Anti-falling device for truss manipulator

Abstract

The utility model discloses an anti-falling device for a truss manipulator, belongs to the technical field of anti-falling of truss manipulators, and solves the problem that a Z shaft is inconvenient to limit, the anti-falling device comprises a support, a Y shaft is slidably connected to the upper surface of the support, the Z shaft is slidably connected to the outer surface of the Y shaft, and a manipulator body is fixedly connected to the lower end of the Z shaft. The movement distance of the Z axis can be conveniently detected through an infrared transmitter and an infrared receiver, meanwhile, the movement distance of the Z axis can be matched with a preset value through a control panel, and when the displacement of the Z axis deviates from the preset value, the control panel starts an electric telescopic rod; the output end of the electric telescopic rod drives the sliding block to slide on the outer surface of the sliding groove, then the connecting column drives the two sets of limiting rack rods to get close to each other, the outer surfaces of the limiting rack rods are attached to the outer surface of the two-way rack rod, then the outer surface of the two-way rack rod is conveniently clamped, and the Z shaft is conveniently limited.

Description

Technical Field

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

[0002] Truss manipulators are widely used in many fields such as automobile manufacturing, electronic product assembly, and mechanical processing due to their efficient material handling capabilities, precise operation, and ability to operate stably in harsh environments. Truss manipulators can move quickly and accurately in three-dimensional space to perform operations such as grasping, transporting, and placing workpieces. By precisely controlling the movement distance and speed of the Z-axis, they can complete various complex tasks, such as lifting workpieces from one position to another and performing precision assembly.

[0003] The detection accuracy of existing anti-fall devices is limited, making it difficult to accurately monitor the movement distance of the Z-axis in real time. When there is a slight deviation in the displacement of the Z-axis, it may not be detected and corrected in time, and then gradually accumulate into a larger deviation, eventually causing a fall accident. Therefore, there is a problem of inconvenience in limiting the Z-axis. Utility Model Content

[0004] (1) Technical problems solved

[0005] In view of the above problems existing in the prior art, the utility model provides an anti-fall device for a truss manipulator.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a truss manipulator anti-fall device, comprising a bracket, the upper surface of the bracket is slidably connected to the Y-axis, the outer surface of the Y-axis is slidably connected to the Z-axis, the lower end of the Z-axis is fixedly connected to the robot arm body, the outer surface of the Y-axis is fixedly connected to the anti-fall mechanism, the outer surface of the anti-fall mechanism is fixedly connected to the protective mechanism, the anti-fall mechanism comprises a fixed frame fixedly connected to the outer surface of the Y-axis, the inner wall of the fixed frame is slidably connected to a bidirectional rack rod, the outer surface of the bidirectional rack rod is fixedly connected to the outer surface of the Z-axis, and the outer surface of the fixed frame is fixedly connected to a control panel and an infrared emitter, and the outer surface of the bidirectional rack rod is meshedly connected to a limited rack rod, the protective mechanism comprises a connecting frame fixedly connected to the outer surface of the bidirectional rack rod, and the lower surface of the connecting frame is fixedly connected to an airbag.

[0008] As a preferred solution of the anti-fall device for a truss manipulator described in the utility model, a slide groove is provided on the outer surface of the fixed frame, the outer surface of the slide groove is slidably connected to a slider, the outer surface of the slider is hinged to a connecting rod, the other end of the connecting rod is hinged to a connecting column, and the connecting column is fixedly connected to the outer surface of the limiting rack rod.

[0009] By adopting the above technical solution, the slider slides on the outer surface of the slide groove, which facilitates the positioning of the slider, so that the slider can slide stably along the outer surface of the slide groove, wherein the slide groove adopts a convex groove.

[0010] As a preferred solution of the anti-falling device for a truss manipulator described in the utility model, the outer surface of the fixed frame is provided with a through hole for use with the connecting column, and the outer surface of the connecting column is slidably connected to the through hole.

