CN112665977A

CN112665977A - Parallel manipulator arm of force intensity detection device

Info

Publication number: CN112665977A
Application number: CN202011394449.2A
Authority: CN
Inventors: 贺晓辉; 游青山; 朱永丽; 蒋雨芯; 赵世纪
Original assignee: Chongqing Vocational Institute of Engineering
Current assignee: Chongqing Vocational Institute of Engineering
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-04-16

Abstract

The invention relates to the technical field of manipulator auxiliary equipment and discloses a parallel manipulator force arm strength detection device which comprises movable vertical plates, wherein the front side surfaces of the movable vertical plates are fixedly connected with a stamping bottom plate, the front side surfaces of the movable vertical plates are respectively provided with two vertical plates, a transverse plate is fixedly connected between the two vertical plates, the lower surfaces of the transverse plates are fixedly connected with a stamping shell, the upper surfaces of the stamping bottom plate are respectively and fixedly connected with two placing frames, the two placing frames are respectively arranged on the front side and the rear side of a stamping groove, and the placing frames are provided with quick clamping mechanisms. This parallel mechanical arm of force intensity detection device contacts through the punching press piece with the arm of force, and then pressure sensor transmits the pressure value that receives to the pressure display table in, and then shows the pressure value that receives on the mirror surface of pressure display table, and then has made things convenient for the intensity of staff's record arm of force, has made things convenient for the later stage like this to detect the intensity to the arm of force of different materials.

Description

Parallel manipulator arm of force intensity detection device

Technical Field

The invention relates to the technical field of manipulator auxiliary equipment, in particular to a device for detecting the strength of force arms of parallel manipulators.

Background

The present society is developing to the direction of artifical intelligence, the parallel manipulator is as coping loaded down with trivial details nature, the mechanical equipment of repeatability labour can be applied to more extensive field more, solve some real loaded down with trivial details problems, the transmission structure of parallel manipulator has three master arm and three slave arm, and then the intensity of the arm of force concerns the life of whole parallel manipulator, but there is not intensity detection device to the arm of force at present, and then reduced the qualification rate after the production of parallel manipulator, and then can influence the result of use in parallel manipulator later stage.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides the device for detecting the strength of the force arms of the parallel manipulator, which has the advantages of detecting the strength of the force arms of the manipulator and the like, and solves the problem that the strength of the force arms of the manipulator cannot be detected.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a parallel manipulator force arm strength detection device comprises a movable vertical plate, wherein a stamping bottom plate is fixedly connected to the front side surface of the movable vertical plate, a motor is fixedly connected to the upper surface of the movable vertical plate, a built-in groove is formed in the movable vertical plate, an output shaft of the motor penetrates into the built-in groove, a transmission mechanism is arranged at one end, located in the built-in groove, of the output shaft of the motor, two vertical plates are respectively arranged on the front side surface of the movable vertical plate, a transverse plate is fixedly connected between the two vertical plates, a stamping shell is fixedly connected to the lower surface of the transverse plate, a stamping block is arranged at the lower end of the stamping shell, a detection mechanism is arranged on the stamping block, a stamping groove is formed in the upper surface of the stamping bottom plate, two placing frames are respectively and fixedly connected to the upper surface of the stamping bottom plate, the two, and a rapid clamping mechanism is arranged on the placing frame.

Preferably, drive mechanism includes the turbine, the last fixed surface of turbine is connected at the lower extreme of motor output shaft, the meshing of the front side of turbine is connected with the worm, two movable grooves have been seted up respectively to the front side surface of activity riser, two the movable groove is located the left and right sides in built-in groove, both ends are run through respectively into two movable grooves about the worm, two connection structure in the movable groove is the same, the worm is located one of movable groove and serves fixedly connected with conical gear, conical gear's the same meshing of lower extreme has conical gear, keeps away from the lower fixed surface of the conical gear of worm one end is connected with the threaded rod, the lower extreme of threaded rod rotates and is connected with the thread piece, the lower fixed surface of thread piece is connected on the bottom inner wall of movable groove.

Preferably, two the rear end of riser runs through into the inside of two activity grooves respectively, all set up the thread groove identical with the threaded rod on two risers, the riser carries out threaded connection through thread groove and threaded rod.

Preferably, sensing mechanism includes the transfer line, the lower extreme fixed connection of transfer line is at the upper surface of punching press piece, the inside of advancing the punching press shell is run through to the upper end of transfer line, the transfer line is located one of punching press shell and serves fixedly connected with ejector pad, fixedly connected with pressure sensor on the top inner wall of punching press shell, the front side surface of activity riser is provided with the pressure display table.

