CN216859722U - Parallel robot driven arm - Google Patents
Parallel robot driven arm Download PDFInfo
- Publication number
- CN216859722U CN216859722U CN202220550351.XU CN202220550351U CN216859722U CN 216859722 U CN216859722 U CN 216859722U CN 202220550351 U CN202220550351 U CN 202220550351U CN 216859722 U CN216859722 U CN 216859722U
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- connecting rod
- fixing seat
- rod
- fixedly connected
- parallel robot
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Abstract
The utility model relates to a parallel robot driven arm, which comprises a support rod, a spring assembly and a mounting assembly, wherein the support rod is fixedly connected with the spring assembly; the number of the supporting rods is two, the two ends of each supporting rod are fixedly connected with connectors, and semicircular mounting grooves are formed in the connectors; the spring assembly is positioned between the two support rods and is used for tensioning the two support rods; the installation component comprises a first fixing seat, a second fixing seat, a first connecting rod and a second connecting rod, the first fixing seat and the second fixing seat are fixedly connected with the supporting rod respectively, one end of the first connecting rod is connected with the first fixing seat in a rotating mode, a rotating shaft is fixedly connected to the other end of the first connecting rod, one end of the second connecting rod is connected with the second fixing seat in a rotating mode, a rotating hole is formed in the position, close to the center of the length direction, of the second connecting rod, and the rotating hole is penetrated through the rotating shaft. Lead to making two spinal branch can be connected with the structure of other parts to solved the easy deformation of the junction of fixed pin and become flexible, the unstable, poor problem of bearing capacity of structure.
Description
Technical Field
The utility model relates to the field of parallel robots, in particular to a driven arm of a parallel robot.
Background
The parallel robot is often adopted in the robot to realize multidirectional rapid movement, has the advantages of high rigidity, stable structure, strong bearing capacity, high precision and the like relative to a serial mechanism, and enlarges the application field of the robot
Wherein, its driven arm adopts light carbon fiber pipe, and its both ends cover is equipped with spherical joint bearing frame to it is fixed through the fixed pin, and driven arm adopts the hollow tube usually, and its wall thickness is very thin, only about 1mm, only through the fixed pin is fixed very not firm, its easy deformation of junction with the fixed pin is not hard up, and the structure is unstable, bearing capacity is poor, easily influence parallel robot's work precision, life hangs down.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a parallel robot driven arm, which aims to solve the problems that a connecting part of a fixing pin is easy to deform and loosen, the structure is unstable, the bearing capacity is poor, the working precision of a parallel robot is easy to influence, and the service life is short.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a parallel robot driven arm comprises a support rod, a spring assembly and a mounting assembly;
the number of the supporting rods is two, two ends of each supporting rod are fixedly connected with connectors, and semicircular mounting grooves are formed in the connectors;
the spring assembly is positioned between the two supporting rods and is used for tensioning the two supporting rods; the installation component comprises a first fixing seat, a second fixing seat, a first connecting rod and a second connecting rod, the first fixing seat and the second fixing seat are respectively fixedly connected with the supporting rod, one end of the first connecting rod is connected with the first fixing seat in a rotating mode, a rotating shaft is fixedly connected to the other end of the first connecting rod, one end of the second connecting rod is connected with the second fixing seat in a rotating mode, a rotating hole is formed in the position, close to the center of the length direction, of the second connecting rod, and the rotating hole is formed in the rotating shaft in a penetrating mode.
Furthermore, the number of the spring assemblies is two, and the two spring assemblies are respectively positioned at the positions close to the two ends of the supporting rod.
Further, spring unit includes link and spring, the quantity of link is two, two the link respectively with two branch rotates and is connected, the both ends of spring respectively with the link joint.
Furthermore, the number of the springs is two, and the two springs are respectively clamped with the positions, close to the two ends, of the connecting frame.
Further, the mounting assembly further comprises a bolt, a connecting wire and a power-assisted rod, a threaded hole is formed in the position, close to the middle, of the first connecting rod, the bolt is in threaded connection with the threaded hole, one end of the connecting wire is fixedly connected with the bolt, a threading hole is formed in one end, far away from the second fixing seat, of the second connecting rod, the connecting wire penetrates through the threading hole, and the connecting wire is fixedly connected with the power-assisted rod.
Furthermore, a placing hole is formed in one end, far away from the second fixing seat, of the second connecting rod along the length direction of the second connecting rod, and the power-assisted rod is placed in the placing hole.
