CN210619507U

CN210619507U - Grabbing mechanism convenient to replace and used for parallel robot

Info

Publication number: CN210619507U
Application number: CN201921733273.1U
Authority: CN
Inventors: 王春光; 武晋; 朱雅乔
Original assignee: Tianjin Sino German University of Applied Sciences
Current assignee: Tianjin Sino German University of Applied Sciences
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-05-26
Anticipated expiration: 2029-10-16

Abstract

The utility model discloses a parallel robot is with mechanism that snatchs that is convenient for change, including the installation frame, there is actuating mechanism in the inside of installation frame through bolted connection, and actuating mechanism's bottom installs the movable block, there is the connecting piece of type of falling V structure all through bolted connection in the bottom of installation frame and movable block, and the bottom of connecting piece all has fixed sliding sleeve through bolted connection, the inside sliding connection of fixed sliding sleeve has the movable rod, and lies in and has the mounting through bolted connection between two movable rod end portions with one side. The utility model discloses simple structure, and splint can carry out quick assembly disassembly between mode and the mounting of plug, when needing to snatch not unidimensional article, can be through changing not unidimensional splint, and then the adjustment snatchs the scope of snatching of mechanism both sides to adapt to not unidimensional article and snatch work, it is high-efficient to use simply, and the improvement that is showing snatchs the application scope of mechanism.

Description

Grabbing mechanism convenient to replace and used for parallel robot

Technical Field

The utility model relates to an industrial robot technical field especially relates to a parallel robot is with mechanism of snatching of being convenient for change.

Background

With the rapid development of the robot technology, the parallel robot is used as a big branch of the industrial robot field, has the characteristics of high speed, high precision and high efficiency, is more and more appeared on the production line of a factory at present, and is mainly applied to the fields of pharmacy, electronics, military industry, food and the like. In the field of food design, a parallel robot is one of industrial robots, and the parallel robot may be defined as a closed-loop mechanism in which a movable platform and a fixed platform are connected by at least two independent kinematic chains, and the mechanism has two or more degrees of freedom and is driven in a parallel manner.

The parallel robot has the characteristics of no accumulated error and high precision; the driving device can be arranged on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response, and meanwhile, the parallel robot is required to keep good working consistency when performing movement, the robot is required to have good execution capacity, however, the existing grabbing mechanism is fixed in structure, and is applied to the grabbing process of articles with different sizes, and the grabbing instability is easily caused to fall off due to the fact that the grabbing mechanism is not matched with the size of the articles, so that the production efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art, and providing a parallel robot gripping mechanism convenient to replace.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a parallel robot is with mechanism that snatchs convenient to change, includes the installation frame, there is actuating mechanism in the inside of installation frame through bolted connection, and actuating mechanism's bottom installs the movable block, there is the connecting piece of type of falling V structure all through bolted connection in the bottom of installation frame and movable block, and the bottom of connecting piece all has fixed sliding sleeve through bolted connection, the inside sliding connection of fixed sliding sleeve has the movable rod, and lies in and has the mounting, two through bolted connection between two movable rod tip with one side the splint have all been cup jointed in the one end outside that the mounting is close to each other, and through fastening bolt firm connection between mounting and the splint, there is the mount pad on the top of installation frame through bolted connection.

Preferably, the driving mechanism comprises a stepping motor which is installed at the end part of the installation rack through a bolt, an output shaft of the stepping motor is connected with a threaded lead screw which is rotatably connected with the inside of the installation rack through a bolt, and the movable block is in threaded connection with the outer side of the threaded lead screw.

Preferably, the outer walls of the two sides of the movable block are in sliding connection with the inner walls of the two sides of the mounting rack.

Preferably, a spring is clamped between the fixing piece and the fixed sliding sleeve, the end of the spring is connected with a force measuring sensor through a screw, the other end of the spring is stably connected with the fixing piece through a screw, and the other end of the force measuring sensor is stably connected with the fixed sliding sleeve through a screw.

Preferably, two the protective sheath that the splint were made to all bonding in one side that is close to each other, and the outside surface of protective sheath is equipped with anti-skidding line.

Preferably, the device further comprises limit blocks arranged at two ends of the top end of the movable block through bolts, and one sides of the two limit blocks, which are close to each other, are connected with limit rollers through screws.

Preferably, both sides of the installation rack are provided with limit grooves, and the two limit rollers are respectively in rolling connection with the inner walls of the two limit grooves.

The utility model has the advantages that:

1. the utility model provides a parallel robot is with mechanism of snatching of being convenient for to change, this be applied to parallel robot snatchs mechanism, moreover, the steam generator is simple in structure, and splint can carry out quick assembly disassembly between the mode of plug and the mounting, when needing to snatch not unidimensional article, can be through changing not unidimensional splint, and then the adjustment snatchs the scope of snatching of mechanism both sides, snatch work in order to adapt to not unidimensional article, high efficiency simple to use, bring very big facility for the staff uses, and the application scope of mechanism is snatched in the improvement that is showing.