[0011] By adopting the above technical solution, the connecting column facilitates driving the limiting rack rod to slide on the inner wall of the bracket, thereby facilitating clamping the outer surface of the bidirectional rack rod.

[0012] As a preferred solution of the anti-falling device for a truss manipulator described in the utility model, an electric telescopic rod is fixedly connected to the outer surface of the fixed frame, and the output end of the electric telescopic rod is fixedly connected to the outer surface of the slider.

[0013] By adopting the above technical solution, by starting the electric telescopic rod, it is easy to drive the slider to move on the outer surface of the slide groove, thereby facilitating the adjustment of the distance between the two sets of limit rack rods.

[0014] As a preferred solution of the anti-fall device for a truss manipulator described in the utility model, the anti-fall mechanism also includes an infrared receiver fixedly connected to the outer surface of the connecting frame, and the infrared receiver is arranged below the infrared transmitter.

[0015] By adopting the above technical solution, the movement distance of the Z-axis is easily detected through the infrared transmitter and the infrared receiver. When the displacement of the Z-axis deviates from the preset value, the control panel activates the electric telescopic rod, so that the limit rack rod can clamp the outer surface of the bidirectional rack rod, thereby facilitating the limitation of the Z-axis.

[0016] As a preferred solution of the anti-fall device for a truss manipulator described in the utility model, the inner wall of the connecting frame is fixedly connected to a gas tank, the outer surface of the gas tank is fixedly connected to an electromagnetic control valve, the outer surface of the electromagnetic control valve is fixedly connected to a connecting pipe, and the other end of the connecting pipe is fixedly connected to the inner wall of the airbag.

[0017] By adopting the above technical solution, the electromagnetic control valve is activated to allow the gas in the gas tank to rush into the airbag, thereby causing the airbag to expand, thereby facilitating the protection of the workpiece under the robotic arm body.

[0018] (3) Beneficial effects

[0019] The utility model provides an anti-fall device for a truss manipulator. It has the following beneficial effects:

[0020] 1. The infrared transmitter and infrared receiver are used to detect the moving distance of the Z-axis. At the same time, the control panel can compare the moving distance of the Z-axis with the preset value. When the displacement of the Z-axis deviates from the preset value, the control panel activates the electric telescopic rod. The output end of the electric telescopic rod drives the slider to slide on the outer surface of the slide groove, and then the connecting column drives the two sets of limit rack rods to approach each other, so that the outer surface of the limit rack rod fits with the outer surface of the bidirectional rack rod, thereby facilitating the clamping of the outer surface of the bidirectional rack rod and facilitating the limiting of the Z-axis.

[0021] 2. Start the electromagnetic control valve through the control panel, so that the gas in the gas tank rushes into the airbag, thereby expanding the airbag to protect the workpiece under the robot arm body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a schematic structural diagram of the utility model as a whole;

[0024] Figure 2 It is a schematic diagram of the front cross-sectional structure of the entire utility model;

[0025] Figure 3 It is a schematic side cross-sectional structural diagram of the utility model as a whole;

[0026] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of A;

[0027] Figure 5 It is a schematic cross-sectional structural diagram of the connecting frame in the utility model.

[0028] In the figure, 1. bracket; 2. Z-axis; 3. anti-fall mechanism; 301. electric telescopic rod; 302. infrared transmitter; 303. connecting rod; 304. infrared receiver; 305. two-way rack rod; 306. fixed frame; 307. limit rack rod; 308. control panel; 309. connecting column; 310. slide groove; 311. slider; 4. protection mechanism; 401. gas tank; 402. connecting frame; 403. airbag; 404. connecting pipe; 405. electromagnetic control valve; 5. Y-axis; 6. robot arm body. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] Example 1

