CN205600708U - Teaching parallel robot - Google Patents

Abstract

The utility model discloses a teaching parallel robot, include frame, support arm, quiet platform, linking arm, move platform and manipulator, the frame include chassis, supporting rack and goods shelves, the supporting is set up on the chassis, goods shelves are established on the chassis, goods shelves lie in the right side of supporting rack, the middle part of support arm is fixed in the upper end of supporting rack, and the left end of support arm stretches out the supporting rack, and the left end of supporting arm is fixed with the balancing weight, and the right -hand member of support arm stretches into in the goods shelves, the right -hand member at the support arm is fixed to quiet platform, and is located goods shelves, install servo motor on quiet platform, the upper end of linking arm is connected on servo motor's output shaft, it articulates the lower extreme at the linking arm to move the platform, the manipulator is established on moving the platform. The utility model provides a supporting stable's teaching parallel robot.

Description

A kind of teaching parallel robot

Technical field

This utility model relates to the parallel robot of teaching.

Background technology

Existing Delta parallel manipulator device mostly is large scale industry installations, and when workpiece runs at conveyer belt when, industry Delta parallel manipulator is by image identification quick grabbing workpiece.But the Delta parallel manipulator device of large scale industry all exists, and volume is big, start and require higher, can be used only in ratio in relatively large factory, install and need accurately, to be less beneficial to be generalized to the public places such as each medium or small factory, laboratory and school.

For this, also occur in that now the Delta mechanical hand for teaching, as Chinese Patent Application No. be 201410371341.X filing date 2014.7.30 authorized announcement date be 2014.11.12 patent documentation in disclose a kind of for teaching Delta parallel manipulator, the volume of this mechanical hand is little, but supports and be not sufficiently stable.

Summary of the invention

The purpose of this utility model is to provide the teaching parallel robot of a kind of supporting & stablizing.

For reaching above-mentioned purpose, a kind of teaching parallel robot, including frame, support arm, silent flatform, linking arm, moving platform and mechanical hand；Described frame includes underframe, bearing support and shelf, and bearing support is located on underframe, and shelf are located on underframe, and shelf are positioned at the right side of bearing support；The middle part of support arm is fixed on the upper end of bearing support, and the left end Extension support frame of support arm, the left end of supporting arm is fixed with balancing weight, and the right-hand member of support arm extend in shelf；Silent flatform is fixed on the right-hand member of support arm, and is positioned at shelf；Silent flatform is provided with servomotor；The upper end of linking arm is connected on the output shaft of servomotor；Moving platform is hinged on the lower end of linking arm；Mechanical hand is located on moving platform.

Above-mentioned robot, owing to the left end of support arm has stretched out bearing support, and it is provided with balancing weight, when fixing the parts such as silent flatform at the right-hand member of supporting arm, supporting arm left end portion can play the effect of counterweight, and relative to the middle part of support arm, the dextrorotary trend of support arm is little, make support arm more reliable with fixing of bearing support, improve the stability of support.

Further, the lower section being positioned at mechanical hand in shelf is fixed with loading platform, and loading platform is provided with object out hole.Loading platform is used for loading.

Further, described silent flatform is hexagon, is provided with open slot on the three spaced limits of silent flatform.After being mounted with linking arm, linking arm can swing, and by arranging open slot, can prevent linking arm from interfering with silent flatform when swinging.

Further, the side being positioned at open slot in the bottom of silent flatform is respectively equipped with servomotor, and the both sides being positioned at each servomotor on silent flatform are respectively fixed with aluminum corner brace, and aluminum corner brace is fixing with corresponding servomotor to be connected.Owing to being provided with aluminum corner brace, so, servomotor can not only be fixed, and servomotor is had spacing effect, make fixing of servomotor the most firm.

Further, the output shaft of each servomotor is fixed with linking arm；Described linking arm includes master arm and slave arm, and the upper end of master arm is fixed on the output shaft of servomotor, and master arm is square steel, and on upright position, master arm is corresponding with the position of open slot；At the slave arm that is respectively provided on two sides with of master arm, the upper end of slave arm is hinged on master arm by articulated mounting.By arranging two slave arms, and two slave arms are arranged on the both sides of master arm, and so, the stress of master arm is the most uniform.

