Truss mechanical arm with collision protection structure

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a truss mechanical arm with a collision protection structure, which comprises a truss, the surface of the truss is in sliding connection with a movable frame, and the upper surface of the movable frame is fixedly provided with a telescopic cylinder. According to the truss mechanical arm with the collision protection structure, in the process that a movable frame drives the mechanical arm to move, a protection plate makes contact with the edge of a rail, a connecting column moves, deformation of a reset spring buffers collision force to a certain degree, a contact ball moves to extrude a pressed ball, and the pressed ball moves to drive a retarding rod to move; the sliding ball on the retarding rod makes contact with the retarding hole to slow down or even stop, the retarding rod moves on the inner wall of the sliding hole under the action of the buffering spring, the retarding rod makes better contact with the retarding hole, the force generated when the mechanical arm collides with the rail is buffered, and elements in the mechanical arm are prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely is a truss mechanical arm with crash protection structure. BACKGROUND

[0002] Truss mechanical arm is a kind of full-automatic industrial equipment that is established on the basis of coordinate system, and it adjusts workpiece position or realizes the trajectory movement of workpiece.The control core is realized through industrial controller.

[0003] According to the mechanical arm with anti-collision mechanism (announcement number: CN106737562A) disclosed, the buffer device is arranged at both ends of the track in the above application, so that the mechanical arm does not collide with both ends of the track when moving on the track.

[0004] But the above-mentioned equipment in actual use process, mechanical arm needs to be operated back and forth on the assembly line, frequency is high, and running speed is fast, under this condition, mechanical arm is easy to collide with track, causes the damage of mechanical arm internal electronic component and the loosening of connecting mechanism, so that production process has security risk;In view of this, we propose a truss mechanical arm with crash protection structure. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a truss mechanical arm with crash protection structure to solve the problems in the above background.

[0006] To achieve the above object, the utility model provides the following technical scheme: a truss mechanical arm with crash protection structure, including truss, the surface of the truss is connected with the moving frame slidingly, the upper surface of the moving frame is fixedly installed telescopic cylinder, the movable end of the telescopic cylinder is fixedly connected with the mechanical arm, the lower of the moving frame is provided with the protection plate, the lower of the moving frame is provided with the protection mechanism, the lower of the moving frame is provided with the support mechanism, the protection mechanism includes:

[0007] Connecting sleeve, the connecting sleeve is fixedly installed on the outer side of the protection plate, the inner wall of the connecting sleeve is fixedly connected with the reset spring, the end, away from the inner wall of the connecting sleeve of the reset spring, is fixedly connected with the connecting column, the surface of the moving frame is provided with the movable slot, the surface of the truss is provided with the retardation hole;

[0008] Contact ball, the contact ball is fixedly installed on the end, away from the connecting sleeve of the connecting column, the inner wall of the movable slot is slidably connected with the pressure ball, the cam surface of the pressure ball is fixedly connected with the moving column, the surface of the moving column is fixedly connected with the stabilizing spring, the surface of the moving column is provided with the sliding hole, the inner wall of the sliding hole is fixedly connected with the buffer spring, the end, away from the inner wall of the sliding hole of the buffer spring, is fixedly connected with the retardation rod.

[0009] Preferably, the supporting mechanism comprises a connecting rod, the surface of the protection plate is hingedly connected with the connecting rod, the end of the connecting rod away from the protection plate is hingedly connected with a sliding block, the surface of the moving frame is provided with a sliding groove, the inner wall of the sliding groove is fixedly installed with a straight rod, and the surface of the sliding block is fixedly connected with a supporting spring.

[0010] Preferably, the surface of the sliding block is provided with a moving hole, the diameter of the moving hole is matched with the diameter of the straight rod, and the sliding block is sleeved on the surface of the straight rod.

[0011] Preferably, the movable groove is arranged in an L shape, the diameter of the movable groove is matched with the diameter of the contact ball, and the contact ball can move to extrude the pressure ball in the sliding groove.

[0012] Preferably, the end of the speed-reducing rod is slidably installed with a sliding ball, the shape of the sliding ball is matched with the shape of the speed-reducing hole, and the sliding ball can contact the speed-reducing hole to have a certain speed-reducing effect on the movement of the moving frame.

[0013] Preferably, the diameter of the sliding hole is matched with the diameter of the end of the speed-reducing rod close to the moving column, and the speed-reducing rod can move in the sliding hole.

[0014] Compared with the prior art, the truss mechanical arm with the collision protection structure has the following beneficial effects:

[0015] 1. The truss mechanical arm with the collision protection structure is provided with the protection mechanism, the moving frame drives the mechanical arm to move, the protection plate is connected with the edge of the track to move the connecting column, the reset spring is deformed to buffer the impact force to a certain extent, the contact ball moves to extrude the pressure ball, the pressure ball moves to drive the speed-reducing rod to move, the sliding ball on the speed-reducing rod contacts the speed-reducing hole to reduce the speed or even stop, the speed-reducing rod moves on the inner wall of the sliding hole under the action of the buffer spring, the speed-reducing rod better contacts the speed-reducing hole, the impact force of the mechanical arm on the track is buffered, and the internal elements of the mechanical arm are prevented from being damaged.

[0016] 2. The truss mechanical arm with the collision protection structure is provided with the supporting mechanism, when the protection plate buffers the impact force of the track, the connecting rod drives the sliding block to slide in the sliding groove, the supporting spring is deformed to make the force movement of the protection plate more stable, the stable triggering of the protection mechanism is facilitated, the movement of the moving frame is slowed down, and the internal elements of the mechanical arm are prevented from being damaged. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic view of the main structure of the utility model;

[0018] Figure 2 It is a schematic view of the local structure of the truss of the utility model;

[0019] Figure 3 Figure is the partial section structure schematic view of the connecting sleeve of the utility model;

[0020] Figure 4 Figure is the partial section structure schematic view of the moving frame of the utility model;

[0021] Figure 5 Figure is the partial explosion structure schematic view of the moving column of the utility model.

[0022] In the drawing: 1, truss; 2, moving frame; 3, protection mechanism; 301, speed hole; 302, connecting sleeve; 303, reset spring; 304, connecting column; 305, movable slot; 306, contact ball; 307, pressure ball; 308, moving column; 309, stabilizing spring; 310, sliding hole; 311, buffer spring; 312, speed bar; 4, support mechanism; 401, connecting rod; 402, sliding block; 403, sliding slot; 404, straight rod; 405, support spring; 5, telescopic cylinder; 6, mechanical arm; 7, protection plate. DETAILED DESCRIPTION

[0023] As Figures 1-5 shown, the utility model provides a kind of technical scheme: a kind of truss mechanical arm with collision protection structure, including truss 1, the surface of truss 1 is slidably connected moving frame 2, telescopic cylinder 5 is fixedly installed on the upper surface of moving frame 2, mechanical arm 6 is fixedly connected to the movable end of telescopic cylinder 5, protection plate 7 is provided below moving frame 2, protection mechanism 3 is provided below moving frame 2, support mechanism 4 is provided below moving frame 2, protection mechanism 3 includes speed hole 301, connecting sleeve 302, reset spring 303, connecting column 304, movable slot 305, contact ball 306, pressure ball 307, moving column 308, stabilizing spring 309, sliding hole 310, buffer spring 311, speed bar 312.

[0024] In an embodiment of the utility model, connecting sleeve 302 is fixedly installed on the outside of protection plate 7, reset spring 303 is fixedly connected to the inner wall of connecting sleeve 302, connecting column 304 is fixedly connected to the end of reset spring 303 away from the inner wall of connecting sleeve 302, movable slot 305 is set on the surface of moving frame 2, speed hole 301 is set on the surface of truss 1, contact ball 306 is fixedly installed on the end of connecting column 304 away from connecting sleeve 302, pressure ball 307 is slidably connected to the inner wall of movable slot 305, moving column 308 is fixedly connected to the arc surface of pressure ball 307, stabilizing spring 309 is fixedly connected to the surface of moving column 308, sliding hole 310 is set on the surface of moving column 308, buffer spring 311 is fixedly connected to the inner wall of sliding hole 310, speed bar 312 is fixedly connected to the end of buffer spring 311 away from the inner wall of sliding hole 310.

[0025] In addition, the supporting mechanism 4 comprises a connecting rod 401, the surface of the protection plate 7 is hingedly connected with the connecting rod 401, the end, away from the protection plate 7, of the connecting rod 401 is hingedly connected with a sliding block 402, the surface of the moving frame 2 is provided with a sliding groove 403, the inner wall of the sliding groove 403 is fixedly installed with a straight rod 404, the surface of the sliding block 402 is fixedly connected with a supporting spring 405, the surface of the sliding block 402 is provided with a moving hole, the diameter of the moving hole is matched with the diameter of the straight rod 404, the sliding block 402 is sleeved on the surface of the straight rod 404, so that the sliding block 402 can slide on the curved surface of the straight rod 404, the supporting spring 405 is deformed, and the movement of the protection plate 7 is more stable.

[0026] In the embodiment of the utility model, the movable groove 305 is L-shaped, the diameter of the movable groove 305 is matched with the diameter of the contact ball 306, the contact ball 306 and the pressure ball 307 can move in the movable groove 305, the end of the speed reduction rod 312 is slidably installed with a sliding ball, the shape of the sliding ball is matched with the shape of the speed reduction hole 301, the diameter of the sliding hole 310 is matched with the diameter of the end, close to the moving column 308, of the speed reduction rod 312, so that the speed reduction rod 312 can move on the inner wall of the sliding hole 310, meanwhile, the sliding ball and the speed reduction hole 301 are in contact to different degrees to slow down the movement of the moving frame 2, and prevent the collision force from being too large.