[0031] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , which is the first embodiment of the utility model, provides an anti-fall device for a truss manipulator, including a bracket 1, the upper surface of the bracket 1 is slidably connected to the Y-axis 5, the outer surface of the Y-axis 5 is slidably connected to the Z-axis 2, the lower end of the Z-axis 2 is fixedly connected to the robot arm body 6, the outer surface of the Y-axis 5 is fixedly connected to the anti-fall mechanism 3, the outer surface of the anti-fall mechanism 3 is fixedly connected to the protective mechanism 4, the anti-fall mechanism 3 includes a fixed frame 306 fixedly connected to the outer surface of the Y-axis 5, the inner wall of the fixed frame 306 is slidably connected to a bidirectional rack rod 305, the outer surface of the bidirectional rack rod 305 is fixedly connected to the outer surface of the Z-axis 2, and the outer surface of the fixed frame 306 is fixedly connected to a control panel 308 and an infrared emitter 302, and the outer surface of the bidirectional rack rod 305 is meshedly connected to a limited rack rod 307.

[0032] Specifically, the outer surface of the fixed frame 306 is provided with a slide groove 310, and the outer surface of the slide groove 310 is slidably connected to the slider 311, the outer surface of the slider 311 is hinged to the connecting rod 303, and the other end of the connecting rod 303 is hinged to the connecting column 309, and the connecting column 309 is fixedly connected to the outer surface of the limiting rack rod 307, wherein the outer surface of the fixed frame 306 is provided with a through hole for cooperating with the connecting column 309, and the outer surface of the connecting column 309 is slidably connected to the through hole, and the outer surface of the fixed frame 306 is fixedly connected to the electric telescopic rod 301, and the output end of the electric telescopic rod 301 is fixedly connected to the outer surface of the slider 311, wherein the anti-fall mechanism 3 also includes an infrared receiver 304 fixedly connected to the outer surface of the connecting frame 402, and the infrared receiver 304 is arranged below the infrared transmitter 302.

[0033] Further, the infrared emitter 302 and the infrared receiver 304 facilitate detection of the movement distance of the Z-axis 2, and the control panel 308 can compare the movement distance of the Z-axis 2 with a preset value; when the displacement of the Z-axis 2 deviates from the preset value, the control panel 308 starts the electric telescopic rod 301, the output end of the electric telescopic rod 301 drives the sliding block 311 to slide on the outer surface of the sliding groove 310, thereby causing the connecting column 309 to drive the two sets of limiting rack rods 307 to approach each other, so that the outer surface of the limiting rack rod 307 is in close contact with the outer surface of the bidirectional rack rod 305, thereby facilitating clamping of the outer surface of the bidirectional rack rod 305 and facilitating limiting of the Z-axis 2, wherein non-contact measurement by using the characteristics of infrared rays is a relatively mature technical means; by emitting infrared rays of a specific wavelength and receiving the reflected signals, the distance or displacement between objects can be accurately measured, and the control panel 308 as the core control unit can receive signals from the infrared receiver 304 and the infrared emitter 302 and compare them with the preset value; through preset algorithms and logical judgments, the control panel 308 can issue corresponding control instructions according to the actual situation, and this data processing and comparison function has been widely applied in industrial automation, smart home, transportation and other fields.

[0034] Embodiment 2

[0035] With reference to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , the second embodiment of the utility model, this embodiment is based on the last embodiment, the protection mechanism 4 includes the connecting frame 402 fixedly connected to the outer surface of the bidirectional rack rod 305, and the lower surface of the connecting frame 402 is fixedly connected with the air bag 403.

[0036] Specifically, the inner wall of the connecting frame 402 is fixedly connected with the gas storage tank 401, the outer surface of the gas storage tank 401 is fixedly connected with the electromagnetic control valve 405, the outer surface of the electromagnetic control valve 405 is fixedly connected with the connecting pipe 404, and the other end of the connecting pipe 404 is fixedly connected to the inner wall of the air bag 403.

[0037] Further, the control panel 308 starts the electromagnetic control valve 405, so that the gas in the gas storage tank 401 rushes into the air bag 403, thereby causing the air bag 403 to expand, and facilitating protection of the workpiece below the mechanical arm body 6.