Preferably, two spouts, two have been seted up on the left and right sides inner wall of punching press shell respectively equal fixedly connected with slide bar in the spout, the upper and lower both ends of slide bar are fixed connection respectively on the upper and lower both sides inner wall of spout, two movable sliding block of fixedly connected with respectively on the left and right sides inner wall of ejector pad, two the inside of spout is all extended into to the one end of activity slider back to back, movable sliding block and slide bar sliding connection.

Preferably, the upper surface of the movable sliding block is fixedly connected with a spring, the upper end of the spring is fixedly connected to the inner wall of the top of the sliding groove, and the spring is movably sleeved on the sliding rod.

Preferably, quick clamping mechanism includes the supporting shoe, the structure of rack is the U-shaped form, the lower extreme fixed connection of supporting shoe is at the upper surface of rack diaphragm, it is connected with the axis of rotation to rotate between two straight boards of rack, the axis of rotation activity cup joints on the supporting shoe, the right-hand member of axis of rotation runs through the right side surface of support frame, fixedly connected with rotates the handle on the right-hand member of axis of rotation, two chucking pieces have been cup jointed in the activity respectively in the axis of rotation.

Preferably, the outer surface of the rotating shaft is provided with two thread teeth respectively, the two thread teeth are arranged in opposite directions, the two thread teeth are arranged on the left side and the right side of the supporting block respectively, the two clamping blocks are provided with threaded holes matched with the thread teeth, and the two clamping blocks are in threaded connection with the two thread teeth on the rotating shaft through the threaded holes respectively.

Preferably, the upper end of the supporting block is arc-shaped, the arc surface of the supporting block is provided with a friction block, and the opposite surfaces of the two clamping blocks are provided with arc surfaces.

(III) advantageous effects

Compared with the prior art, the invention provides a device for detecting the strength of the force arms of the parallel manipulator, which has the following beneficial effects:

1. this parallel manipulator arm of force intensity detection device contacts through the punching press piece with the arm of force, and then the upper end and the pressure sensor contact of ejector pad, and then pressure value that pressure sensor will receive transmits to the pressure display table in, and then shows the pressure value that receives on the mirror surface of pressure display table, and then made things convenient for the intensity of staff's record arm of force, made things convenient for the later stage like this to detect intensity to the arm of force of different materials, and then reachd the arm of force of most suitable manipulator, improved the practicality after the manipulator produces.

2. This parallelly connected manipulator arm of force intensity detection device, when the arm of force breaks, and then the spring loses extrusion force release thrust, and then promotes the ejector pad and displacement downwards, and then has avoided ejector pad and pressure sensor to last the contact, has improved the accuracy that pressure sensor detected data, has avoided the condition that the data error appears of pressure sensor detection.

3. This parallel manipulator arm of force intensity detection device, the staff carries out corotation to the turning handle, and then two chucking pieces carry out direction displacement in opposite directions in the axis of rotation, and then two chucking pieces carry out the centre gripping to the arm of force on the supporting shoe, fix the arm of force on the supporting shoe, have avoided the condition that the arm of force appears rocking, have further improved the stability of the arm of force when detecting intensity, have ensured the stability of detection data.

4. This parallelly connected manipulator arm of force intensity detection device sets up to circular-arcly through the upper end with the supporting shoe, and then has increased the area of contact between the arm of force and the supporting shoe, is provided with the clutch blocks on the arc surface of supporting shoe simultaneously, has increased the frictional force of contact surface between supporting shoe and the arm of force, has reduced the condition that the arm of force appears rocking.

5. This parallelly connected manipulator arm of force intensity detection device through be provided with two thread teeth on the surface at the axis of rotation respectively, when rotating handle rotates, two chucking pieces can carry out displacement or opposite displacement in opposite directions in the axis of rotation, have reduced the loaded down with trivial details nature when pressing from both sides tight to the arm of force, and then have improved staff's work efficiency.

Drawings

FIG. 1 is a schematic structural diagram of a device for detecting the strength of force arms of parallel manipulators according to the present invention;

FIG. 2 is a cross-sectional view of a tie riser of the present invention;

FIG. 3 is a schematic view of the connection structure of the stamped casing of the present invention;

FIG. 4 is a cross-sectional view of a stamped housing of the invention;

FIG. 5 is a schematic view of a stamped bottom plate according to the present invention;

fig. 6 is a schematic structural view of the rack of the present invention.

