Truss robot with multi-angle grabbing function

Abstract

The utility model is suitable for the technical field of truss robots, and provides a multi-angle grabbing truss robot which comprises a supporting frame, a first power assembly and a second power assembly. The lower end of the second power assembly is fixedly connected with a supporting air cylinder, the lower end of the supporting air cylinder is fixedly connected with a supporting plate, the upper end of the supporting plate is fixedly connected with a steering motor, the lower end of the steering motor is connected with a steering shaft, the lower end of the steering shaft is connected with a steering gear, and the upper end of the side, close to the steering motor, of the supporting plate is connected with an electric sliding ring. A connecting shaft is arranged at the lower end of the electric slip ring, a fixed gear is fixedly connected to the outer wall of the connecting shaft, and the clamping device can rotate by 360 degrees through the arrangement of the supporting plate, the steering motor, the steering shaft, the steering gear, the electric slip ring, the connecting shaft, the fixed gear, the clamping device, the clamping air cylinder and the clamping plate; and therefore, the clamping angle of the clamping plate to an object is adjusted, the object is clamped at multiple angles, and the object is firmly clamped.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss robots, and particularly relates to a truss robot with multi-angle grasping. Background Technique

[0002] A Cartesian robot refers to an automatic control, reprogrammable, multi-degree-of-freedom manipulator with its degrees of freedom forming a spatial right-angle relationship, and is also called a large Cartesian robot, a truss robot or a gantry robot. It uses single-axis robotic arms driven by servo motors and stepper motors as the basic working units, and a robot system is structured with ball screws, synchronous belts, and rack and pinions as common transmission methods. The Cartesian robot uses a motion control system to drive and program it. The generation of motion trajectories such as straight lines and curves is by multi-point interpolation, and the operation and programming methods are teaching-by-guidance programming or coordinate positioning methods. The truss robot needs regular maintenance.

[0003] In the prior art, lubricating oil is mostly applied manually to maintain components such as the lead screws of the truss robot, and the front and back surfaces or one end and the other end of an object are grasped to carry and move it.

[0004] The way of grasping an object is single, which is not convenient for adjusting the angle to clamp and grasp irregular objects. Moreover, manually applying lubricating oil increases the maintenance time and affects the use of the truss robot. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a truss robot with multi-angle grasping, aiming to solve the problems that the way of grasping an object is single, it is not convenient for adjusting the angle to clamp and grasp irregular objects, and manually applying lubricating oil increases the maintenance time and affects the use of the truss robot.

[0006] The utility model is realized as follows. A truss robot with multi-angle grasping includes a support frame, a first power component and a second power component;

[0007] A support cylinder is fixedly connected to the lower end of the second power component. A support plate is fixedly connected to the lower end of the support cylinder. A steering motor is fixedly connected to the upper end of the support plate. A steering shaft is connected to the lower end of the steering motor. A steering gear is fixedly connected to the lower end of the steering shaft. A slip ring is fixedly connected to the upper end of the support plate on the side close to the steering motor. A connecting shaft is arranged at the lower end of the slip ring. A fixed gear is fixedly connected to the outer wall of the connecting shaft. A gripper is fixedly connected to the lower end of the connecting shaft;

[0008] A fixed box is fixedly connected to the upper end of the first power assembly. A limit block is fixedly connected to the lower end of the fixed box. A limit spring is fixedly connected to one end of the limit block. A limit rod is slidably connected to the inner wall of the limit block. A push plate is fixedly connected to one end of the limit rod. A sealing block is fixedly connected to the outer wall of the limit rod. A support inclined plate is fixedly connected to the outer wall of the sealing block.

[0009] Preferably, a clamping cylinder is fixedly connected to the outer wall of the gripper, and a clamping plate is fixedly connected to one end of the clamping cylinder.

[0010] Preferably, the first power assembly includes a first fixed frame, a first motor, a first lead screw, a first ball block, a fixed block, and a support block. The inner wall of the first ball block is movably connected to the first lead screw.