[0027] In the utility model, in the movement of the moving frame 2 driving the mechanical arm 6, the protection plate 7 is connected with the edge of the track to move the connecting column 304, the reset spring 303 is deformed to buffer the impact force to a certain extent, the contact ball 306 moves to extrude the pressure ball 307, the pressure ball 307 moves to drive the speed reduction rod 312 to move, the sliding ball on the speed reduction rod 312 is in contact with the speed reduction hole 301 to slow down or even stop, the speed reduction rod 312 moves on the inner wall of the sliding hole 310 under the action of the buffer spring 311, so that the speed reduction rod 312 is in better contact with the speed reduction hole 301, the collision force of the mechanical arm 6 with the track is buffered, and the internal elements of the mechanical arm 6 are prevented from being damaged.

[0028] Further, when the protection plate 7 buffers the contact force of the track, the connecting rod 401 drives the sliding block 402 to slide in the sliding groove 403, the supporting spring 405 is deformed to make the force-bearing movement of the protection plate 7 more stable, the stable triggering of the protection mechanism 3 is facilitated, the movement of the moving frame 2 is slowed down, the mechanical arm 6 is prevented from being damaged by the collision element, the track is arranged above the truss 1 to facilitate the movement of the moving frame 2, and the expansion cylinder 5 drives the mechanical arm 6 to clamp.

[0029] The utility model has made the detailed description to the utility model generally above, but can make some modification or improvement to it on the basis of the utility model, this is obvious to the general skilled person in the technical field. Therefore, the modification or improvement without departing from the utility model thought spirit, all are within the protection scope of the utility model.

Claims

1. A truss mechanical arm with a collision protection structure, comprising a truss (1), a moving frame (2) is surface slidingly connected to the truss (1), a telescopic air cylinder (5) is fixedly installed on the upper surface of the moving frame (2), a mechanical arm (6) is fixedly connected to the movable end of the telescopic air cylinder (5), and a protective plate (7) is arranged below the moving frame (2), characterized in that: The lower part of the mobile frame (2) is provided with a protection mechanism (3), and the lower part of the mobile frame (2) is provided with a supporting mechanism (4), the protection mechanism (3) comprises: The connecting sleeve (302) is fixedly installed on the outer side of the protection plate (7), the inner wall of the connecting sleeve (302) is fixedly connected with the reset spring (303), one end of the reset spring (303) away from the inner wall of the connecting sleeve (302) is fixedly connected with the connecting column (304), the surface of the mobile frame (2) is provided with the movable groove (305), and the surface of the truss (1) is provided with the speed reduction hole (301). The contact ball (306) is fixedly installed on the end of the connecting column (304) away from the connecting sleeve (302), the inner wall of the movable groove (305) is slidably connected with the pressure ball (307), the curved surface of the pressure ball (307) is fixedly connected with the moving column (308), the surface of the moving column (308) is fixedly connected with the stabilizing spring (309), the surface of the moving column (308) is provided with the sliding hole (310), the inner wall of the sliding hole (310) is fixedly connected with the buffer spring (311), and one end of the buffer spring (311) away from the inner wall of the sliding hole (310) is fixedly connected with the speed reduction rod (312).

2. The truss robot arm with a collision protection structure according to claim 1, characterized in that: The supporting mechanism (4) comprises a connecting rod (401), the surface of the protection plate (7) is hingedly connected with the connecting rod (401), one end of the connecting rod (401) away from the protection plate (7) is hingedly connected with the sliding block (402), the surface of the mobile frame (2) is provided with the sliding groove (403), the inner wall of the sliding groove (403) is fixedly installed with the straight rod (404), and the surface of the sliding block (402) is fixedly connected with the supporting spring (405).

3. The truss robot arm with a collision protection structure according to claim 2, characterized in that: The surface of the sliding block (402) is provided with a moving hole, the diameter of the moving hole is matched with the diameter of the straight rod (404), and the sliding block (402) is sleeved on the surface of the straight rod (404).

4. The truss robot arm with a collision protection structure according to claim 1, wherein: The movable groove (305) is arranged in an L shape, and the diameter of the movable groove (305) is matched with the diameter of the contact ball (306).

5. The truss robot arm with a collision protection structure according to claim 1, wherein: The end of the speed reduction rod (312) is slidably installed with a sliding ball, and the shape of the sliding ball is matched with the shape of the speed reduction hole (301).

6. The truss robot arm with a collision protection structure according to claim 1, wherein: The diameter of the sliding hole (310) is matched with the diameter of one end of the speed reduction rod (312) close to the moving column (308).

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