Further, described articulated mounting includes adapter sleeve, jointed shaft, axle sleeve, stop collar and nut；Slave arm is fixed on adapter sleeve；Jointed shaft includes pars intermedia and end, and in the end that is respectively arranged at two ends with of pars intermedia, the diameter of pars intermedia is less than the diameter of end, jointed shaft passes adapter sleeve and master arm, axle sleeve is rotatable to be located in adapter sleeve, and pars intermedia extend into the middle part of axle sleeve, end and axle sleeve interference fit；End is positioned at outside adapter sleeve and is provided with nut；Jointed shaft is cased with between master arm and axle sleeve stop collar, jointed shaft is cased with between axle sleeve and nut stop collar.Diameter due to pars intermedia is less than the diameter of end, when installing jointed shaft, the jointed shaft consistent relative to diameter, when pars intermedia of the present utility model is through axle sleeve and master arm, gap is had between pars intermedia and axle sleeve and master arm, reduce friction, jointed shaft is easily installed, be also not easy to damage axle sleeve and master arm.It addition, the diameter of end is big, after being mounted with nut, nut is high with the bonding strength of jointed shaft, connects the most reliable.By arranging stop collar, on the one hand the distance between axle sleeve and master arm can be limited, the distance between nut and axle sleeve can be limited, prevent axle sleeve from contacting with master arm, prevent nut from contacting with axle sleeve, on the other hand, when locking nut, nut extruding stop collar, stop collar extruding axle sleeve, axle sleeve extrudes master arm by stop collar, allow master arm, jointed shaft, axle sleeve, stop collar and nut the most mutually move, it is only that axle sleeve rotates relative to adapter sleeve, so, master arm, jointed shaft, axle sleeve, will not wear and tear between stop collar and nut, the service life of articulated mounting can be improved.

Further, between pars intermedia and end, it is provided with chamfering, to reduce stress concentration, improves the intensity of jointed shaft.

Further, described moving platform includes plate body and the contiguous block being located on plate body, and the quantity of contiguous block is consistent with the quantity of servomotor, and position is corresponding, and contiguous block stretches out plate body, and slave arm is hinged on contiguous block.By arranging contiguous block, facilitate hinged slave arm.

Further, described mechanical hand includes electric rotating machine, connection dish, snubber block, connecting plate, grip block, steering wheel, actively gripping arm, driven gripping arm and connecting rod；Electric rotating machine is fixed on moving platform；Connection dish is welded on the output shaft of electric rotating machine；Grip block includes two, is provided with snubber block at grip block with being connected between dish, through there being bolt on connecting plate, snubber block and grip block；Being formed with slot between two grip blocks, one end of connecting plate is inserted in slot, is provided with screw between grip block and connecting plate；Steering wheel is fixed on connecting plate, and described active gripping arm includes driving gear, actively linking arm and active clamping limb, and driving gear is fixed on the output shaft of steering wheel, and actively linking arm is fixed on driving gear, and actively clamping limb is hinged on active linking arm；Described driven gripping arm includes driven gear, driven linking arm and slave clip gripping arm, and driven gear is articulated on connecting plate, and driven gear is meshed with driving gear, and driven linking arm is fixed on driven gear, and slave clip gripping arm is hinged on driven linking arm；Between connecting plate and active clamping limb, it is hinged with connecting rod, between connecting plate and slave clip gripping arm, is hinged with connecting rod.

Above-mentioned mechanical hand, when electric rotating machine works, and the output shaft band of electric rotating machine is dynamically connected disc spins, and connection dish drives grip block to rotate by snubber block, and grip block drives steering wheel, actively gripping arm and driven gripping arm to rotate by connecting plate.Owing to being provided with snubber block, therefore, the work process of mechanical hand is vibrated little, and when capturing object, the effect of buffering can be played, object is had certain protective effect.When steering wheel works, steering wheel drives driving gear to rotate, and driving gear drives driven gear to rotate, and under the effect of connecting rod, actively clamping limb and slave clip gripping arm can be opened simultaneously or fold, it is achieved the purpose of gripping objects.Owing to being provided with connection dish, accordingly, it is capable to be fixed on reliably on the output shaft of steering wheel by snubber block, owing to defining slot between grip block, accordingly, it is capable to the installation to connecting plate positions, and connecting plate is the most reliable with the connection of grip block.

Further, snubber block has the perforation passed for bolt, is provided with groove in the two opposite sides of snubber block, and the position being positioned at perforation in groove has protuberance；Described grip block includes connecting portion and the clamping part outwards bent from connecting portion, and grip block is L-shaped.Owing to being provided with groove, so, the elastic deformation amount of snubber block can increase, damping effective, it addition, arrange protuberance, the pore wall thickness of through hole can be allowed uniform, will not affect the thickness of hole wall because having opened groove.

Accompanying drawing explanation

Fig. 1 is the axonometric chart of teaching parallel robot.

Fig. 2 is the axonometric chart of the teaching parallel robot removing frame and support arm.

Fig. 3 is another view stereo figure of teaching parallel robot removing frame and support arm.

Fig. 4 is the exploded view of the teaching parallel robot removing frame and support arm.

Fig. 5 is the enlarged drawing of A in Fig. 4.

Fig. 6 is the enlarged drawing of B in Fig. 2.

Fig. 7 is the schematic diagram of snubber block.

Detailed description of the invention

With detailed description of the invention, this utility model is further elaborated below in conjunction with the accompanying drawings.

As it is shown in figure 1, teaching parallel robot includes frame 1, support arm 2, silent flatform 3, linking arm 4, moving platform 5 and mechanical hand 6.

Described frame 1 includes underframe 11, bearing support 12 and shelf 13, and bearing support 12 is located on underframe 11, and shelf 13 are located on underframe 11, and shelf 13 are positioned at the right side of bearing support 12；The lower section being positioned at mechanical hand in shelf 13 is fixed with loading platform 14, and loading platform 14 is provided with object out hole 141.

The middle part of support arm 2 is fixed on the upper end of bearing support 12, the left end Extension support frame 12 of support arm 2, and the left end of supporting arm 2 is fixed with balancing weight (not shown), and the right-hand member of support arm 2 extend in shelf 13.

Silent flatform 3 is fixed on the right-hand member of support arm, and is positioned at shelf 13.As shown in Figure 4, described silent flatform 3 is hexagon, is provided with open slot 31 on the three spaced limits of silent flatform 3.

As shown in Figures 2 to 4, the side being positioned at open slot 31 in the bottom of silent flatform 3 is respectively equipped with servomotor 32, and the both sides being positioned at each servomotor on silent flatform 3 are respectively fixed with aluminum corner brace 33, and aluminum corner brace 33 is fixing with corresponding servomotor 32 to be connected.Owing to being provided with aluminum corner brace 33, so, servomotor 32 can not only be fixed, and servomotor 32 is had spacing effect, make fixing of servomotor 32 the most firm.

As shown in Figures 2 to 4, the output shaft of each servomotor 32 is fixed with linking arm 4.Described linking arm 4 includes master arm 41 and slave arm 42, and the upper end of master arm 41 is fixed on the output shaft of servomotor 32, and master arm 41 is square steel, and on upright position, master arm 41 is corresponding with the position of open slot 31；So, when master arm 41 swings, can prevent master arm 41 from interfering with silent flatform 3 when swinging.

Being respectively provided on two sides with slave arm 42 at master arm 41, the upper end of slave arm 42 is hinged on master arm 41 by articulated mounting 7.

As it is shown in figure 5, described articulated mounting 7 includes adapter sleeve 71, jointed shaft 72, axle sleeve 73, stop collar 74 and nut 75；Slave arm 42 is fixed on adapter sleeve 71；Jointed shaft 72 includes pars intermedia 721 and end 722, it is respectively arranged at two ends with end 722 at pars intermedia 721, the diameter of pars intermedia 721 is less than the diameter of end 722, jointed shaft 72 is through adapter sleeve 71 and master arm 41, axle sleeve 73 is rotatable to be located in adapter sleeve 71, pars intermedia 721 extend into the middle part of axle sleeve 73, end 722 and axle sleeve 73 interference fit；End 722 is positioned at outside adapter sleeve 71 and is provided with nut 75；Jointed shaft 72 is cased with between master arm 41 and axle sleeve 73 stop collar 74, jointed shaft 72 is cased with stop collar between axle sleeve 73 and nut 75.

Diameter due to pars intermedia 721 is less than the diameter of end 722, when installing jointed shaft 72, the jointed shaft consistent relative to diameter, when pars intermedia 721 of the present utility model is through axle sleeve 73 and master arm 41, gap is had between pars intermedia 721 and axle sleeve 73 and master arm 41, reduce friction, jointed shaft 72 is easily installed, be also not easy to damage axle sleeve 73 and master arm 41.It addition, the diameter of end 722 is big, after being mounted with nut 75, nut 75 is high with the bonding strength of jointed shaft 72, connects the most reliable.By arranging stop collar 74, on the one hand the distance between axle sleeve 73 and master arm 41 can be limited, the distance between nut 75 and axle sleeve 73 can be limited, prevent axle sleeve 73 from contacting with master arm 41, prevent nut 75 from contacting with axle sleeve 73, on the other hand, when locking nut 75, nut 74 extrudes stop collar 74, stop collar 74 extrudes axle sleeve 73, axle sleeve 73 extrudes master arm 41 by stop collar, allow master arm 41, jointed shaft 72, axle sleeve 73, stop collar 74 and nut 75 the most mutually move, it is only that axle sleeve 73 rotates relative to adapter sleeve 71, so, master arm 41, jointed shaft 72, axle sleeve 73, will not wear and tear between stop collar 74 and nut 75, the service life of articulated mounting can be improved.

As it is shown in figure 5, be provided with chamfering between pars intermedia 721 and end 722, reduce stress and concentrate, improve the intensity of jointed shaft.

Described moving platform 5 includes plate body 51 and the contiguous block 52 being located on plate body 51, and the quantity of contiguous block 52 is consistent with the quantity of servomotor 32, and position is corresponding, and contiguous block 52 stretches out plate body 51, and slave arm 42 is hinged on contiguous block 42 by articulated mounting.By arranging contiguous block 52, facilitate hinged slave arm 42.

As shown in Figure 6, described mechanical hand 6 includes electric rotating machine 61, connection dish 62, snubber block 63, connecting plate 65, grip block 64, steering wheel 66, actively gripping arm, driven gripping arm and connecting rod 69；Electric rotating machine 61 is fixed on moving platform；Connection dish 62 is welded on the output shaft of electric rotating machine 61；Grip block 64 includes two, is provided with snubber block 63 at grip block 64 with being connected between dish 62, through there being bolt 610 on connecting plate 65, snubber block 63 and grip block 64；Being formed with slot between two grip blocks 64, one end of connecting plate 65 is inserted in slot, is provided with screw between grip block 64 and connecting plate 65；Steering wheel 66 is fixed on connecting plate 65, described active gripping arm includes driving gear 671, actively linking arm 672 and active clamping limb 673, driving gear 671 is fixed on the output shaft of steering wheel 66, actively linking arm 672 is fixed on driving gear 671, and actively clamping limb 673 is hinged on active linking arm 672；Described driven gripping arm includes driven gear 681, driven linking arm 682 and slave clip gripping arm 683, driven gear 681 is articulated on connecting plate 65, driven gear 681 is meshed with driving gear 671, driven linking arm 682 is fixed on driven gear 681, and slave clip gripping arm 683 is hinged on driven linking arm 682；Between connecting plate 65 and active clamping limb 673, it is hinged with connecting rod 69, between connecting plate 65 and slave clip gripping arm 683, is hinged with connecting rod 69.

Above-mentioned mechanical hand 6, when electric rotating machine 61 works, the output shaft band of electric rotating machine 61 dish 62 that is dynamically connected rotates, and connection dish 62 drives grip block 64 to rotate by snubber block 63, and grip block 64 drives steering wheel 66, actively gripping arm and driven gripping arm to rotate by connecting plate 65.Owing to being provided with snubber block 63, therefore, the work process of mechanical hand 6 is vibrated little, and when capturing object, the effect of buffering can be played, object is had certain protective effect.When steering wheel 66 works, steering wheel 66 drives driving gear 671 to rotate, and driving gear 671 drives driven gear 681 to rotate, and under the effect of connecting rod 69, actively clamping limb 673 and slave clip gripping arm 683 can be opened simultaneously or fold, it is achieved the purpose of gripping objects.Owing to being provided with connection dish 62, accordingly, it is capable to snubber block 63 is fixed on the output shaft of steering wheel 66 reliably, owing to defining slot between grip block 64, accordingly, it is capable to the installation to connecting plate 65 positions, and connecting plate 65 is the most reliable with the connection of grip block 64.

As it is shown in fig. 7, snubber block 63 has the perforation 631 passed for bolt 610, being provided with groove 632 in the two opposite sides of snubber block 63, the position being positioned at perforation 631 in groove 632 has protuberance 633；Described grip block 64 includes connecting portion and the clamping part outwards bent from connecting portion, and grip block 64 is L-shaped.Owing to being provided with groove 632, so, the elastic deformation amount of snubber block 63 can increase, damping effective, it addition, arrange protuberance 633, the pore wall thickness of through hole can be allowed uniform, will not affect the thickness of hole wall because having opened groove.