[0038] Working principle: The infrared transmitter 302 and the infrared receiver 304 are used to detect the moving distance of the Z-axis 2. At the same time, the control panel 308 can compare the moving distance of the Z-axis 2 with the preset value. When the displacement of the Z-axis 2 deviates from the preset value, the control panel 308 starts the electric telescopic rod 301. The output end of the electric telescopic rod 301 drives the slider 311 to slide on the outer surface of the slide groove 310, thereby causing the connecting column 309 to drive the two sets of limit rack rods 307 to approach each other, so that the outer surface of the limit rack rod 307 fits with the outer surface of the bidirectional rack rod 305, thereby facilitating the clamping of the outer surface of the bidirectional rack rod 305, facilitating the limiting of the Z-axis 2, and at the same time, the control panel 308 starts the electromagnetic control valve 405, so that the gas in the gas tank 401 rushes into the airbag 403, thereby causing the airbag 403 to expand, thereby facilitating the protection of the workpiece under the robot arm body 6.

[0039] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

Claims

1. A fall prevention device for a truss manipulator, comprising a bracket (1), wherein the upper surface of the bracket (1) is slidably connected to a Y-axis (5), the outer surface of the Y-axis (5) is slidably connected to a Z-axis (2), and the lower end of the Z-axis (2) is fixedly connected to a manipulator body (6), characterized in that: The outer surface of the Y-axis (5) is fixedly connected to an anti-falling mechanism (3), and the outer surface of the anti-falling mechanism (3) is fixedly connected to a protective mechanism (4); The anti-fall mechanism (3) comprises a fixed frame (306) fixedly connected to the outer surface of the Y-axis (5), the inner wall of the fixed frame (306) is slidably connected to a bidirectional rack rod (305), the outer surface of the bidirectional rack rod (305) is fixedly connected to the outer surface of the Z-axis (2), and the outer surface of the fixed frame (306) is fixedly connected to a control panel (308) and an infrared emitter (302), and the outer surface of the bidirectional rack rod (305) is meshedly connected to a limited rack rod (307); The protection mechanism (4) comprises a connecting frame (402) fixedly connected to the outer surface of the bidirectional rack rod (305), and an air bag (403) is fixedly connected to the lower surface of the connecting frame (402).

2. The anti-fall device for a truss manipulator according to claim 1, characterized in that: The outer surface of the fixed frame (306) is provided with a sliding groove (310), the outer surface of the sliding groove (310) is slidably connected to a slider (311), the outer surface of the slider (311) is hinged to a connecting rod (303), the other end of the connecting rod (303) is hinged to a connecting column (309), and the connecting column (309) is fixedly connected to the outer surface of the limiting rack rod (307).

3. The anti-falling device for a truss manipulator according to claim 2, characterized in that: The outer surface of the fixed frame (306) is provided with a through hole for use with the connecting column (309), and the outer surface of the connecting column (309) is slidably connected to the through hole.

4. The anti-falling device for a truss manipulator according to claim 3, characterized in that: An electric telescopic rod (301) is fixedly connected to the outer surface of the fixed frame (306), and an output end of the electric telescopic rod (301) is fixedly connected to the outer surface of the slider (311).

5. The anti-falling device for a truss manipulator according to claim 4, characterized in that: The anti-fall mechanism (3) further comprises an infrared receiver (304) fixedly connected to the outer surface of the connection frame (402), and the infrared receiver (304) is arranged below the infrared transmitter (302).

6. The anti-falling device for a truss manipulator according to claim 1, characterized in that: The inner wall of the connecting frame (402) is fixedly connected to a gas storage tank (401), the outer surface of the gas storage tank (401) is fixedly connected to an electromagnetic control valve (405), the outer surface of the electromagnetic control valve (405) is fixedly connected to a connecting pipe (404), and the other end of the connecting pipe (404) is fixedly connected to the inner wall of the airbag (403).

Images