CN209850909U - Parallel robot initiative arm installation detection device - Google Patents
Parallel robot initiative arm installation detection device Download PDFInfo
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- CN209850909U CN209850909U CN201822238912.9U CN201822238912U CN209850909U CN 209850909 U CN209850909 U CN 209850909U CN 201822238912 U CN201822238912 U CN 201822238912U CN 209850909 U CN209850909 U CN 209850909U
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- ball
- ball joint
- mounting groove
- joint
- parallel robot
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Abstract
The utility model provides a parallel robot initiative arm installation detection device, including horizontal fixed baseplate and the detection portion that sets up the relative parallelism of the drive pivot line that is used for detecting the terminal bulb joint central line coincidence and bulb joint central line of installing of initiative arm and initiative arm front end on horizontal fixed baseplate. Parallel robot initiative arm installation detection device can realize the vice simulation installation of initiative arm and bulb, can detect out the coincidence and the parallel of axis fast again to guarantee parallel robot's stable performance.
Description
Technical Field
The utility model belongs to the check out test set field especially relates to a parallel robot initiative arm installation detection device.
Background
The cooperative motion of the multiple driving arms is not only an important characteristic of the structure of the parallel robot, but also a key structure for realizing high speed and high precision of the robot. In the overall structure of the parallel robot, ball head pairs are respectively installed on two sides of the tail end of a driving arm, the coincidence of the central line of the installed ball head pairs and the relative parallel of the driving rotating axis of the driving arm are key conditions for guaranteeing the motion stability, the motion speed and the precision of the parallel robot, and whether the parallel conditions are met or not can not be accurately detected due to the ball head structure of the ball head pairs, so that the detection device for installing the driving arm and the ball head pairs is developed, and the stable performance of the parallel robot is guaranteed.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a parallel robot initiative arm installation detection device, can realize the vice simulation installation of initiative arm and bulb, can detect out the coincidence and the parallelism of axis again fast.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
the device comprises a horizontal fixing base and a detection part which is arranged on the horizontal fixing base and used for detecting the coincidence of a ball joint center line arranged at the tail end of the driving arm and the relative parallelism of the ball joint center line and a driving rotating shaft line at the front end of the driving arm.
Further, the detection part comprises a slide rail vertically arranged on the horizontal fixed base, a slide block arranged on the slide rail in a sliding manner, an axial pressing seat fixedly arranged on the slide block and a fixing mechanism arranged on the horizontal fixed base and used for fixing the driving arm; the lower surface of the axial pressing seat is provided with an upper mounting groove for placing an upper ball joint, the upper surface of the horizontal fixing base is provided with a lower mounting groove which is opposite to the upper mounting groove and used for placing a lower ball joint, and the center of the upper mounting groove is opposite to the center of the lower mounting groove; the upper ball joint and the lower ball joint are respectively inserted into the mounting holes of the driving arm so as to detect the coincidence of the center lines of the upper ball joint and the lower ball joint.
Further, the upper ball joint comprises an upper ball column and an upper joint shaft ball sleeve sleeved on the upper ball column, and the lower ball joint comprises a lower ball column and a lower joint shaft ball sleeve sleeved on the lower ball column; the upper ball head column and the lower ball head column are further respectively inserted into two sides of the mounting hole, and the upper joint shaft ball sleeve and the lower joint shaft ball sleeve are respectively arranged in the upper mounting groove and the lower mounting groove.
Furthermore, a vertical fixing base which is perpendicular to the horizontal fixing base is fixedly arranged on the horizontal fixing base, and the sliding rail is arranged on the vertical fixing base.
Furthermore, the fixing mechanism is a positioning boss which is arranged on the upper surface of the horizontal fixing base and used for fixing the driving shaft end of the driving arm.
The positioning boss is provided with a round hole, and the driving shaft of the driving arm is inserted into the round hole of the positioning boss.
Compared with the prior art, parallel robot initiative arm installation detection device have following advantage:
(1) parallel robot initiative arm installation detection device include horizontal fixed baseplate and be used for detecting the bulb joint central line coincidence of the terminal installation of initiative arm and with the detection portion of the relative parallelism of the drive axis of initiative arm front end, whether can effectual inspection initiative arm be qualified, guarantee parallel robot motion stability, velocity of movement and precision, whether accurate detection its parallel condition satisfies.