In the figure: the device comprises a movable vertical plate 1, a stamping bottom plate 2, a motor 3, an internal groove 4, a worm wheel 5, a worm 6, a movable groove 7, a bevel gear 8, a threaded rod 9, a threaded block 10, a vertical plate 11, a transverse plate 12, a stamping shell 13, a stamping block 14, a transmission rod 15, a pushing block 16, a movable sliding block 17, a sliding groove 18, a sliding rod 19, a spring 20, a pressure sensor 21, a placing frame 22, a rotating shaft 23, a rotating handle 24, a supporting block 25, a clamping block 26, a stamping groove 27 and a pressure display meter 28.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a new technical solution: a parallel manipulator force arm strength detection device comprises a movable vertical plate 1, a stamping bottom plate 2 is fixedly connected to the front side surface of the movable vertical plate 1, the lower surface of the stamping bottom plate 2 is flush with the lower surface of the movable vertical plate 1, a motor 3 is fixedly connected to the upper surface of the movable vertical plate 1, a built-in groove 4 is formed in the movable vertical plate 1, an output shaft of the motor 3 penetrates through the built-in groove 4, a turbine 5 is fixedly connected to one end, located in the built-in groove 4, of the output shaft of the motor 3, a worm 6 is connected to the front side of the turbine 5 in a meshed mode, two movable grooves 7 are respectively formed in the front side surface of the movable vertical plate 1, the two movable grooves 7 are both located above the stamping bottom plate 2, the two movable grooves 7 are located on the left side and the right side of the built-in groove 4, the left end and the right end of the worm 6 respectively penetrate through, a conical gear 8 is fixedly connected to one end of the worm 6, which is positioned in the movable groove 7, the lower end of the conical gear 8 is also meshed with the conical gear 8, a threaded rod 9 is fixedly connected to the lower surface of the conical gear 8, which is far away from one end of the worm 6, the lower end of the threaded rod 9 is rotatably connected with a threaded block 10, the lower surface of the threaded block 10 is fixedly connected to the inner wall of the bottom of the movable groove 7, when the motor 3 is started, the worm 6 is driven to rotate by the worm wheel 5, the two threaded rods 9 are respectively and simultaneously rotated by the conical gear 8 at the two ends of the worm 6, two vertical plates 11 are respectively and movably sleeved on the two threaded rods 9, threaded grooves matched with the threaded rods 9 are respectively formed in the two vertical plates 11, the vertical plates 11 are in threaded connection with the threaded rods 9 through the threaded grooves, meanwhile, the front ends of the two vertical plates, the lower surface of the transverse plate 12 is fixedly connected with a stamping shell 13, and when the motor 3 is started, the two vertical plates 11 respectively displace upwards or downwards on the two threaded rods 9, so that the stamping shell 13 is driven to displace upwards or downwards;

a stamping block 14 is arranged at the lower end of the stamping shell 13, a transmission rod 15 is fixedly connected with the upper surface of the stamping block 14, the upper end of the transmission rod 15 penetrates into the stamping shell 13, a push block 16 is fixedly connected with one end of the transmission rod 15 positioned in the stamping shell 13, meanwhile, the inner wall of the top of the stamping shell 13 is fixedly connected with a pressure sensor 21, the pressure sensor 21 is the prior structure and is not described in more detail, the front side surface of the movable vertical plate 1 is provided with a pressure display meter 28, the pressure display meter 28 is the prior structure and is not described in more detail, and the pressure sensor 21 is connected to the pressure display gauge 28 through an external data line, and when the push block 16 is in contact with the pressure sensor 21, the pressure sensor 21 transmits the pressure value received by the pressure sensor to the pressure display meter 28, and the pressure value received by the pressure display meter 28 is displayed on the mirror surface of the pressure display meter, so that the data can be conveniently recorded by the staff;

two sliding grooves 18 are respectively formed on the inner walls of the left side and the right side of the stamping shell 13, sliding rods 19 are fixedly connected in the two sliding grooves 18, the upper end and the lower end of each sliding rod 19 are respectively fixedly connected to the inner walls of the upper side and the lower side of the corresponding sliding groove 18, meanwhile, two movable sliding blocks 17 are respectively fixedly connected to the inner walls of the left side and the right side of the corresponding pushing block 16, the back ends of the two movable sliding blocks 17 extend into the sliding grooves 18, the movable sliding blocks 17 are further connected with the sliding rods 19 in a sliding manner, springs 20 are fixedly connected to the upper surfaces of the movable sliding blocks 17, the upper ends of the springs 20 are fixedly connected to the inner walls of the tops of the sliding grooves 18, the springs 20 are movably sleeved on the sliding rods 19, when the pushing block 16 is displaced upwards, the two movable sliding blocks 17 are further displaced upwards on the two sliding rods 19 respectively, meanwhile, the stiffness factor of the spring 20 is low, so that the thrust generated by the spring 20 on the movable sliding block 17 after contraction does not influence the detection value of the pressure sensor 21;

