Truss manipulator

Abstract

The utility model relates to a truss manipulator, which comprises a fixed base, a movable base, a lifting mechanism and a lifting mechanism, wherein a through hole is formed in the middle of the fixed base; the mechanical arm is driven by a corresponding lead screw mechanism, is positioned along a corresponding guide mechanism, can move up and down and is mounted at the through hole of the fixed base in a penetrating manner; the mounting seat is rotationally mounted at the lower end part of the mechanical arm under the driving of a corresponding steering mechanism; the electromagnetic adsorption mechanism comprises first electromagnets which are fixedly arranged at left and right intervals; corresponding protection mechanisms are arranged on the positions, located on the inner sides of the fixing blocks, of the lower portions of the mounting bases. The clamping action of the mechanical arm is achieved through driving of the lead screw mechanism, positioning and guiding of the guiding mechanism and rotating cooperation of the rotating mechanism, and the rear axle workpiece is protected and clamped through cooperation of the electromagnet and the protection mechanism, so that the stability and practicability of the mechanical arm for clamping the rear axle workpiece are improved; and when the first electromagnet is powered off, emergency clamping can still be ensured, the rear axle workpiece is effectively prevented from falling off immediately due to the power failure problem, and the clamping safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a truss manipulator. Background Art

[0002] The rear axle is a critical load-bearing component of a vehicle, carrying more than half of the vehicle's total mass and crucial to its reliability and safety. Therefore, welding the rear axle to its two end axle ends is crucial. This process is typically performed using a double-ended friction welder. During this continuous welding process, the rear axle and axle require continuous loading, currently performed using an electromagnet-type adsorption robot.

[0003] Electromagnetic adsorption manipulators utilize electromagnets at their base to secure the rear axle workpiece to the workpiece. However, relying solely on electromagnets for adsorption is less secure. If power is lost at one end, the electromagnet loses its ability to hold the workpiece, causing it to fall, potentially causing a serious safety incident.

[0004] Therefore, the research purpose of this utility model is to design a truss manipulator that can improve the stability of the rear axle workpiece connection and ensure the safety of loading. Utility Model Content

[0005] In view of the technical problems existing in the above-mentioned prior art, the present invention provides a truss manipulator, which can effectively solve the technical problems existing in the above-mentioned prior art.

[0006] The technical solution of the utility model is:

[0007] A truss manipulator, comprising:

[0008] A fixed base is fixedly mounted on the truss, wherein a through hole is provided in the middle of the fixed base and passes through the upper and lower ends thereof;

[0009] The robotic arm is driven by a corresponding screw mechanism and positioned along a corresponding guide mechanism so as to be movable up and down and penetrate the through hole of the fixed base;

[0010] A mounting seat, driven to rotate by a corresponding steering mechanism and mounted on the lower end of the robotic arm;

[0011] The electromagnetic adsorption mechanism includes fixed blocks fixedly arranged at left and right intervals at the lower end of the mounting seat, and corresponding first electromagnets are embedded in the bottom of the fixed blocks, and the first electromagnets are electrically connected to the external power system;

[0012] The protective mechanism is provided with a corresponding protective mechanism on the inner side of the fixed block below the mounting seat, and the protective mechanism comprises a group of fixed arms fixedly installed on the fixed block at intervals in front and behind, and a clamping block in an L-shape is rotatably hingedly installed at its end between a group of the fixed arms, and the lower end of the clamping block is set in a drooping shape by a counterweight and makes way for the rear axle workpiece, and the upper end thereof is set in an inclined shape; a corresponding pushing block is fixedly connected to the clamping block between a group of the fixed arms, and the pushing block is spaced apart from the lower end of the clamping block; the protective mechanism The structure also includes a bevel block installed at the bottom of the mounting seat, which is driven up and down by a corresponding reset component, and the bottom of the bevel block is set to a lower inclined surface that is compatible with the inclined surface of the upper end of the clamping block; when the robot clamps the rear axle workpiece, the pushing block abuts on the rear axle workpiece, and the clamping block rotates to one side of the bevel block and pushes the bevel block to move up to make way for the clamping block; after the robot clamps the rear axle workpiece, the bevel block is reset to the inner side of the upper end of the clamping block and forms a limit for the clamping block, and the lower end of the clamping block abuts or is spaced below the rear axle workpiece.

