Truss robot device with self-adaptive tail end

Abstract

The utility model relates to the field of truss robots, in particular to a tail end self-adaptive truss robot device which comprises a robot clamping main body, clamping grabbing frames are arranged on the left side and the right side of the lower end of the robot clamping main body, movable grooves are formed in the inner sides of the clamping grabbing frames, and self-adaptive grabbing plates are arranged in the movable grooves. A movable cavity is formed in the side of the interior of the self-adaptive grabbing plate, a through groove is formed in the position, located on the side of the movable cavity, of the interior of the self-adaptive grabbing plate, a limiting block is arranged in the movable cavity, a sliding rod is fixedly installed on the limiting block, and the surface of the sliding rod is sleeved with a reset spring; a pressure sensor is fixedly mounted in the movable groove and located on the side of the self-adaptive grabbing plate; according to the utility model, the extrusion block is attached to and extrudes the pressure sensor, so that the pressure sensor sends a signal to the robot clamping main body, the contraction of the clamping grabbing frame is stopped, the self-adaptive adjustment is realized, the hard contact condition is favorably avoided, and the workpiece is prevented from being damaged.

Description

Technical Field

[0001] The utility model relates to the field of truss robots, in particular to a truss robot device capable of adapting its end. Background Art

[0002] A truss robot is a fully automatic industrial equipment based on a rectangular three-coordinate system that can adjust the workpiece's position or achieve trajectory movement. Its control core is implemented through an industrial controller. The controller analyzes and processes various input signals, makes certain logical judgments, and then issues execution commands to each output component to complete the joint movement between the three axes, thereby realizing a complete set of fully automatic operation processes.

[0003] At present, when a truss robot device is performing handling and clamping operations, the robot's clamping mechanism needs to be automatically adjusted due to the differences in workpiece sizes. Hard contact is prone to occur during the operation, resulting in damage to the workpiece.

[0004] Therefore, in view of the above-mentioned need for automatic adjustment of the robot clamping mechanism, hard contact is likely to occur during operation, thereby causing damage to the workpiece. A truss robot device with end-adaptability can be designed to perform adaptive adjustment when encountering resistance. Utility Model Content

[0005] In order to overcome the problem that the robot clamping mechanism needs to be automatically adjusted, hard contact is likely to occur during operation, thus causing damage to the workpiece.

[0006] The technical solution of the utility model is: a truss robot device with end adaptability, including a robot clamping body, clamping grabs are provided on the left and right sides of the lower end of the robot clamping body, a movable groove is provided on the inner side of the clamping grab, an adaptive grab plate is provided inside the movable groove, a movable cavity is provided on the side inside the adaptive grab plate, a through groove is provided inside the adaptive grab plate at the side of the movable cavity, a limiting block is provided inside the movable cavity, a sliding rod is fixedly installed on the limiting block, a reset spring is sleeved on the surface of the sliding rod, a pressure sensor is fixedly installed on the side of the adaptive grab plate inside the movable groove, an extrusion block is fixedly installed on the end of the movable groove close to the pressure sensor, an installation groove is provided on the inner side of the lower end of the clamping grab, a transmission shaft is provided inside the installation groove, a motor is fixedly installed on the lower side of the front end of the clamping grab, and an anti-slip frame is fixedly installed on the surface of the transmission shaft.

[0007] Preferably, the adaptive grab plate is slidably connected to the movable groove, one end of the sliding rod away from the limit block extends to the inner side of the movable groove and is fixedly connected to the clamping grab frame, and the movable cavities are evenly distributed.

[0008] Preferably, the limit block is slidably connected to the movable cavity, the sliding rod is slidably connected to the through slot, and a series of components that determine the moving distance of the adaptive gripper, such as the sliding rod and the limit block, are adapted to each other, to ensure that when the extrusion block contacts the pressure sensor, the clamping surface of the adaptive gripper remains parallel to the clamping surface of the clamping frame, so that the transmission signal is triggered without affecting the clamping function.

[0009] Preferably, one end of the return spring is fixedly connected to the clamping grabber, and the other end of the return spring is fixedly connected to the adaptive grabbing plate.

[0010] Preferably, a mounting bracket is provided at the upper end of the robot clamping body, and a connecting hole is provided on the mounting bracket.

[0011] Preferably, the output end of the motor extends to the inner side of the mounting groove and is fixedly connected to the transmission shaft, and the output end of the motor is rotatably connected to the clamping grabber.

[0012] Preferably, the anti-slip frame is designed in an L-shaped structure, and the transmission shaft is rotatably connected to the clamping grab frame. The anti-slip frame is small in size and can be completely stored inside the mounting slot. When flipped out, the detachment plate of the anti-slip frame slightly extends out of the clamping surface of the clamping grab frame, thereby ensuring that its function can be smoothly realized.