the upper surface of the stamping bottom plate 2 is provided with a stamping groove 27, the stamping groove 27 is positioned under the stamping shell 13, the upper surface of the stamping bottom plate 2 is respectively and fixedly connected with two placing racks 22, the two placing racks 22 are respectively arranged at the front side and the rear side of the stamping groove 27, the placing racks 22 are U-shaped, a supporting block 25 is further fixedly connected onto a transverse plate of the placing racks 22, the upper end of the supporting block 25 is arc-shaped, so that the contact area between the force arm and the supporting block 25 is increased, meanwhile, a friction block is arranged on the arc surface of the supporting block 25, the friction block is an existing structure and is not redundant, so that the friction force of the contact surface between the supporting block 25 and the force arm is increased, the condition that the force arm shakes is reduced, a rotating shaft 23 is rotatably connected between two straight plates of the placing racks 22, meanwhile, the rotating shaft 23 is movably sleeved on the supporting block 25, the, a rotating handle 24 is fixedly connected to the right end of the rotating shaft 23, two threaded teeth are respectively arranged on the outer surface of the rotating shaft 23, the two threaded teeth are arranged in opposite directions, the two threaded teeth are respectively arranged on the left side and the right side of the supporting block 25, two clamping blocks 26 are respectively movably sleeved on the rotating shaft 23, threaded holes matched with the threaded teeth are respectively formed in the two clamping blocks 26, the two clamping blocks 26 are respectively in threaded connection with the two threaded teeth on the rotating shaft 23 through the threaded holes, when the rotating handle 24 rotates, the two clamping blocks 26 can perform opposite displacement or opposite displacement on the rotating shaft 23, so that the moment arm on the supporting block 25 can be clamped, arc surfaces are respectively formed on the opposite surfaces of the two clamping blocks 26, and the contact area between the clamping blocks 26 and the moment arm is increased, the fixing effect of the clamping block 26 on the force arm is improved.

The working principle is as follows: when the parallel manipulator force arm strength detection device is used;

the first step is as follows: the force arms are placed on the two supporting blocks 25, so that the centers of the force arms are positioned right above the stamping grooves 27, a worker rotates the rotating handle forwards, the two clamping blocks 26 displace in opposite directions on the rotating shaft 23, the two clamping blocks 26 clamp the force arms on the supporting blocks 25, and the force arms are fixed on the supporting blocks 25;

the second step is that: by starting the motor 3, the worm wheel 5 drives the worm 6 to rotate, and the bevel gears 8 on the two ends of the worm 6 respectively enable the two threaded rods 9 to simultaneously move positively, so that the two vertical plates 11 respectively displace downwards on the two threaded rods 9, and further the stamping shell 13 is driven to displace downwards, and further the stamping block 14 is in contact with the force arm;

the third step: continuously carry out downward displacement to punching press piece 14, and then punching press piece 14 promotes ejector pad 16 upward displacement through transfer line 15, two movable sliding blocks 17 carry out upward displacement on two slide bars 19 respectively simultaneously, and spring 20 contracts, and then ejector pad 16's upper end and pressure sensor 21 contact, and then pressure sensor 21 will receive the pressure value transmit to pressure display table 28 in, and then show the pressure value that receives on pressure display table 28's the mirror surface, and then made things convenient for the staff to obtain the intensity of the arm of force, when the arm of force appears the fracture, and then spring 20 loses extrusion force release thrust, and then promote ejector pad 16 downward displacement, and then avoided ejector pad 16 and pressure sensor 21 sustained contact, the accuracy that pressure sensor 21 detected data has been improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a parallelly connected manipulator arm of force intensity detection device, includes activity riser (1), its characterized in that: the stamping device comprises a movable vertical plate (1), a stamping bottom plate (2) is fixedly connected to the front side surface of the movable vertical plate (1), a motor (3) is fixedly connected to the upper surface of the movable vertical plate (1), a built-in groove (4) is formed in the movable vertical plate (1), an output shaft of the motor (3) penetrates into the built-in groove (4), a transmission mechanism is arranged at one end, located in the built-in groove (4), of the output shaft of the motor (3), two vertical plates (11) are respectively arranged on the front side surface of the movable vertical plate (1), a transverse plate (12) is fixedly connected between the two vertical plates (11), a stamping shell (13) is fixedly connected to the lower surface of the transverse plate (12), a stamping block (14) is arranged at the lower end of the stamping shell (13), a detection mechanism is arranged on the stamping block (14), a stamping groove (27) is formed in, the upper surface of the punching bottom plate (2) is fixedly connected with two placing frames (22) respectively, the two placing frames (22) are arranged on the front side and the rear side of the punching groove (27) respectively, and the placing frames (22) are provided with quick clamping mechanisms.

2. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 1, wherein: the transmission mechanism comprises a turbine (5), the upper surface of the turbine (5) is fixedly connected with the lower end of an output shaft of a motor (3), the front side of the turbine (5) is meshed with a worm (6), two movable grooves (7) are respectively formed in the front side surface of a movable vertical plate (1), the movable grooves (7) are positioned on the left side and the right side of a built-in groove (4), the left end and the right end of the worm (6) are respectively penetrated into the two movable grooves (7), the connecting structures in the movable grooves (7) are the same, one end of the worm (6) positioned in the movable groove (7) is fixedly connected with a bevel gear (8), the lower end of the bevel gear (8) is also meshed with a bevel gear (8), the lower surface of the bevel gear (8) far away from one end of the worm (6) is fixedly connected with a threaded rod (9), and the lower end of the threaded rod (9) is rotatably connected with a threaded block, the lower surface of the thread block (10) is fixedly connected to the inner wall of the bottom of the movable groove (7).

3. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 2, wherein: the rear ends of the vertical plates (11) penetrate into the two movable grooves (7) respectively, thread grooves matched with the threaded rods (9) are formed in the two vertical plates (11), and the vertical plates (11) are in threaded connection with the threaded rods (9) through the thread grooves.

4. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 1, wherein: the sensing mechanism comprises a transmission rod (15), the lower end of the transmission rod (15) is fixedly connected to the upper surface of a stamping block (14), the upper end of the transmission rod (15) penetrates into the stamping shell (13), one end of the transmission rod (15) located in the stamping shell (13) is fixedly connected with a push block (16), a pressure sensor (21) is fixedly connected to the inner wall of the top of the stamping shell (13), and a pressure display meter (28) is arranged on the front side surface of the movable vertical plate (1).

5. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 4, wherein: two chutes (18) and two chutes are respectively arranged on the inner walls of the left side and the right side of the stamping shell (13), a sliding rod (19) is fixedly connected to the inner walls of the upper side and the lower side of the sliding rod (19), two movable sliders (17) and two movable sliders are fixedly connected to the inner walls of the upper side and the lower side of the sliding rod (18) respectively, two ends of each movable slider (17) are fixedly connected to the inner walls of the upper side and the lower side of the sliding rod (18) respectively, one end of each movable slider (17) opposite to the other end of each movable slider extends into the inner portion of the sliding groove (18), and each movable slider (17.

6. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 5, wherein: the upper surface of the movable sliding block (17) is fixedly connected with a spring (20), the upper end of the spring (20) is fixedly connected to the inner wall of the top of the sliding groove (18), and the spring (20) is movably sleeved on the sliding rod (19).

7. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 1, wherein: quick clamping mechanism includes supporting shoe (25), the structure of rack (22) is the U word form, the lower extreme fixed connection of supporting shoe (25) is at the upper surface of rack (22) diaphragm, it is connected with axis of rotation (23) to rotate between two straight boards of rack (22), axis of rotation (23) activity is cup jointed on supporting shoe (25), the right-hand member of axis of rotation (23) runs through the right side surface of wearing out supporting shoe (25), fixedly connected with rotates handle (24) on the right-hand member of axis of rotation (23), two chucking piece (26) have been cup jointed in the activity respectively on axis of rotation (23).

8. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 7, wherein: the outer surface of the rotating shaft (23) is provided with two thread teeth respectively, the two thread teeth are arranged in opposite directions, the two thread teeth are arranged on the left side and the right side of the supporting block (25) respectively, the two clamping blocks (26) are provided with threaded holes matched with the thread teeth, and the two clamping blocks (26) are in threaded connection with the two thread teeth on the rotating shaft (23) through the threaded holes respectively.

9. The device for detecting the strength of the moment arms of the parallel manipulator according to claim 7, wherein: the upper end of the supporting block (25) is arc-shaped, the arc surface of the supporting block (25) is provided with a friction block, and the opposite surfaces of the two clamping blocks (26) are provided with arc surfaces.