(2) Detection portion include slide rail, slider and axial pressure seat, wherein the axial is equipped with the mounting groove on pressing the seat, be equipped with on the horizontal fixed baseplate just to the lower mounting groove of last mounting groove, and the center of going up the mounting groove just to the center of mounting groove down. During detection, the upper ball joint and the lower ball joint are respectively inserted into the mounting hole at the tail end of the driving arm, and the lower ball joint is arranged in the lower mounting groove; the sliding block is moved downwards, the axial pressing seat is made to be close to the upper ball joint downwards, if the upper mounting groove cannot press the upper ball joint, or the lower mounting groove cannot be perfectly matched with the lower ball joint, the fact that the axes of the upper ball joint and the lower ball joint of the driving arm to be detected are not collinear or the axes are collinear but not parallel to the driving rotating axis is indicated, namely the mounting assembly of the driving arm to be detected is unqualified; on the contrary, the upper mounting groove and the lower mounting groove are respectively and completely matched with the upper ball joint and the lower ball joint, and the product is qualified. The detection part has simple structure, convenient operation and easy identification of detection results.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a schematic structural diagram of a device for detecting the installation of a driving arm of a parallel robot according to an embodiment of the present invention;
fig. 2 is a top view of a device for detecting the installation of the driving arm of the parallel robot according to the embodiment of the present invention;
fig. 3 is a B-B sectional view of the detecting device for mounting the driving arm of the parallel robot according to the embodiment of the present invention.
Description of reference numerals:
1-a horizontal fixed base; 11-positioning the boss; 12-lower mounting groove; 2-vertical fixed base; 3-a slide rail; 4-a slide block; 5-axial pressing seat; 51-mounting an upper mounting groove; 6-the driving arm; 61-drive shaft end; 62-mounting holes; 7-mounting a ball head column; 8-upper joint ball sleeve; 9-lower ball stud; 10-lower joint axis ball sleeve.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The device for detecting the installation of the driving arm of the parallel robot comprises a horizontal fixing base 1 and a detection part which is arranged on the horizontal fixing base 1 and used for detecting the coincidence of a ball joint center line installed at the tail end of the driving arm 6 and the relative parallelism of the ball joint center line and a driving rotating shaft line at the front end of the driving arm 6.
Illustratively, the detection part comprises a slide rail 3 vertically arranged on the horizontal fixed base 1, a slide block 4 slidably arranged on the slide rail 3, an axial pressing seat 5 fixedly arranged on the slide block 4, and a fixing mechanism arranged on the horizontal fixed base 1 and used for fixing the driving arm 6; the lower surface of the axial pressing seat 5 is provided with an upper mounting groove 51 for placing an upper ball joint, the upper surface of the horizontal fixing base 1 is provided with a lower mounting groove 12 which is opposite to the upper mounting groove 51 and used for placing a lower ball joint, and the center of the upper mounting groove 51 is opposite to the center of the lower mounting groove 12; the upper ball joint and the lower ball joint are respectively inserted into the mounting hole 62 of the driving arm 6 to detect the coincidence of the center lines of the upper ball joint and the lower ball joint.
Illustratively, the upper ball joint comprises an upper ball stud 7 and an upper joint axle ball sleeve 8 sleeved on the upper ball stud 7, and the lower ball joint comprises a lower ball stud 9 and a lower joint axle ball sleeve 10 sleeved on the lower ball stud 9; the upper ball stud 7 and the lower ball stud 9 are further respectively inserted into two sides of the mounting hole 62, and the upper joint shaft ball sleeve 8 and the lower joint shaft ball sleeve 10 are respectively arranged in the upper mounting groove 51 and the lower mounting groove 12.
Preferably, a vertical fixing base 2 perpendicular to the horizontal fixing base 1 is fixedly arranged on the horizontal fixing base 1, and the sliding rail 3 is arranged on the vertical fixing base 2.
Illustratively, the fixing mechanism is a positioning boss 11 provided on the upper surface of the horizontal fixing base 1 and used for fixing the driving shaft end 61 of the driving arm 6.
Specifically, a round hole is formed in the positioning boss 11, and the driving shaft of the driving arm 6 is inserted into the round hole of the positioning boss 11.