[0011] Preferably, the second power assembly includes a second fixed frame, a second motor, a second lead screw, and a second ball block. The inner wall of the second ball block is movably connected to the second lead screw.

[0012] Preferably, a steering gear is meshed with the outer wall of the fixed gear, and the gripper is movably connected to the support plate through a connecting shaft.

[0013] Preferably, one end of the limit spring is fixedly connected to the sealing block, and the sealing block is slidably connected to the upper end of the fixed box.

[0014] Preferably, an oil leakage hole is provided in the inner wall of the fixed box, an oil outlet hole is provided in the outer wall of the sealing block near the upper end of the support inclined plate, and a guide groove is provided in the upper end of the support inclined plate.

[0015] A truss robot with multi-angle grasping provided by the present utility model realizes that the gripper can rotate 360 degrees through the settings of the support plate, the steering motor, the steering shaft, the steering gear, the electric slip ring, the connecting shaft, the fixed gear, the gripper, the clamping cylinder, and the clamping plate, so as to adjust the angle of the clamping plate for clamping an article, and clamp the article at multiple angles, thereby making the clamping firm; through the settings of the fixed box, the limit block, the limit spring, the limit rod, the push plate, the sealing block, and the support inclined plate, it is realized that through the movement of the first ball block, the fixed block moves the push plate, thereby driving the movement of the sealing block, and then through the oil leakage hole, the oil outlet hole, and the guide groove, the lubricating oil drips onto the surface of the first lead screw for lubrication. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structure diagram of a truss robot with multi-angle grasping provided by an embodiment of the present utility model;

[0017] Figure 2 is a truss robot with multi-angle grasping provided by an embodiment of the present utility model Figure 1 magnified view at A in;

[0018] Figure 3 A cross-sectional view of a truss robot with multi-angle grasping provided by an embodiment of the present utility model;

[0019] Figure 4 A truss robot with multi-angle grasping provided by an embodiment of the present utility model Figure 3 An enlarged view at position B in

[0020] Figure 5 A truss robot with multi-angle grasping provided by an embodiment of the present utility model Figure 3 An enlarged view at position C in

[0021] Figure 6 A side view structure diagram of a truss robot with multi-angle grasping provided by an embodiment of the present utility model;

[0022] Figure 7 A bottom-up perspective view of a truss robot with multi-angle grasping provided by an embodiment of the present utility model.

[0023] In the drawings: 1, support frame; 2, first power assembly; 201, first fixed frame; 202, first motor; 203, first lead screw; 204, first ball block; 205, fixed block; 206, support block; 3, second power assembly; 301, second fixed frame; 302, second motor; 303, second lead screw; 304, second ball block; 4, support cylinder; 5, support plate; 6, steering motor; 7, steering shaft; 8, steering gear; 9, electric slip ring; 10, connecting shaft; 11, fixed gear; 12, gripper; 13, clamping cylinder; 14, clamping plate; 15, fixed box; 16, limit block; 17, limit spring; 18, limit rod; 19, push plate; 20, sealing block; 21, support inclined plate; 22, oil leakage hole; 23, oil outlet hole; 24, guiding groove. Detailed implementation manners

[0024] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model, and are not used to limit the present utility model.

[0025] The following describes the specific implementation of the present utility model in detail with reference to specific embodiments.

[0026] As Figures 1 to 7 shown, a truss robot with multi-angle grasping provided by an embodiment of the present utility model includes a support frame 1, a first power assembly 2 and a second power assembly 3;

[0027] The lower end of the second power assembly 3 is fixedly connected to a support cylinder 4. The lower end of the support cylinder 4 is fixedly connected to a support plate 5. The upper end of the support plate 5 is fixedly connected to a steering motor 6. The lower end of the steering motor 6 is connected to a steering shaft 7. The lower end of the steering shaft 7 is fixedly connected to a steering gear 8. The upper end of the support plate 5 on the side close to the steering motor 6 is fixedly connected to a slip ring 9. A connecting shaft 10 is arranged at the lower end of the slip ring 9. A fixed gear 11 is fixedly connected to the outer wall of the connecting shaft 10. The lower end of the connecting shaft 10 is fixedly connected to a gripper 12.