Claims (10)

1.A kind of teaching parallel robot, it is characterised in that: include frame, support arm, silent flatform, linking arm, moving platform and mechanical hand；Described frame includes underframe, bearing support and shelf, and bearing support is located on underframe, and shelf are located on underframe, and shelf are positioned at the right side of bearing support；The middle part of support arm is fixed on the upper end of bearing support, and the left end Extension support frame of support arm, the left end of supporting arm is fixed with balancing weight, and the right-hand member of support arm extend in shelf；Silent flatform is fixed on the right-hand member of support arm, and is positioned at shelf；Silent flatform is provided with servomotor；The upper end of linking arm is connected on the output shaft of servomotor；Moving platform is hinged on the lower end of linking arm；Mechanical hand is located on moving platform.

2.According to claim 1 Described teaching parallel robot, it is characterised in that: the lower section being positioned at mechanical hand in shelf is fixed with loading platform, and loading platform is provided with object out hole.

3.According to claim 1 Described teaching parallel robot, it is characterised in that: described silent flatform is hexagon, is provided with open slot on the three spaced limits of silent flatform.

4.According to claim 3 Described teaching parallel robot, it is characterised in that: the side being positioned at open slot in the bottom of silent flatform is respectively equipped with servomotor, and the both sides being positioned at each servomotor on silent flatform are respectively fixed with aluminum corner brace, and aluminum corner brace is fixing with corresponding servomotor to be connected.

5.According to claim 4 Described teaching parallel robot, it is characterised in that: on the output shaft of each servomotor, it is fixed with linking arm；Described linking arm includes master arm and slave arm, and the upper end of master arm is fixed on the output shaft of servomotor, and master arm is square steel, and on upright position, master arm is corresponding with the position of open slot；At the slave arm that is respectively provided on two sides with of master arm, the upper end of slave arm is hinged on master arm by articulated mounting.

6.According to claim 5 Described teaching parallel robot, it is characterised in that: described articulated mounting includes adapter sleeve, jointed shaft, axle sleeve, stop collar and nut；Slave arm is fixed on adapter sleeve；Jointed shaft includes pars intermedia and end, and in the end that is respectively arranged at two ends with of pars intermedia, the diameter of pars intermedia is less than the diameter of end, jointed shaft passes adapter sleeve and master arm, axle sleeve is rotatable to be located in adapter sleeve, and pars intermedia extend into the middle part of axle sleeve, end and axle sleeve interference fit；End is positioned at outside adapter sleeve and is provided with nut；Jointed shaft is cased with between master arm and axle sleeve stop collar, jointed shaft is cased with between axle sleeve and nut stop collar.

7.According to claim 6 Described teaching parallel robot, it is characterised in that: between pars intermedia and end, it is provided with chamfering.

8.Just according to claim 5 Described teaching parallel robot, it is characterised in that: described moving platform includes plate body and the contiguous block being located on plate body, and the quantity of contiguous block is consistent with the quantity of servomotor, and position is corresponding, and contiguous block stretches out plate body, and slave arm is hinged on contiguous block.

9.According to claim 1 Described teaching parallel robot, it is characterised in that: described mechanical hand includes electric rotating machine, connection dish, snubber block, connecting plate, grip block, steering wheel, actively gripping arm, driven gripping arm and connecting rod；Electric rotating machine is fixed on moving platform；Connection dish is welded on the output shaft of electric rotating machine；Grip block includes two, is provided with snubber block at grip block with being connected between dish, through there being bolt on connecting plate, snubber block and grip block；Being formed with slot between two grip blocks, one end of connecting plate is inserted in slot, is provided with screw between grip block and connecting plate；Steering wheel is fixed on connecting plate, and described active gripping arm includes driving gear, actively linking arm and active clamping limb, and driving gear is fixed on the output shaft of steering wheel, and actively linking arm is fixed on driving gear, and actively clamping limb is hinged on active linking arm；Described driven gripping arm includes driven gear, driven linking arm and slave clip gripping arm, and driven gear is articulated on connecting plate, and driven gear is meshed with driving gear, and driven linking arm is fixed on driven gear, and slave clip gripping arm is hinged on driven linking arm；Between connecting plate and active clamping limb, it is hinged with connecting rod, between connecting plate and slave clip gripping arm, is hinged with connecting rod.

10.According to claim 9 Described teaching parallel robot, it is characterised in that: snubber block has the perforation passed for bolt, is provided with groove in the two opposite sides of snubber block, and the position being positioned at perforation in groove has protuberance；Described grip block includes connecting portion and the clamping part outwards bent from connecting portion, grip block in L Type.