The following description is made in principle with reference to the above embodiments:
when the utility model is used for detection, the driving shaft of the driving arm 6 is firstly installed on the positioning boss 11, then the upper ball joint and the lower ball joint are respectively inserted into the installation hole 62 at the tail end of the driving arm 6, and the lower ball joint is arranged in the lower installation groove 12; then, the sliding block 4 is moved downwards, the axial pressing seat 5 is made to be close to the upper ball joint downwards, if the upper mounting groove 51 cannot press the upper ball joint, or the lower mounting groove 12 cannot be perfectly matched with the lower ball joint, it is indicated that the axes of the upper ball joint and the lower ball joint of the driving arm to be detected are not collinear, or the axes are collinear but are not parallel to the driving rotating axis, namely the mounting assembly of the driving arm to be detected is unqualified in mounting; on the contrary, the upper mounting groove 51 and the lower mounting groove 12 are completely matched with the upper ball joint and the lower ball joint respectively, and the product is qualified. The detection device can be used for detecting the coincidence of the center line of the ball joint arranged at the tail end of the driving arm and the relative parallelism of the center line and the driving rotating axis at the front end of the driving arm, so that the motion stability, the motion speed and the motion precision of the parallel robot are ensured, and whether the parallel condition is met or not is accurately detected; the detection part has simple structure, convenient operation and easy identification of detection results.
When the driving arm 6 is installed in a simulated mode, the lower ball joint is stably placed in the lower installation groove 12, or the upper ball joint is stably fixed in the upper installation groove 51, the sliding block 4 slides downwards, and if the upper ball column 7 and/or the lower ball column 9 cannot be aligned with the installation hole 62 of the driving arm 6, the driving arm 6 is unqualified to process.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a parallel robot initiative arm installation detection device which characterized in that: the device comprises a horizontal fixing base (1) and a detection part which is arranged on the horizontal fixing base (1) and used for detecting the coincidence of a ball joint center line arranged at the tail end of a driving arm (6) and the relative parallelism of the ball joint center line and a driving rotating axis at the front end of the driving arm (6).
2. The parallel robot master arm installation detection device of claim 1, wherein: the detection part comprises a slide rail (3) vertically arranged on the horizontal fixed base (1), a slide block (4) arranged on the slide rail (3) in a sliding manner, an axial pressing seat (5) fixedly arranged on the slide block (4) and a fixing mechanism arranged on the horizontal fixed base (1) and used for fixing the driving arm (6); the lower surface of the axial pressing seat (5) is provided with an upper mounting groove (51) for placing an upper ball joint, the upper surface of the horizontal fixing base (1) is provided with a lower mounting groove (12) which is opposite to the upper mounting groove (51) and used for placing a lower ball joint, and the center of the upper mounting groove (51) is opposite to the center of the lower mounting groove (12); the upper ball joint and the lower ball joint are respectively inserted into a mounting hole (62) of the driving arm (6) so as to detect the coincidence of the center lines of the upper ball joint and the lower ball joint.
3. The parallel robot master arm installation detection device of claim 2, wherein: the upper ball joint comprises an upper ball column (7) and an upper joint shaft ball sleeve (8) sleeved on the upper ball column (7), and the lower ball joint comprises a lower ball column (9) and a lower joint shaft ball sleeve (10) sleeved on the lower ball column (9); the upper ball head column (7) and the lower ball head column (9) are further respectively inserted into two sides of the mounting hole (62), and the upper joint shaft ball sleeve (8) and the lower joint shaft ball sleeve (10) are respectively arranged in the upper mounting groove (51) and the lower mounting groove (12).
4. The parallel robot master arm installation detection device of claim 2, wherein: the horizontal fixing base (1) is fixedly provided with a vertical fixing base (2) which is perpendicular to the horizontal fixing base (1), and the sliding rail (3) is arranged on the vertical fixing base (2).
5. The parallel robot master arm installation detection device of claim 2, wherein: the fixing mechanism is a positioning boss (11) which is arranged on the upper surface of the horizontal fixing base (1) and is used for fixing a driving shaft end (61) of the driving arm (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822238912.9U CN209850909U (en) | 2018-12-28 | 2018-12-28 | Parallel robot initiative arm installation detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822238912.9U CN209850909U (en) | 2018-12-28 | 2018-12-28 | Parallel robot initiative arm installation detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209850909U true CN209850909U (en) | 2019-12-27 |
Family
ID=68929620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822238912.9U Active CN209850909U (en) | 2018-12-28 | 2018-12-28 | Parallel robot initiative arm installation detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209850909U (en) |
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2018
- 2018-12-28 CN CN201822238912.9U patent/CN209850909U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210508 Address after: No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province Patentee after: Bokent (Yuyao) robot technology Co.,Ltd. Address before: Room 101, 1st floor, building A2, area a, airport international headquarters base, No.8 Pingying Road, Dongli District, Tianjin Patentee before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |