top of the bracket (1) by bolts; An X-axis truss (3) fixed to the top sliding end of the Y-axis truss (2) by bolts; A movable platform (4) fixed to the sliding end of the outer side wall of the X-axis truss (3) by bolts; A fixing sleeve (5) fixed to the outer wall of the moving platform (4) by bolts; and A reduction motor (6), a controller (7) and a battery (8) are embedded and fixed to the outer wall of the moving platform (4) by bolts, wherein the controller (7) and the battery (8) are located on one side of the reduction motor (6), and the controller (7) is located above the battery (8); A gear (9) fixed to the output end of the reduction motor (6); A toothed plate (10) sliding on the inner wall of the fixing sleeve (5); An infrared receiver (11) embedded in the outer wall of the tooth plate (10); An infrared emitter (12) embedded in the inner wall of the fixing sleeve (5) at a position close to the tooth plate (10); A connecting shaft (13) fixed at a central position of an outer side wall of the gear (9); a ratchet (14) fixed to one end of the connecting shaft (13); A rotating rod (15) is rotated on the outer wall of the fixing sleeve (5) at a position above the ratchet wheel (14); A ratchet pawl (16) fixed to one end of the rotating rod (15); An electromagnetic coil (17) is fixed to the outer wall of the fixing sleeve (5) at a position above the ratchet pawl (16) by means of screws.

2. The anti-fall truss manipulator according to claim 1, characterized in that: It also includes a limiting plate (18) welded to the top of the tooth plate (10); A buffer pad (19) fixed to the top of the fixing sleeve (5) by adhesive bonding; A manipulator (20) is embedded and fixed to the bottom of the tooth plate (10) by means of bolts.

3. The anti-fall truss manipulator according to claim 1, characterized in that: The Y-axis truss (2) and the X-axis truss (3) are perpendicular to each other, and the sliding ends on the Y-axis truss (2) and the X-axis truss (3) are driven by electric push rods.

4. The anti-fall truss manipulator according to claim 1, characterized in that: The gear (9) and the toothed plate (10) are connected via gear tooth meshing.

5. The anti-fall truss manipulator according to claim 1, characterized in that: The infrared receiver (11) and the infrared transmitter (12) match each other.

6. The anti-fall truss manipulator according to claim 1, characterized in that: The ratchet wheel (14) and the ratchet pawl (16) form a one-way motion mechanism.

7. The anti-fall truss manipulator according to claim 1, characterized in that: The ratchet pawl (16) is made of iron material, and the electromagnetic coil (17) generates magnetism when energized, and the electromagnetic coil (17) is magnetically adsorbed and connected to the ratchet pawl (16) after energization.

8. The anti-fall truss manipulator according to claim 1, characterized in that: The Y-axis truss (2), the X-axis truss (3), the reduction motor (6), the storage battery (8), the infrared receiver (11) and the electromagnetic coil (17) are all electrically connected to the controller (7).

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