[0028] The upper end of the first power assembly 2 is fixedly connected to a fixed box 15. The lower end of the fixed box 15 is fixedly connected to a limit block 16. One end of the limit block 16 is fixedly connected to a limit spring 17. A limit rod 18 is slidably connected to the inner wall of the limit block 16. One end of the limit rod 18 is fixedly connected to a push plate 19. A sealing block 20 is fixedly connected to the outer wall of the limit rod 18. A support inclined plate 21 is fixedly connected to the outer wall of the sealing block 20.

[0029] A truss robot with multi-angle grasping provided by the present utility model realizes that the gripper 12 can rotate 360 degrees through the settings of the support plate 5, the steering motor 6, the steering shaft 7, the steering gear 8, the slip ring 9, the connecting shaft 10, the fixed gear 11, the gripper 12, the clamping cylinder 13 and the clamping plate 14, so as to adjust the angle of the clamping plate 14 for clamping an article, and clamp the article at multiple angles, thereby clamping it firmly; through the settings of the fixed box 15, the limit block 16, the limit spring 17, the limit rod 18, the push plate 19, the sealing block 20 and the support inclined plate 21, it is realized that through the movement of the first ball block 204, the fixed block 205 moves the push plate 19, thereby driving the movement of the sealing block 20, and then the lubricating oil drips onto the surface of the first lead screw 203 through the oil leakage hole 22, the oil outlet hole 23 and the guiding groove 24 for lubricating it.

[0030] In the embodiment of the present utility model, when in use, the positions of the support plate 5 are respectively adjusted through the first power assembly 2 and the second power assembly 3. At the same time, the support cylinder 4 also adjusts the height of the support plate 5. According to the shape and size of the article to be grasped, the steering motor 6 rotates the steering shaft 7 and the steering gear 8, so that the fixed gear 11 rotates the gripper 12 through the connecting shaft 10 to adjust the angle of clamping the article. Then the clamping cylinder 13 drives the clamping plate 14 to move to clamp and grasp the article. Since when the first ball block 204 moves, the fixed block 205 will move the push plate 19, so that the limit rod 18 drives the sealing block 20 to move synchronously. At the same time, the oil outlet hole 23 will be aligned with the oil leakage hole 22, and the lubricating oil inside the fixed box 15 flows out and flows through the guiding groove 24 at the upper end of the support inclined plate 21 and drips onto the surface of the first lead screw 203. After the first ball block 204 moves, it smears the lubricating oil on the surface of the first lead screw 203 for lubricating it.

[0031] As Figure 3 and Figure 7 shown, as a preferred embodiment of the present utility model, a clamping cylinder 13 is fixedly connected to the outer wall of the gripper 12, and a clamping plate 14 is fixedly connected to one end of the clamping cylinder 13. The two sides of an article can be clamped and fixed by the clamping plate 14, facilitating the movement thereof.

[0032] As Figure 1 and Figure 2 shown, as a preferred embodiment of the present utility model, the first power assembly 2 includes a first fixed frame 201, a first motor 202, a first lead screw 203, a first ball block 204, a fixed block 205 and a support block 206. The inner wall of the first ball block 204 is movably connected to the first lead screw 203, enabling the first ball block 204 to move the second power assembly 3 through the support block 206.

[0033] As Figure 1 shown, as a preferred embodiment of the present utility model, the second power assembly 3 includes a second fixed frame 301, a second motor 302, a second lead screw 303 and a second ball block 304. The inner wall of the second ball block 304 is movably connected to the second lead screw 303, which can adjust the position of the support plate 5, facilitating the movement and handling of the clamped article.