[0013] A corresponding embedding hole is provided at the bottom of the mounting seat, and the reset assembly includes a second electromagnet fixedly installed in the embedding hole. The bevel block is installed below the embedding hole through a fixedly installed guide cylinder for upward and downward movement, and a corresponding elastic member is connected between the upper end of the bevel block and the second electromagnet; when the second electromagnet is energized to adsorb the bevel block and move it upward, the elastic member is compressed.

[0014] The end of the lower end of the clamping block is fixedly connected with a corresponding counterweight block.

[0015] The screw mechanism includes a driving screw rod that is arranged side by side at intervals on the side of the robotic arm and whose end is fixedly connected to the robotic arm, and a nut seat that is threadedly connected to the driving screw rod. The nut in the nut seat is driven by a corresponding stepper motor, and the nut seat and stepper motor are both fixedly mounted on the fixed base.

[0016] A corresponding protective sleeve is sleeved on the outer side of the lower side of the driving screw rod. The protective sleeve is fixedly installed below the fixed base, and the bottom of the protective sleeve is sealed.

[0017] The guide mechanism includes positioning seats fixedly installed at the upper and lower ends of the fixed base at intervals along the circumferential direction, and a plurality of sliders are fixedly connected to the inner side of the positioning seats at intervals at the upper and lower sides. The circumferential surface of the robotic arm is provided with guide rails adapted to the sliders at positions corresponding to the positioning seats.

[0018] The steering mechanism includes a drive motor mounted on a mounting plate fixed to the lower end of the robotic arm, and an output shaft end of the drive motor is connected to the mounting seat by meshing a gear and a gear ring.

[0019] Advantages of this utility model:

[0020] 1) The utility model utilizes a screw mechanism to drive, a guide mechanism to position and guide, and a rotating mechanism to rotate in coordination to realize the gripping action of the manipulator, and while utilizing an electromagnet to absorb and grip the rear axle workpiece, a protective mechanism is utilized to protect the rear axle workpiece. The cam is fixed on the fixed block by a group of fixed arms, and the lower end of the cam is set in a drooping shape by a counterweight and makes way for the rear axle workpiece; a pushing block is fixed on the cam and is spaced apart from the lower end; when the robot clamps the rear axle workpiece, the pushing block abuts against the rear axle workpiece to make the cam rotate toward one side of the bevel block; when the cam rotates toward one side of the bevel block, the bevel block is pushed upward to make way through the inclined surface, so that the upper end of the cam is placed on the outside of the reset bevel block, so that the bevel block forms a limit for the cam, effectively preventing the cam from rotating, and the lower end of the cam is clamped under the rear axle workpiece, which protects the rear axle workpiece and cooperates with the first electromagnet to improve the stability and practicality of the robot clamping the rear axle workpiece. When the first electromagnet is powered off, the protective mechanism can be used to keep the rear axle workpiece in a clamping state, effectively preventing the rear axle workpiece from falling immediately due to power failure, thereby improving the clamping safety.

[0021] 2) The present invention utilizes a second electromagnet and an elastic member to cooperate in installing the bevel block, which not only utilizes the elastic potential energy of the elastic member to ensure that the bevel block can move up and down, thereby facilitating the bevel block to move up to make way and move down to limit, so as to achieve locking of the card block; and utilizes the second electromagnet to absorb the bevel block to move upward to make way for the card block to be reset, thereby ensuring the practical effect of the present invention.

[0022] 3) The lower end of the manipulator is a working area with a complex environment. Solid pollutants are easily adhered to the surface of the driving screw and blocked the nut seat, thereby causing damage to the screw mechanism. The utility model sets a corresponding protective sleeve under the driving screw to effectively protect the driving screw and ensure the smooth operation of the manipulator.