[0013] Beneficial effects of the utility model:

[0014] 1. The end-adaptive truss robot device uses the robot clamping body to drive the clamping grippers on both sides to move toward the workpiece, so that the adaptive gripper first contacts the workpiece and is squeezed by the interaction force to move toward the inside of the movable groove until the clamping surface of the adaptive gripper remains parallel to the clamping surface of the clamping gripper and both are tightly fitted to the workpiece, completing the clamping work. At the same time, the extrusion block fits and squeezes the pressure sensor, causing the pressure sensor to send a signal to the robot clamping body to stop the contraction of the clamping gripper, thereby achieving adaptive adjustment, which is beneficial to avoid hard contact and prevent damage to the workpiece.

[0015] 2. When the end-adaptive truss robot device clamps and lifts the workpiece, the motor drives the transmission shaft to rotate, causing the anti-fall frame to flip out of the movable groove, forming an anti-fall protection for the workpiece, preventing the workpiece from falling directly when being transported, and forming a barrier when the workpiece slides down, which is beneficial to improving the safety of the truss robot device during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the terminal-adaptive truss robot device of the present invention;

[0017] Figure 2 Shown is a schematic diagram of the three-dimensional structure of the movable groove of the utility model;

[0018] Figure 3 Shown is a schematic diagram of the three-dimensional structure of the adaptive grabbing plate of the present utility model;

[0019] Figure 4 Shown is a schematic diagram of the three-dimensional structure of the anti-fall-off frame of the present invention.

[0020] Explanation of the accompanying symbols: 1. Robot clamping body; 2. Clamping gripper; 3. Movable groove; 4. Adaptive gripping plate; 5. Movable cavity; 6. Through groove; 7. Limit block; 8. Sliding rod; 9. Reset spring; 10. Pressure sensor; 11. Extrusion block; 12. Mounting groove; 13. Transmission shaft; 14. Motor; 15. Anti-slip frame; 16. Mounting frame. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Please refer to ( Figures 1-4 ), the utility model provides an embodiment: a truss robot device with end adaptability, comprising a robot clamping body 1, a clamping grab 2 is provided on the left and right sides of the lower end of the robot clamping body 1, a movable groove 3 is provided on the inner side of the clamping grab 2, an adaptive grab plate 4 is provided inside the movable groove 3, a movable cavity 5 is provided on the side inside the adaptive grab plate 4, a through groove 6 is provided inside the adaptive grab plate 4 at the side of the movable cavity 5, a limiting block 7 is provided inside the movable cavity 5, a sliding rod 8 is fixedly installed on the limiting block 7, a return spring 9 is sleeved on the surface of the sliding rod 8, a pressure sensor 10 is fixedly installed on the side of the adaptive grab plate 4 inside the movable groove 3, an extrusion block 11 is fixedly installed on the end of the movable groove 3 close to the pressure sensor 10, an installation groove 12 is provided on the inner side of the lower end of the clamping grab 2, a transmission shaft 13 is provided inside the installation groove 12, a motor 14 is fixedly installed on the lower side of the front end of the clamping grab 2, and an anti-slip frame 15 is fixedly installed on the surface of the transmission shaft 13.

[0023] Please refer to ( Figure 1-Figure 3), in this embodiment, the adaptive grab plate 4 is slidably connected to the movable groove 3, the end of the sliding rod 8 away from the limit block 7 extends to the inner side of the movable groove 3 and is fixedly connected to the clamping grab 2, the movable cavity 5 is evenly distributed, the limit block 7 is slidably connected to the movable cavity 5, the sliding rod 8 is slidably connected to the through groove 6, one end of the reset spring 9 is fixedly connected to the clamping grab 2, and the other end of the reset spring 9 is fixedly connected to the adaptive grab plate 4. First, the robot clamping body 1 is connected to the equipment through the mounting bracket 16, thereby driving the robot clamping body 1 to move to the place where the workpiece is transported, and the robot clamping is used The main body 1 drives the clamping grabbers 2 on both sides to move toward the workpiece, so that the adaptive gripper 4 first contacts the workpiece, and is squeezed by the interaction force to move the adaptive gripper 4 toward the inside of the movable groove 3 until the clamping surface of the adaptive gripper 4 remains parallel to the clamping surface of the clamping grabber 2, and both are tightly fitted to the workpiece to complete the clamping work. At the same time, the extrusion block 11 is fitted and squeezed to the pressure sensor 10, so that the pressure sensor 10 sends a signal to the robot clamping main body 1 to stop the contraction of the clamping grabber 2, thereby realizing adaptive adjustment, which is beneficial to avoid hard contact and prevent damage to the workpiece.