[0034] As Figure 4 shown, as a preferred embodiment of the present utility model, a steering gear 8 is meshed with the outer wall of the fixed gear 11, and the gripper 12 is movably connected to the support plate 5 through a connecting shaft 10. The fixed gear 11 can be rotated by the acting force of the steering gear 8, and the angle of the gripper 12 can be adjusted by rotating through the connecting shaft 10.

[0035] As Figure 5 shown, as a preferred embodiment of the present utility model, one end of a limiting spring 17 is fixedly connected to a sealing block 20, and the upper end of the sealing block 20 is slidably connected to a fixed box 15, which can limit the position of the sealing block 20 and enable it to quickly reset under the acting force of the limiting spring 17.

[0036] As Figure 5 shown, as a preferred embodiment of the present utility model, an oil leakage hole 22 is formed in the inner wall of the fixed box 15, an oil outlet hole 23 is formed in the outer wall of the sealing block 20 close to the upper end of a support inclined plate 21, and a guiding groove 24 is formed in the upper end of the support inclined plate 21. The lubricating oil inside the fixed box 15 can flow out and be guided to drip onto the first lead screw 203 of the first power assembly 2, and be smeared through the movement of the first ball block 204.

[0037] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A truss robot with multi-angle grasping, characterized in that, It includes a support frame (1), a first power assembly (2) and a second power assembly (3); A support cylinder (4) is fixedly connected to the lower end of the second power assembly (3). A support plate (5) is fixedly connected to the lower end of the support cylinder (4). A steering motor (6) is fixedly connected to the upper end of the support plate (5). A steering shaft (7) is connected to the lower end of the steering motor (6). A steering gear (8) is fixedly connected to the lower end of the steering shaft (7). A slip ring (9) is fixedly connected to the upper end of the support plate (5) on the side close to the steering motor (6). A connecting shaft (10) is arranged at the lower end of the slip ring (9). A fixed gear (11) is fixedly connected to the outer wall of the connecting shaft (10). A gripper (12) is fixedly connected to the lower end of the connecting shaft (10); A fixed box (15) is fixedly connected to the upper end of the first power assembly (2). A limit block (16) is fixedly connected to the lower end of the fixed box (15). A limit spring (17) is fixedly connected to one end of the limit block (16). A limit rod (18) is slidably connected to the inner wall of the limit block (16). A push plate (19) is fixedly connected to one end of the limit rod (18). A seal block (20) is fixedly connected to the outer wall of the limit rod (18). A support inclined plate (21) is fixedly connected to the outer wall of the seal block (20).

2. The truss robot with multi-angle grasping according to claim 1, characterized in that, A clamping cylinder (13) is fixedly connected to the outer wall of the gripper (12). A clamping plate (14) is fixedly connected to one end of the clamping cylinder (13).

3. The truss robot for multi-angle grasping according to claim 1, wherein, The first power assembly (2) includes a first fixed frame (201), a first motor (202), a first lead screw (203), a first ball block (204), a fixed block (205) and a support block (206). The first ball block (204) is movably connected to the first lead screw (203) on the inner wall.

4. The truss robot for multi-angle grasping according to claim 1, characterized in that, The second power assembly (3) includes a second fixed frame (301), a second motor (302), a second lead screw (303) and a second ball block (304). The second ball block (304) is movably connected to the second lead screw (303) on the inner wall.

5. The truss robot for multi-angle grasping according to claim 1, characterized in that, The outer wall of the fixed gear (11) meshes with the steering gear (8). The gripper (12) is movably connected to the support plate (5) through the connecting shaft (10).

6. The truss robot capable of multi-angle grasping according to claim 1, characterized in that, One end of the limit spring (17) is fixedly connected to the seal block (20). The seal block (20) is slidably connected to the fixed box (15) at the upper end.

7. The truss robot with multi-angle grasping according to claim 1, characterized in that, An oil leakage hole (22) is opened on the inner wall of the fixed box (15). An oil outlet hole (23) is opened on the outer wall of the seal block (20) close to the upper end of the support inclined plate (21). A guiding groove (24) is opened on the upper end of the support inclined plate (21).

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