CN207139839U - A kind of wear-resisting attachment means for robot slave arm - Google Patents
A kind of wear-resisting attachment means for robot slave arm Download PDFInfo
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- CN207139839U CN207139839U CN201721108647.1U CN201721108647U CN207139839U CN 207139839 U CN207139839 U CN 207139839U CN 201721108647 U CN201721108647 U CN 201721108647U CN 207139839 U CN207139839 U CN 207139839U
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- wear
- ball
- attachment means
- slave arm
- bowl
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Abstract
The utility model provides a kind of wear-resisting attachment means for robot slave arm, including two ball cups, and it is respectively arranged in the same side end of two connecting rods；Each ball cup is removably connected with a wear-resistant ball bowl, and each wear-resistant ball bowl is hinged with a ball pin to be coordinated；A hook axle is mounted on each ball cup, and is provided with anti-wear sleeve between the two；Two spring hook racks, each spring hook rack mounts with a hook axle, and is provided with elastic component between two spring hook racks.Wear-resisting attachment means described in the utility model for robot slave arm, while wear-resistant ball bowl can realize that bearing can achieve the effect that, maintenance cost is greatly reduced, improves dependable with function of the present utility model.Anti-wear sleeve not only reduces the maintenance cost and frequency of maintenance of the utility model or even robot entirety, while also robot can be helped to realize long-time quick acting.
Description
Technical field
The utility model belongs to robotic technology field, more particularly, to a kind of attachment means.
Background technology
In light industries such as food, medicine and electronic products, there is the technology contents such as substantial amounts of sorting, pickup are relatively low
Repetitive operation.With the continuous development of robot technology, some producers begin attempt to be substituted with parallel robot and manually gone
Complete above-mentioned work.
Existing parallel robot includes silent flatform, motor, master arm, slave arm, middle rotary shaft and moving platform.Due to
The gradual maturation of control system, existing slave arm translational speed is up to 120 beats/min.And high degree of motion can then aggravate significantly
Abrasion between the parts that robot is connected with each other, the wherein attachment structure between slave arm and moving platform and slave arm and master
Bindiny mechanism's abrasion between swing arm is the most serious.Prior art mitigates above-mentioned two bindiny mechanism using imported bearing
Abrasion, even if being imported bearing, its effective service life is also not satisfactory, and the cost of imported bearing is higher, if for a long time
The practicality overall using parallel robot can be reduced.
Utility model content
In view of this, the utility model is directed to a kind of wear-resisting attachment means for robot slave arm, to solve
In the prior art, due to the high-speed motion of slave arm, cause to wear at its attachment structure more serious, maintenance cost is higher to ask
Topic.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of wear-resisting attachment means for robot slave arm, including two ball cups, it is respectively arranged in two companies
The same side end of bar；Each ball cup is removably connected with a wear-resistant ball bowl, and each wear-resistant ball bowl is hinged with a ball pin
Coordinate；A hook axle is mounted on each ball cup, and is provided with anti-wear sleeve between the two；Two spring hook racks, each
Spring hook rack mounts with a hook axle, and is provided with elastic component between two spring hook racks.
Further, the ball cup is provided with ball bowl slot, and the madial wall outer of ball bowl slot is additionally provided with limited ring groove；Institute
Stating wear-resistant ball bowl includes being plugged in ball bowl main body inside ball bowl slot, and one end of the cylindrical side wall of ball bowl main body is additionally provided with spacing
Edge, spacing edge coordinate with limited ring groove grafting；Ball bowl main body is provided with the bowl-shape hinge hole of insertion, and the larger of bowl-shape hinge hole is opened
Mouth is placed in one end provided with spacing edge.
Further, the ball bowl slot on two ball cups is oppositely arranged.
Further, the hook axle extends radially through ball cup along the ball cup, in each cylindrical side wall for linking up with axle
One group of hanging groove is respectively equipped with close to the position at both ends, and hanging groove is located at the outside of ball cup；Each spring hook rack is provided with
Two spring carrier arms, each spring carrier arm coordinate with one group of hanging groove mounting respectively.
Further, the anti-wear sleeve shares two, and each anti-wear sleeve includes axle sleeve main body and outside axle sleeve main body
The wear-resisting back-up ring of circle side wall ends；Axle sleeve main body is set on the hook axle, and wear-resisting back-up ring is located at the spring carrier arm and ball
Between headstock.