[0024] Please refer to ( Figures 1-4 ), in this embodiment, a mounting bracket 16 is provided at the upper end of the robot clamping body 1, and a connecting hole is opened on the mounting bracket 16, and the output end of the motor 14 extends to the inner side of the mounting groove 12 and is fixedly connected to the transmission shaft 13, and the output end of the motor 14 is rotatably connected to the clamping grab 2, and the anti-slip frame 15 is designed in an L-shaped structure, and the transmission shaft 13 is rotatably connected to the clamping grab 2. When the workpiece is clamped and lifted, the transmission shaft 13 is driven to rotate by the motor 14, so that the anti-slip frame 15 flips out of the movable groove 3, forming an anti-falling protection for the workpiece, avoiding the workpiece from falling off directly when transporting the workpiece, and forming a barrier when the workpiece slides down, which is beneficial to improving the safety of the truss robot device during transportation.

[0025] When working, the robot clamping body 1 is first connected to the equipment through the mounting bracket 16, thereby driving the robot clamping body 1 to move to the place where the workpiece is to be transported, and the robot clamping body 1 is used to drive the clamping grabbers 2 on both sides to move in the direction of the workpiece, so that the adaptive gripping plate 4 first contacts the workpiece, and is squeezed by the interaction force to move the adaptive gripping plate 4 toward the inside of the movable groove 3 until the clamping surface of the adaptive gripping plate 4 is kept parallel to the clamping surface of the clamping grabber 2, and both are tightly fitted to the workpiece, completing the clamping work, and at the same time, the extrusion block 11 is fitted and squeezed to the pressure sensor 10, so that the pressure sensor 10 sends a signal to the robot clamping body 1 to stop the contraction of the clamping grabber 2, realizing adaptive adjustment, and when clamping and lifting the workpiece, the transmission shaft 13 is driven to rotate by the motor 14, so that the anti-falling frame 15 flips out of the movable groove 3, forming an anti-falling protection for the workpiece, avoiding the workpiece from falling off directly when transporting the workpiece, and forming a barrier when the workpiece slides down.

[0026] Through the above steps, the clamping surface of the adaptive gripper 4 remains parallel to the clamping surface of the clamping gripper 2, and both are tightly fitted to the workpiece to complete the clamping work. At the same time, the extrusion block 11 is fitted and squeezed to the pressure sensor 10, so that the pressure sensor 10 sends a signal to the robot clamping body 1 to stop the contraction of the clamping gripper 2, thereby realizing adaptive adjustment to solve the problem that the robot clamping mechanism needs to be automatically adjusted and hard contact is prone to occur during operation, thereby causing damage to the workpiece.

Claims

1. A truss robot device with end-adaptability, comprising a robot gripping body (1), characterized in that: The robot clamping body (1) is provided with a clamping frame (2) on both the left and right sides of the lower end, a movable groove (3) is provided on the inner side of the clamping frame (2), an adaptive gripping plate (4) is provided inside the movable groove (3), a movable cavity (5) is provided on the side of the adaptive gripping plate (4), a through groove (6) is provided on the side of the movable cavity (5) inside the adaptive gripping plate (4), a limit block (7) is provided inside the movable cavity (5), a sliding rod (8) is fixedly installed on the limit block (7), and the surface of the sliding rod (8) is provided on the side of the movable cavity (5). A reset spring (9) is sleeved, a pressure sensor (10) is fixedly installed inside the movable groove (3) at the side of the adaptive grab plate (4), an extrusion block (11) is fixedly installed on one end of the movable groove (3) close to the pressure sensor (10), a mounting groove (12) is opened on the inner side of the lower end of the clamping grab frame (2), a transmission shaft (13) is arranged inside the mounting groove (12), a motor (14) is fixedly installed on the lower side of the front end of the clamping grab frame (2), and an anti-slip frame (15) is fixedly installed on the surface of the transmission shaft (13).

2. The end-adaptive truss robot device according to claim 1, characterized in that: The adaptive grab plate (4) is slidably connected to the movable groove (3), and one end of the sliding rod (8) away from the limit block (7) extends to the inner side of the movable groove (3) and is fixedly connected to the clamping grab frame (2), and the movable cavities (5) are evenly distributed.

3. The end-adaptive truss robot device according to claim 2, characterized in that: The limiting block (7) is slidably connected to the movable cavity (5), and the sliding rod (8) is slidably connected to the through slot (6).

4. The end-adaptive truss robot device according to claim 1, characterized in that: One end of the reset spring (9) is fixedly connected to the clamping grab frame (2), and the other end of the reset spring (9) is fixedly connected to the adaptive grab plate (4).

5. The end-adaptive truss robot device according to claim 1, characterized in that: The upper end of the robot clamping body (1) is provided with a mounting frame (16), and a connecting hole is provided on the mounting frame (16).

6. The end-adaptive truss robot device according to claim 1, characterized in that: The output end of the motor (14) extends to the inner side of the mounting groove (12) and is fixedly connected to the transmission shaft (13). The output end of the motor (14) is rotationally connected to the clamping grabber (2).

7. The end-adaptable truss robot device according to claim 6, characterized in that: The anti-drop frame (15) is designed in an L-shaped structure, and the transmission shaft (13) is rotatably connected to the clamping grabbing frame (2).

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