[0023] 4) The present invention adopts a screw mechanism composed of a screw and a nut seat, and a guide mechanism composed of a positioning seat and a guide rail to guide and drive the robotic arm, ensuring that the robotic arm moves up and down steadily and safely, thereby improving the stability and safety of the robotic arm's operation and clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the present utility model.

[0025] Figure 2This is an enlarged schematic diagram of the protective mechanism.

[0026] Figure 3 for Figure 2 Schematic cross-section diagram.

[0027] Figure 4 This is a schematic diagram of the use state of the utility model.

[0028] Figure 5 for Figure 4 Enlarged schematic diagram of the middle protection mechanism.

[0029] In the accompanying drawings: fixed base 1, robotic arm 2, mounting seat 3, fixed block 4, first electromagnet 5, fixed arm 6, clamping block 7, rear axle workpiece 8, pushing block 9, bevel block 10, guide cylinder 11, second electromagnet 12, elastic member 13, counterweight 14, driving screw 15, nut seat 16, stepping motor 17, protective sleeve 18, positioning seat 19, guide rail 20, driving motor 21. DETAILED DESCRIPTION

[0030] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the following embodiments and accompanying drawings:

[0031] refer to Figure 1-5 , a truss manipulator, comprising:

[0032] A fixed base 1 is fixedly mounted on the truss, wherein the middle portion of the fixed base 1 is provided with through holes penetrating the upper and lower ends thereof;

[0033] The robotic arm 2 is driven by a corresponding screw mechanism and positioned along a corresponding guide mechanism so as to be movable up and down and penetrate the through hole of the fixed base 1;

[0034] A mounting base 3, which is driven to rotate and mounted on the lower end of the robotic arm 2 by a corresponding steering mechanism;

[0035] The electromagnetic adsorption mechanism includes a fixing block 4 fixedly arranged at a left and right interval on the lower end of the mounting base 3, and a corresponding first electromagnet 5 is embedded in the bottom of the fixing block 4. The first electromagnet 5 is electrically connected to the external power system;

[0036] A protective mechanism is provided below the mounting seat 3 and on the inner side of the fixing block 4. The protective mechanism comprises a group of fixing arms 6 fixedly installed on the fixing block 4 at intervals in front and back, and a clamping block 7 is rotatably hingedly installed at its end between a group of the fixing arms 6. The lower end of the clamping block 7 is drooped by a counterweight and makes way for the rear axle workpiece 8, and the upper end is inclined. A corresponding pushing block 9 is fixedly connected to the clamping block 7 between a group of the fixing arms 6, and the pushing block 9 is spaced apart from the lower end of the clamping block 7. The protective mechanism also comprises The bevel block 10 installed at the bottom of the mounting seat 3 is driven up and down by the corresponding reset component, and the bottom of the bevel block 10 is set to a lower inclined surface adapted to the inclined surface of the upper end of the clamping block 7; when the robot clamps the rear axle workpiece 8, the pushing block 9 abuts against the rear axle workpiece 8, and the clamping block 7 rotates toward the side of the bevel block 10 and pushes the bevel block 10 to move up to make way for the clamping block 7; after the robot clamps the rear axle workpiece 8, the bevel block 10 is reset to the inner side of the upper end of the clamping block 7 and forms a limit for the clamping block 7, and the lower end of the clamping block 7 abuts or is spaced below the rear axle workpiece 8.

[0037] The present invention utilizes a screw mechanism for driving, a guide mechanism for positioning and guiding, and a rotating mechanism for rotating to realize the gripping action of the manipulator, and utilizes an electromagnet to absorb and grip the rear axle workpiece 8 while utilizing a protective mechanism to protect the rear axle workpiece 8. A set of fixed arms 6 fixed to the fixed block 4 can be used to rotatably articulate the clamping block 7. The lower end of the clamping block 7 is arranged in a drooping shape by means of a counterweight and makes way for the rear axle workpiece 8. A pushing block 9 is fixed to the clamping block 7 and is spaced apart from the lower end. When the manipulator grips the rear axle workpiece 8, the pushing block 9 abuts against the rear axle workpiece 8 to rotate the clamping block 7 toward the bevel block 10. When the clamping block 7 rotates toward the bevel block 10, it will push the bevel block 10 upwards through the inclined surface to make way, thereby making the upper end of the clamping block 7 The first electromagnet 5 is used to fix the workpiece 8 of the rear axle and to prevent the workpiece 8 from falling off immediately, thereby improving the safety of the clamping.

[0038] A corresponding embedding hole is provided at the bottom of the mounting seat 3, and the reset assembly includes a second electromagnet 12 fixedly installed in the embedding hole. The bevel block 10 is installed below the embedding hole by a fixedly installed guide cylinder 11 for moving up and down. A corresponding elastic member 13 is connected between the upper end of the bevel block 10 and the second electromagnet 12; when the second electromagnet 12 is energized to adsorb the bevel block 10 and move it upward, the elastic member 13 is compressed.

[0039] The present invention utilizes the second electromagnet 12 and the elastic member 13 to cooperate in installing the bevel block 10, not only utilizing the elastic potential energy of the elastic member 13 to ensure that the bevel block 10 can move up and down, thereby facilitating the bevel block 10 to move up to make way and move down to limit, so as to achieve locking of the clamping block 7; and utilizing the second electromagnet 12 to absorb the bevel block 10 to move upward to make way for the clamping block 7 to be reset, thereby ensuring the practical effect of the present invention.

[0040] The lower end of the clamping block 7 is fixedly connected to a corresponding counterweight block 14 .

[0041] The screw mechanism includes a driving screw 15 which is arranged side by side at intervals on the side of the robotic arm 2 and whose end is fixedly connected to the robotic arm 2, and a nut seat 16 which is threadedly connected to the driving screw 15. The nut in the nut seat 16 is driven by a corresponding stepper motor 17. The nut seat 16 and the stepper motor 17 are both fixedly mounted on the fixed base 1.

[0042] A corresponding protective sleeve 18 is sleeved on the outer side of the lower side of the driving screw rod 15 . The protective sleeve 18 is fixedly installed below the fixed base 1 , and its bottom is sealed.

[0043] The lower end of the manipulator is a working area with a complex environment. Solid pollutants are easily adhered to the surface of the driving screw 15 and blocked the nut seat 16, thereby causing damage to the screw mechanism. The utility model arranges a corresponding protective sleeve 18 under the driving screw 15 to effectively protect the driving screw 15 and ensure the smooth operation of the manipulator.

[0044] The guide mechanism includes positioning seats 19 fixedly installed at the upper and lower ends of the fixed base 1 at intervals along the circumferential direction, and a plurality of sliders are fixedly connected at intervals on the upper and lower sides of the inner side of the positioning seat 19. The circumferential surface of the robotic arm 2 is provided with a guide rail 20 adapted to the slider at the position corresponding to the positioning seat 19.

[0045] The utility model adopts a screw mechanism composed of a screw and a nut seat 16, and a guide mechanism composed of a positioning seat 19 and a guide rail 20 to guide and drive the robotic arm 2, ensuring that the robotic arm 2 moves up and down steadily and safely, thereby improving the stability and safety of the operation and clamping of the robotic arm 2.

[0046] The steering mechanism includes a drive motor 21 mounted via a mounting plate fixed to the lower end of the robotic arm 2 , and an output shaft end of the drive motor 21 is connected to the mounting seat 3 via a gear and a gear ring meshing.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A truss manipulator, characterized in that: include: A fixed base (1) is fixedly mounted on the truss, wherein a through hole penetrating the upper and lower ends of the fixed base (1) is provided in the middle thereof; A mechanical arm (2) is driven by a corresponding screw mechanism and positioned along a corresponding guide mechanism so as to be movable up and down and penetrate the through hole of the fixed base (1); A mounting seat (3) is driven to rotate and mounted on the lower end of the mechanical arm (2) by a corresponding steering mechanism; The electromagnetic adsorption mechanism comprises fixed blocks (4) fixedly arranged at left and right intervals at the lower end of the mounting seat (3), the bottom of the fixed blocks (4) being embedded with corresponding first electromagnets (5), the first electromagnets (5) being electrically connected to an external power system; A protective mechanism is provided below the mounting seat (3) and on the inner side of the fixing block (4), wherein the protective mechanism comprises a group of fixing arms (6) fixedly installed on the fixing block (4) at intervals in front and back, and a clamping block (7) arranged in an L-shape is rotatably hingedly installed at the end between the group of fixing arms (6), the lower end of the clamping block (7) is arranged in a drooping shape by a counterweight and gives way to the rear axle workpiece (8), and the upper end thereof is arranged in an inclined shape; a corresponding pushing block (9) is fixedly connected to the clamping block (7) between the group of fixing arms (6), and the pushing block (9) is spaced apart from the lower end of the clamping block (7); the protective mechanism also comprises a plurality of fixing arms (6) fixedly installed on the fixing block (7) at intervals in front and back, and a plurality of fixing arms (6) fixedly installed ... The reset component drives the bevel block (10) installed at the bottom of the mounting seat (3) to move up and down, and the bottom of the bevel block (10) is set to a lower inclined surface that matches the upper end inclined surface of the clamping block (7); when the robot clamps the rear axle workpiece (8), the pushing block (9) abuts against the rear axle workpiece (8), and the clamping block (7) rotates to one side of the bevel block (10) and pushes the bevel block (10) to move up to make way for the clamping block (7); after the robot clamps the rear axle workpiece (8), the bevel block (10) is reset and placed on the inner side of the upper end of the clamping block (7) to limit the clamping block (7), and the lower end of the clamping block (7) abuts or is spaced below the rear axle workpiece (8).

2. A truss manipulator according to claim 1, characterized in that: A corresponding embedding hole is provided at the bottom of the mounting seat (3); the reset assembly includes a second electromagnet (12) fixedly installed in the embedding hole; the bevel block (10) is installed below the embedding hole by means of a fixed guide cylinder (11) so as to move up and down; a corresponding elastic member (13) is connected between the upper end of the bevel block (10) and the second electromagnet (12); when the second electromagnet (12) is energized to adsorb the bevel block (10) and move it upward, the elastic member (13) is compressed.

3. The truss manipulator according to claim 1, characterized in that: The end of the lower end of the clamping block (7) is fixedly connected to a corresponding counterweight block (14).

4. The truss manipulator according to claim 1, characterized in that: The screw mechanism comprises a driving screw (15) which is arranged side by side at intervals and fixedly connected to the side of the mechanical arm (2) and whose end is fixedly connected to the mechanical arm (2), and a nut seat (16) which is sleeved with the driving screw (15) by a threaded connection. The nut in the nut seat (16) is driven by a corresponding stepping motor (17). The nut seat (16) and the stepping motor (17) are both fixedly mounted on the fixed base (1).

5. The truss manipulator according to claim 4, characterized in that: A corresponding protective sleeve (18) is sleeved on the lower outer side of the driving screw rod (15). The protective sleeve (18) is fixedly installed below the fixed base (1), and its bottom is sealed.

6. The truss manipulator according to claim 1, characterized in that: The guide mechanism comprises positioning seats (19) fixedly installed at intervals on the upper and lower ends of the fixed base (1) along the circumferential direction, a plurality of sliders are fixedly connected at intervals on the inner side of the positioning seat (19), and a guide rail (20) adapted to the slider is provided at a position corresponding to the positioning seat (19) on the circumferential surface of the robotic arm (2).

7. The truss manipulator according to claim 1, characterized in that: The steering mechanism comprises a drive motor (21) mounted via a mounting plate fixed to the lower end of the mechanical arm (2), and an output shaft end of the drive motor (21) is connected to the mounting seat (3) via a gear and a gear ring meshing.

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