Further, each spring hook rack also includes a connecting plate, connecting plate be located between two spring carrier arms and
Three is affixed；Each connecting plate is provided with installation journal stirrup, and installation journal stirrup is provided with the connection through hole for elastic component mounting.
Further, two installation journal stirrups are equipped with each connecting plate, each journal stirrup of installing is provided with one
The connection through hole.
Further, the elastic component shares two, and elastic component is extension spring.
Further, the material of the wear-resistant ball bowl and anti-wear sleeve is Teflon.
Relative to prior art, the wear-resisting attachment means described in the utility model for robot slave arm have following
Advantage：
Wear-resisting attachment means described in the utility model for robot slave arm, safeguard simple and convenient, service life
It is long.Imported bearing of the prior art is substituted by wear-resistant ball bowl made of Teflon, because material price is cheap, parts knot
Structure is simple and material self-lubricating property in itself, while can realize that bearing can achieve the effect that, greatly reduces dimension
Cost is protected, improves dependable with function of the present utility model., can be by robot by anti-wear sleeve made of Teflon
Abrasion caused by running is transferred on lower-cost anti-wear sleeve from the higher parts of manufacturing cost, is not only dropped
Low the utility model or even robot overall maintenance cost and frequency of maintenance, while when can also help the robot to realize long
Between quick acting.
Brief description of the drawings
Form a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The schematic description and description of type is used to explain the utility model, does not form to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is to be used for the wear-resisting attachment means of robot slave arm and facing upward for moving platform described in the utility model embodiment
Line of vision axonometric drawing；
Fig. 2 is the enlarged drawing of I parts in Fig. 1；
Fig. 3 is that I parts remove the enlarged drawing after ball pin and wear-resistant ball bowl in Fig. 1；
Fig. 4 is the enlarged drawing of II parts in Fig. 1；
Fig. 5 is that II parts remove the enlarged drawing after spring carrier arm in Fig. 1；
Fig. 6 is the left view of the wear-resisting attachment means for robot slave arm described in the utility model embodiment to section view
Figure；
Fig. 7 is the main view of the wear-resisting attachment means for robot slave arm described in the utility model embodiment to section view
Figure.
Description of reference numerals：
1- connecting rods；2- ball cups；201- limited ring grooves；202- ball bowl slots；3- moving platforms；4- ball pins；5- spring hook racks；
501- spring carrier arms；502- connection through holes；503- connecting plates；5031- installs journal stirrup；6- links up with axle；601- hanging grooves；7- elasticity
Part；8- anti-wear sleeves；The wear-resisting back-up rings of 801-；802- axle sleeve main bodys；9- wear-resistant ball bowls；901- ball bowl main bodys；The spacing edges of 902-；
The bowl-shape hinge holes of 903-.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Such as Fig. 1, the utility model proposes a kind of wear-resisting attachment means for robot slave arm, including two ball cups
2, it is respectively arranged in the same side end of two connecting rods 1；Each ball cup 2 is removably connected with a wear-resistant ball bowl 9, Mei Genai
Abrading-ball bowl 9 is hinged with a ball pin 4 to be coordinated；A hook axle 6 is mounted on each ball cup 2, and is provided between the two
Anti-wear sleeve 8；Two spring hook racks 5, each spring hook rack 5 mount with a hook axle 6, and between two spring hook racks 5
Elastic component 7 is installed.
Fig. 1, the attachment structure that 2 shown parts are connecting rod 1 (slave arm) and moving platform 3, ball pin 4 are fixed on moving platform 3.
And connecting rod 1 and mode shown in the attachment structure and Fig. 1 of master arm are similar, ball pin 4 is fixed on master arm.
Above-mentioned ball cup 2 is provided with ball bowl slot 202, and the madial wall outer of ball bowl slot 202 is additionally provided with limited ring groove
201；Above-mentioned wear-resistant ball bowl 9 includes being plugged in the ball bowl main body 901 inside ball bowl slot 202,901 cylindrical side wall of ball bowl main body
One end be additionally provided with it is spacing along 902, it is spacing to coordinate along 902 and the grafting of limited ring groove 201；Ball bowl main body 901 is provided with the bowl of insertion
Shape hinge hole 903 (to coordinate with the bulb hinged of ball pin 4), the larger open of bowl-shape hinge hole 903 is placed in provided with spacing edge
902 one end.As shown in Figure 3 and 7, it is spacing to be engaged along 902 and limited ring groove 201, wear-resistant ball bowl 9 and ball cup can be ensured
Relative position between 2.Avoid when ball pin 4 and wear-resistant ball bowl 9 are hinged and coordinated, wear-resistant ball bowl 9 is pressed into the inside of ball cup 2
And fail.
Ball bowl slot 202 on two above-mentioned ball cups 2 is oppositely arranged.As shown in figure 1, two ball pins 4 on moving platform 3
Bulb part it is in opposite direction.When ball cup 2 and ball pin 4 are hinged, it need to ensure that two ball cups 2 are located at two ball pins 4 respectively
The outside side of moving platform 3 (deviate from), and two ball cups 2 are tensed by elastic component 7, ensure two ball cups 2 and two
Ball pin 4 is reliably hinged.
Such as Fig. 4, above-mentioned hook axle 6 extends radially through ball cup 2 along above-mentioned ball cup 2, each cylindrical side wall for linking up with axle 6
The upper position close to both ends is respectively equipped with one group of hanging groove 601, and hanging groove 601 is located at the outside of ball cup 2；Each above-mentioned spring
Frame 5 is provided with two spring carrier arms 501, and each spring carrier arm 501 coordinates with one group of mounting of hanging groove 601 respectively.The structure causes
It will not be relatively rotated between spring carrier arm 501 and hook axle 6, avoid mutual abrasion between the two, improved non-easy
Damage the service life of part.
Above-mentioned anti-wear sleeve 8 shares two, and each anti-wear sleeve 8 includes axle sleeve main body 802 and outside axle sleeve main body 802
The wear-resisting back-up ring 801 of circle side wall ends；Axle sleeve main body 802 is set on above-mentioned hook axle 6, and wear-resisting back-up ring 801 is located at above-mentioned bullet
Between spring hook 501 and ball cup 2.Two anti-wear sleeves 8 are consumable accessory, when hook axle 6 relatively rotates with ball cup 2
When, axle sleeve main body 802 plays a part of bearing.The effect of wear-resisting back-up ring 801 has two, one is for fixed hub main body
802 position, make its all the time in ball cup 2 (accurately says be for linking up with the through hole that passes through of axle 6 on ball cup 2 and connecting rod 1,
As shown in Figure 6) between hook axle 6；The second is in motion process, avoid directly contacting between spring carrier arm 501 and ball cup 2
Rub and produce more serious abrasion, improve the service life of two non-easy worn parts.
Such as Fig. 5, each above-mentioned spring hook rack 5 also includes a connecting plate 503, and connecting plate 503 is located at two spring carrier arms
Between 501 and three is affixed；Each connecting plate 503 is provided with installation journal stirrup 5031, and installation journal stirrup 5031, which is provided with, supplies elastic component 7
The connection through hole 502 of mounting.Two above-mentioned installation journal stirrups 5031 are equipped with each above-mentioned connecting plate 503, journal stirrup is each installed
5031 are provided with an above-mentioned connection through hole 502.Above-mentioned elastic component 7 shares two, and elastic component 7 is extension spring.
The material of above-mentioned wear-resistant ball bowl 9 and anti-wear sleeve 8 is Teflon.Teflon has the characteristics of Wear-resistant, high-temperature resistant,
Simultaneously when between the parts for two relative motions, also there is lubrication, reduce further the utility model
Maintenance cost.
Above-mentioned connecting rod 1 is carbon fiber pipe.Carbon fiber pipe has intensity height, long lifespan, corrosion-resistant, light weight, low-density etc.
Advantage, working environment severe robot fast especially suitable for movement velocity.
Wear-resistant ball bowl 9 and anti-wear sleeve 8 in the utility model are consumable accessory, after using a period of time, are pulled outwardly
A spring hook rack 5 in dynamic the utility model, makes it depart from the hook axle 6 being connected, you can to tear connecting rod 1 and ball cup 2 open
Under.Wear-resistant ball bowl 9 on ball cup 2 and anti-wear sleeve 8 are pulled down changed respectively, after replacing, then recovery is installed i.e.
It can be continuing with.
Wear-resisting attachment means described in the utility model for robot slave arm, safeguard simple and convenient, service life
It is long.Imported bearing of the prior art is substituted by wear-resistant ball bowl 9 made of Teflon, because material price is cheap, parts
The self-lubricating property of simple in construction and material in itself, while can realize that bearing can achieve the effect that, greatly reduce
Maintenance cost, improve dependable with function of the present utility model., can be by machine by anti-wear sleeve 8 made of Teflon
Abrasion caused by device people's running is transferred on lower-cost anti-wear sleeve 8 from the higher parts of manufacturing cost,
The maintenance cost and frequency of maintenance of the utility model or even robot entirety are not only reduced, while can also help robot real
Now long-time quick acting.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (9)
- A kind of 1. wear-resisting attachment means for robot slave arm, it is characterised in that including：Two ball cups (2), it is respectively arranged in the same side end of two connecting rods (1)；Each ball cup (2) is removably connected with One wear-resistant ball bowl (9), each wear-resistant ball bowl (9) is hinged with a ball pin (4) to be coordinated；It is respectively mounted on each ball cup (2) There is a hook axle (6), and be provided with anti-wear sleeve (8) between the two；Two spring hook racks (5), each spring hook rack (5) mount with a hook axle (6), and two spring hook racks (5) it Between elastic component (7) is installed.
- 2. the wear-resisting attachment means according to claim 1 for robot slave arm, it is characterised in that：The ball cup (2) ball bowl slot (202) is provided with, the madial wall outer of ball bowl slot (202) is additionally provided with limited ring groove (201)；The wear-resistant ball bowl (9) includes being plugged in the internal ball bowl main body (901) of ball bowl slot (202), and ball bowl main body (901) is outside One end of circle side wall is additionally provided with spacing edge (902), and spacing edge (902) coordinates with limited ring groove (201) grafting；Ball bowl main body (901) is provided with the bowl-shape hinge hole (903) of insertion, and the larger open of bowl-shape hinge hole (903), which is placed in, to be set The one end of limited location along (902).
- 3. the wear-resisting attachment means according to claim 2 for robot slave arm, it is characterised in that：Two balls Ball bowl slot (202) on headstock (2) is oppositely arranged.
- 4. the wear-resisting attachment means for robot slave arm according to claim any one of 1-3, it is characterised in that：Institute State hook axle (6) and extend radially through ball cup (2) along the ball cup (2), each link up with the cylindrical side wall of axle (6) close to two The position at end is respectively equipped with one group of hanging groove (601), and hanging groove (601) is located at the outside of ball cup (2)；Each spring hook rack (5) is provided with two spring carrier arms (501), each spring carrier arm (501) respectively with one group of extension Groove (601) mounting coordinates.
- 5. the wear-resisting attachment means according to claim 4 for robot slave arm, it is characterised in that：The wear-resisting shaft Set (8) shares two, and each anti-wear sleeve (8) includes axle sleeve main body (802) and located at axle sleeve main body (802) cylindrical side wall ends Wear-resisting back-up ring (801)；Axle sleeve main body (802) is set on the hook axle (6), and wear-resisting back-up ring (801) is located at the spring Link up between (501) and ball cup (2).
- 6. the wear-resisting attachment means according to claim 4 for robot slave arm, it is characterised in that：Each bullet Spring hook rack (5) also includes a connecting plate (503), and connecting plate (503) is between two spring carrier arms (501) and three consolidates Connect；Each connecting plate (503) is provided with installation journal stirrup (5031), and installation journal stirrup (5031) is provided with for elastic component (7) mounting Connect through hole (502).
- 7. the wear-resisting attachment means according to claim 6 for robot slave arm, it is characterised in that：Each company Two installation journal stirrups (5031) are equipped with fishplate bar (503), journal stirrup (5031) is each installed and is provided with a connection Through hole (502).
- 8. the wear-resisting attachment means according to claim 7 for robot slave arm, it is characterised in that：The elastic component (7) two are shared, and elastic component (7) is extension spring.
- 9. the wear-resisting attachment means according to claim 1 for robot slave arm, it is characterised in that：The wear-resistant ball The material of bowl (9) and anti-wear sleeve (8) is Teflon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721108647.1U CN207139839U (en) | 2017-08-31 | 2017-08-31 | A kind of wear-resisting attachment means for robot slave arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721108647.1U CN207139839U (en) | 2017-08-31 | 2017-08-31 | A kind of wear-resisting attachment means for robot slave arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207139839U true CN207139839U (en) | 2018-03-27 |
Family
ID=61669415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721108647.1U Active CN207139839U (en) | 2017-08-31 | 2017-08-31 | A kind of wear-resisting attachment means for robot slave arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207139839U (en) |
-
2017
- 2017-08-31 CN CN201721108647.1U patent/CN207139839U/en active Active
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