2. The utility model provides a parallel robot snatchs mechanism with being convenient for change snatchs the mechanism when getting the thing, carries out elastic contact between splint, mounting and the fixed sliding sleeve, and utilizes force cell to monitor the centre gripping dynamics when getting the thing constantly, can avoid excessively extrudeing article and cause the damage, and maintains fixed centre gripping dynamics, avoids article to drop, cooperates the antiskid effect of protective sheath, and the improvement that is showing snatchs the stability of in-process to article, improves article and snatchs efficiency.

3. The utility model provides a parallel robot is with mechanism of snatching convenient to change carries out the motion in-process at the movable block, and spacing gyro wheel moves in the inside of spacing groove, and through the limiting displacement of spacing gyro wheel and spacing groove, the stability in the improvement movable block motion process that is showing avoids appearing the card and pauses and the phenomenon of rocking.

Drawings

Fig. 1 is a schematic cross-sectional structural view of a gripping mechanism for a parallel robot, which is convenient to replace according to the present invention;

fig. 2 is a schematic structural view of a fixed sliding sleeve and a connecting piece of a gripping mechanism for a parallel robot, which is convenient to replace;

fig. 3 is a schematic view of a connecting structure of a fixing member and a clamping plate of a gripping mechanism for a parallel robot, which is convenient to replace;

fig. 4 is a schematic view of a side view of a part of the parallel robot used grabbing mechanism embodiment 2 convenient for replacement.

In the figure: the device comprises a protective sleeve 1, a fixed sliding sleeve 2, a connecting piece 3, a stepping motor 4, a mounting frame 5, a mounting seat 6, a threaded lead screw 7, a movable block 8, a spring 9, a movable rod 10, a fixing piece 11, a force measuring sensor 12, a clamping plate 13, a limiting roller 14 and a limiting groove 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Example 1

Referring to fig. 1-3, a gripping mechanism for a parallel robot, which is convenient to replace, comprises an installation frame 5, the inside of the installation frame 5 is connected with a driving mechanism through a bolt, the bottom end of the driving mechanism is provided with a movable block 8, the bottom ends of the installation frame 5 and the movable block 8 are both connected with a connecting piece 3 with an inverted V-shaped structure through a bolt, the bottom end of the connecting piece 3 is connected with a fixed sliding sleeve 2 through a bolt, the inside of the fixed sliding sleeve 2 is connected with a movable rod 10 in a sliding way, a fixed piece 11 is connected between the end parts of the two movable rods 10 positioned at the same side through a bolt, a clamping plate 13 is sleeved outside the end parts of the two fixed pieces 11 close to each other, the fixed piece 11 is stably connected with the clamping plate 13 through a fastening bolt, the top end of the installation frame 5 is connected, and splint 13 can carry out quick assembly disassembly through the mode of plug between with mounting 11, when needing to snatch not unidimensional article, can be through changing not unidimensional splint 13, and then the adjustment snatchs the scope of snatching of mechanism both sides to adapt to not unidimensional article and snatch work, it is simple to use high-efficient, use for the staff and bring very big facility, and the application scope of mechanism is snatched in improvement that is showing.

In the utility model, the driving mechanism comprises a stepping motor 4 which is arranged at the end part of the mounting frame 5 through a bolt, an output shaft of the stepping motor 4 is connected with a threaded lead screw 7 which is rotatably connected with the inside of the mounting frame 5 through a bolt, a movable block 8 is in threaded connection with the outer side of the threaded lead screw 7, the outer walls at two sides of the movable block 8 are in sliding connection with the inner walls at two sides of the mounting frame 5, and the stepping motor 4 drives the threaded lead screw 7 to rotate and further drives the movable block 8 to do reciprocating motion in the mounting frame 5 when in use;

a spring 9 is clamped between the fixing piece 11 and the fixed sliding sleeve 2, the end part of the spring 9 is connected with a force measuring sensor 12 through a screw, the other end of the spring 9 is firmly connected with the fixing piece 11 through a screw, the other end of the force measuring sensor 12 is firmly connected with the fixed sliding sleeve 2 through a screw, one side, close to each other, of the two clamping plates 13 is bonded with a protective sleeve 1 made of elastic material, the outer side surface of the protective sleeve 1 is provided with anti-slip lines, the spring 9 and the force measuring sensor 12 are arranged between the fixing piece 11 and the fixed sliding sleeve 2, so that when the grabbing mechanism takes objects, the clamping plates 13, the fixing piece 11 and the fixed sliding sleeve 2 are in elastic contact, the force measuring sensor 12 is utilized to constantly monitor the clamping force during the object taking, the damage caused by excessive extrusion of the objects can be avoided, the fixed clamping force is, the stability of the improvement that is showing in the object grabbing process improves object grabbing efficiency.

