CN203527462U

CN203527462U - Swing arm for high-speed parallel-connection mechanical hands

Info

Publication number: CN203527462U
Application number: CN201320520437.9U
Authority: CN
Inventors: 蔡伟强
Original assignee: Cnc Technology (quanzhou) Co Ltd
Current assignee: Quanzhou Vibot Industrial Robot Research Institute Co ltd
Priority date: 2013-08-23
Filing date: 2013-08-23
Publication date: 2014-04-09
Anticipated expiration: 2023-08-23

Abstract

A swing arm for high-speed parallel-connection mechanical hands comprises a driving swing arm body and a driven swing arm body hinged to the driving swing arm body. The driven swing arm body is formed by connecting two parallel connecting rods through an elastic tension spring. The two connecting rods are respectively in ball hinge connection with the driving swing arm body through a tie rod ball head and a ball head bushing, wherein the tie rod ball head is sleeved with the ball head bushing. The two sides of the driving swing arm body are symmetrically provided with ball concave faces matched with the tie rod ball head. According to the swing arm, the arm body of the driving swing arm body is of a hollow structure, the two connecting rods of the driven swing arm body are made of carbon fiber materials, and the weight can be reduced, so that the mechanical hands are more flexible when swinging; a reinforcing rib is connected between the two side walls of the hollow portion of the arm body of the driving swing arm body, so that the strength of the driving swing arm body is better; the two connecting rods of the driven swing arm body are connected through the elastic tension spring, and meanwhile the two connecting rods are in ball hinge connection with the driving swing arm body through the tie rod ball head and the ball head bushing, so that the relative rotation flexibility is better, disengagement does not easily occur, and the strength is higher.

Description

A kind of swing arm of high-speed parallel manipulator

Technical field

The utility model relates to the swing arm of a kind of robot, particularly a kind of high-speed parallel manipulator.

Background technology

At present, existing high-speed parallel manipulator generally comprises organic frame, moving platform, is connected in the many groups swing arm between frame and moving platform and is fixed on the servomotor for driving swing arm to swing in frame, and every group of swing arm comprises that an active swing arm and is articulated with the initiatively driven swing arm of swing arm end.Active swing arm of the prior art and driven swing arm are generally rotationally connected by wearing bearing pin realization, it rotates very flexible, and existing active swing arm is generally solid construction, driven swing arm generally adopts metal material to make, weight is heavier, also can cause manipulator very flexible when whipping, consume energy high.

Utility model content

Main purpose of the present utility model is the shortcoming that overcomes prior art, provides a kind of lightweight, and intensity is high, and the swing arm of the better high-speed parallel manipulator of flexibility.

The utility model adopts following technical scheme:

A kind of swing arm of high-speed parallel manipulator, include initiatively swing arm and the driven swing arm hinged with active swing arm, described driven swing arm is connected and composed by elasticity extension spring by two parallel linkage, two connecting rods are respectively by a tie rod ball and be sheathed on ball head bushing outside tie rod ball and initiatively swing arm ball is hinged, and described active swing arm bilateral symmetry is formed with the spherical-concave-surface matching with described tie rod ball.

Further, described active swing arm includes arm body, and this arm body is hollow structure, and is connected with reinforcement between the two side of arm body hollow space.

Further, described two connecting rods adopt carbon fibre material to make.

Further, described two tie rod balls are articulated with respectively the initiatively spherical-concave-surface place, both sides of swing arm, and two tie rod balls can rotatably be folded in active swing arm therebetween.

Further, described two connecting rod two ends are all formed with connector, each connector both sides has all been symmetrically formed two bails, and described elasticity extension spring two ends are all formed with two hooks that match with connector both sides bail, and two hooks can hook be located on the bail of connector both sides to connect two connecting rods.

Further, be all formed with and be with female screw on described connector, described tie rod ball is formed with threaded screw rod, and described tie rod ball is threadedly connected in the screw of described connector.

Further, described ball head bushing is sheathed between tie rod ball and connecting rod.

From above-mentioned to description of the present utility model, compared with prior art, the beneficial effects of the utility model are: initiatively the arm body of swing arm is hollow structure, and two connecting rods of driven swing arm adopt carbon fibre material to make, can weight reduction, make manipulator more flexible when whipping; Initiatively between the two side of the arm body hollow space of swing arm, be connected with reinforcement, make the intensity of initiatively swing arm better; Two connecting rods of driven swing arm connect by elasticity extension spring, and while two connecting rods are by tie rod ball and ball head bushing and initiatively swing arm ball is hinged, not only relatively rotate flexibility better, and can not deviate from easily, and intensity is higher.

Accompanying drawing explanation

Fig. 1 is the overall structure stereogram of the utility model specific embodiment;

Fig. 2 is the stereogram of the active swing arm of the utility model specific embodiment;

Fig. 3 is the structure chart of the tie rod ball of the utility model specific embodiment;

Fig. 4 is the structure chart of the ball head bushing of the utility model specific embodiment.

In figure: 1. initiatively swing arm, 10, spherical-concave-surface, 11. arm bodies, 12. reinforcements, 2. driven swing arm, 20. connecting rods, 21. elasticity extension springs, 22. connectors, 220. screws, 23. bails, 24. hooks, 3. tie rod ball, 30. screw rods, 4. ball head bushing.

The specific embodiment

Below by the specific embodiment, the utility model will be further described.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the swing arm of a kind of high-speed parallel manipulator of the present utility model, include initiatively swing arm 1 and the driven swing arm 2 hinged with active swing arm 1, described driven swing arm 2 is connected and composed by elasticity extension spring 21 by two parallel linkage 20, two connecting rods 20 are respectively by a tie rod ball 3 and be sheathed on ball head bushing outside tie rod ball 34 and initiatively swing arm 1 ball-joint, and described active swing arm 1 bilateral symmetry is formed with the spherical-concave-surface 10 matching with described tie rod ball 3.

See figures.1.and.2, described active swing arm 1 includes arm body 11, and this arm body 11 is hollow structure, and is connected with reinforcement 12 between the two side of arm body hollow space.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, described two connecting rods 20 adopt carbon fibre material to make.Described two tie rod balls 3 are articulated with respectively initiatively both sides spherical-concave-surface 10 places of swing arm 1, and two tie rod balls 3 can rotatably be folded in active swing arm 1 therebetween.Described two connecting rod 20 two ends are all formed with connector 22, each connector 22 both sides has all been symmetrically formed two bails 23, described elasticity extension spring 21 two ends are all formed with two hook 24, two hooks 24 that match with connector 22 both sides bails and can hook be located on the bail 23 of connector 22 both sides to connect two connecting rods 20.On described connector 22, be all formed with and be with female screw 220, described tie rod ball 3 is formed with threaded screw rod 30, and described tie rod ball 3 is threadedly connected in the screw 220 of described connector 22.Described ball head bushing 4 is sheathed between tie rod ball 3 and connecting rod 20.

Above are only a specific embodiment of the present utility model, but design concept of the present utility model is not limited to this, allly utilizes this design to carry out the change of unsubstantiality to the utility model, all should belong to the behavior of invading the utility model protection domain.

Claims

1. the swing arm of a high-speed parallel manipulator, include initiatively swing arm and the driven swing arm hinged with active swing arm, it is characterized in that: described driven swing arm is connected and composed by elasticity extension spring by two parallel linkage, two connecting rods are respectively by a tie rod ball and be sheathed on ball head bushing outside tie rod ball and initiatively swing arm ball is hinged, and described active swing arm bilateral symmetry is formed with the spherical-concave-surface matching with described tie rod ball.

2. the swing arm of a kind of high-speed parallel manipulator as claimed in claim 1, is characterized in that: described active swing arm includes arm body, and this arm body is hollow structure, and is connected with reinforcement between the two side of arm body hollow space.

3. the swing arm of a kind of high-speed parallel manipulator as claimed in claim 1, is characterized in that: described two connecting rods adopt carbon fibre material to make.

4. the swing arm of a kind of high-speed parallel manipulator as claimed in claim 1, is characterized in that: described two tie rod balls are articulated with respectively the initiatively spherical-concave-surface place, both sides of swing arm, and two tie rod balls can rotatably be folded in active swing arm therebetween.

5. the swing arm of a kind of high-speed parallel manipulator as claimed in claim 1, it is characterized in that: described two connecting rod two ends are all formed with connector, each connector both sides has all been symmetrically formed two bails, described elasticity extension spring two ends are all formed with two hooks that match with connector both sides bail, and two hooks can hook be located on the bail of connector both sides to connect two connecting rods.

6. the swing arm of a kind of high-speed parallel manipulator as claimed in claim 5, it is characterized in that: on described connector, be all formed with and be with female screw, described tie rod ball is formed with threaded screw rod, and described tie rod ball is threadedly connected in the screw of described connector.

7. the swing arm of a kind of high-speed parallel manipulator as claimed in claim 6, is characterized in that: described ball head bushing is sheathed between tie rod ball and connecting rod.