Example 2

Referring to fig. 4, the grabbing mechanism for the parallel robot is convenient to replace, and further comprises limiting blocks which are installed at two ends of the top end of the movable block 8 through bolts, limiting idler wheels 14 are connected to one sides, close to each other, of the two limiting blocks through screws, limiting grooves 15 are formed in two sides of the installation rack 5, and the two limiting idler wheels 14 are respectively in rolling connection with the inner walls of the two limiting grooves 15;

install stopper and spacing gyro wheel 14 between movable block 8 and installation frame 5, carry out the motion in-process at movable block 8, spacing gyro wheel 14 moves in the inside of spacing groove 15, and through spacing gyro wheel 14 and spacing groove 15's limiting action, the stability of the improvement movable block 8 motion in-process that is showing avoids appearing blocking and the phenomenon of rocking.

The working principle is as follows: the utility model discloses a control mode is through the PLC controller automatic control of parallel robot, and the control circuit of PLC controller can realize through technical staff programming in this field, and the supply of power also belongs to the common general knowledge in this field, and the utility model discloses mainly be used for protecting mechanical device, so the utility model discloses no longer explain control mode and circuit connection in detail, concrete connecting means should refer to in the following theory of operation, and the electric connection is accomplished to the precedence work order between each electrical part, and its detailed connecting means is for the known art in this field, and the following mainly introduces theory of operation and process, no longer explains electrical control;

the grabbing mechanism is arranged above the parallel robot through the mounting seat 6, the clamping plates 13 can be quickly disassembled and assembled with the fixing part 11 in a plugging mode, when articles with different sizes need to be grabbed, the clamping plates 13 with different sizes can be replaced, and then grabbing ranges on two sides of the grabbing mechanism are adjusted, so that grabbing work of the articles with different sizes can be adapted, the grabbing mechanism is simple and efficient to use, great convenience is brought to workers, and the application range of the grabbing mechanism is remarkably improved;

the spring 9 and the force cell 12 are arranged between the fixing piece 11 and the fixed sliding sleeve 2, so that when the grabbing mechanism takes an object, the clamping plate 13, the fixing piece 11 and the fixed sliding sleeve 2 are in elastic contact, the force cell 12 is utilized to monitor the clamping force during the object taking, the damage caused by excessive extrusion on the object can be avoided, the fixed clamping force is maintained, the object is prevented from falling off, the anti-skidding effect of the protective sleeve 1 is matched, the stability in the object grabbing process is obviously improved, and the object grabbing efficiency is improved;

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A gripping mechanism which is convenient to replace and used for a parallel robot, comprises a mounting frame (5), the interior of the mounting rack (5) is connected with a driving mechanism through a bolt, the bottom end of the driving mechanism is provided with a movable block (8), it is characterized in that the bottom ends of the mounting frame (5) and the movable block (8) are connected with a connecting piece (3) with an inverted V-shaped structure through bolts, the bottom end of the connecting piece (3) is connected with a fixed sliding sleeve (2) through a bolt, the inner part of the fixed sliding sleeve (2) is connected with a movable rod (10) in a sliding way, and the end parts of the two movable rods (10) positioned at the same side are connected with a fixed part (11) through bolts, the outer sides of the ends of the two fixed parts (11) close to each other are sleeved with a clamping plate (13), and the fixing piece (11) and the clamping plate (13) are firmly connected through a fastening bolt, the top end of the mounting rack (5) is connected with a mounting seat (6) through a bolt.

2. The grabbing mechanism convenient for replacement for the parallel robot as claimed in claim 1, wherein the driving mechanism comprises a stepping motor (4) mounted at the end of the mounting rack (5) through a bolt, an output shaft of the stepping motor (4) is connected with a threaded lead screw (7) rotatably connected with the inside of the mounting rack (5) through a bolt, and the movable block (8) is in threaded connection with the outer side of the threaded lead screw (7).

3. The gripping mechanism convenient for replacement of the parallel robot as claimed in claim 2, wherein the outer walls of the two sides of the movable block (8) are slidably connected with the inner walls of the two sides of the mounting frame (5).

4. The grabbing mechanism convenient for replacement of a parallel robot as claimed in claim 1, wherein a spring (9) is clamped between the fixing member (11) and the fixed sliding sleeve (2), the end of the spring (9) is connected with a force measuring sensor (12) through a screw, the other end of the spring (9) is firmly connected with the fixing member (11) through a screw, and the other end of the force measuring sensor (12) is firmly connected with the fixed sliding sleeve (2) through a screw.

5. The grabbing mechanism convenient for parallel robot to replace as claimed in claim 4, wherein the protective sleeve (1) made of elastic material is bonded to the side where the two clamping plates (13) are close to each other, and the outer side surface of the protective sleeve (1) is provided with anti-skid lines.

6. The grabbing mechanism convenient for replacement of a parallel robot as claimed in claim 3, further comprising limiting blocks mounted at two ends of the top end of the movable block (8) through bolts, wherein one sides of the two limiting blocks close to each other are connected with limiting rollers (14) through screws.

7. The grabbing mechanism convenient for parallel robot to replace as claimed in claim 6, wherein both sides of the mounting rack (5) are provided with limiting grooves (15), and the two limiting rollers (14) are respectively in rolling connection with the inner walls of the two limiting grooves (15).