The utility model has the beneficial effects that:
can be connected with other parts through the connector on branch, the distance that makes two branches through spring assembly extrudees to the direction that is close to each other, make two branches can with the structural connection of other parts, thereby it is not hard up to have solved the junction of fixed pin easy deformation, unstable structure, bearing capacity is poor, the work precision of parallel robot is easily influenced, long service life's problem, but because spring assembly's elasticity is great, it is more loaded down with trivial details in the installation, through first fixing base, the second fixing base, the setting of first connecting rod and second connecting rod, when the installation, install the one end of branch earlier, when the installation other end, make the free end of second connecting rod be close to the head rod through external force, thereby can increase the distance between the branch other end, thereby can all be connected with other parts with the both ends of branch.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a parallel robot slave arm;
FIG. 2 is a schematic diagram of the construction of the mounting assembly in the slave arms of a parallel robot;
fig. 3 is a schematic diagram of the structure of a spring assembly in a slave arm of a parallel robot.
Names corresponding to the marks in the figure:
1-a strut; 11-a connector; 2-a spring assembly; 21-a connecting frame; 22-a spring; 3-mounting the component; 31-a first fixed seat; 32-a first link; 33-a second link; 34-a bolt; 35-connecting lines; 36-a booster rod; 37-threading holes; 38-placing holes; 39-second fixed seat.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The embodiment of the utility model comprises the following steps:
a parallel robot driven arm comprises a support rod 1, a spring assembly 2 and a mounting assembly 3; the number of the supporting rods 1 is two, two ends of each supporting rod 1 are fixedly connected with connectors 11, and semicircular mounting grooves are formed in the connectors 11; the spring assembly 2 is positioned between the two support rods 1, and the spring assembly 2 is used for tensioning the two support rods 1; the mounting assembly 3 facilitates the mounting of the two support rods 1. Can be connected with other parts through connector 11 on branch 1, make two branch 1's distance extrude to the direction that is close to each other through spring unit 2 for two branch 1 can with the structural connection of other parts, thereby solved the junction of fixed pin easy deformation not hard up, the unstable structure, bearing capacity are poor, easily influence parallel robot's work precision, problem that life is low.
Two branch 1 install between master arm and clamping jaw to being connected with of master arm and clamping jaw all includes a connecting rod, and the both ends fixedly connected with of connecting rod connects the ball, and the mounting groove lock realizes the connection of slave arm on connecting the ball.
When the two ends of the supporting rod 1 are supported by the mounting assembly 3, only the power-assisted rod 36 needs to be pulled, the threading hole 37 is close to the threaded hole, and one end of the two supporting rods 1 can be far away through the connection relation between the first connecting rod 32 and the second connecting rod 33. One end of the second connecting rod 33, which is far away from the second fixing seat 39, is provided with a placing hole 38 along the length direction of the second connecting rod 33, the assisting rod 36 is placed in the placing hole 38, and in the using process, the assisting rod 36 is positioned in the placing hole 38, so that the use of the driven arm is not affected. Make all more convenient when dismouting connecting rod through installation component 3.
The number of the spring assemblies 2 is two, and the two spring assemblies 2 are respectively positioned at the positions close to the two ends of the supporting rod 1. Two spring unit 2 can make the mounting groove lock more firm when connecting on the ball, are difficult to deviate. Spring unit 2 includes link 21 and spring 22, and the quantity of link 21 is two, and two links 21 rotate with two branch 1 respectively and are connected, because branch 1 appears the motion of multi-angle in the motion process, and link 21 and branch 1 rotate to be connected for when the angle between two branch 1 changes, the contained angle between link 21 and the branch 1 also changes. Both ends of the spring 22 are respectively clamped with the connecting frame 21. The number of the springs 22 is two, the two springs 22 are respectively clamped with the positions, close to the two ends, of the connecting frame 21, and the elastic force of the two springs 22 is stronger, so that the pulling force of the support rod 1 is larger.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.
Claims (6)
1. A parallel robot driven arm is characterized by comprising a support rod, a spring assembly and a mounting assembly; the number of the supporting rods is two, two ends of each supporting rod are fixedly connected with connectors, and semicircular mounting grooves are formed in the connectors;
the spring assembly is positioned between the two supporting rods and is used for tensioning the two supporting rods;
the installation component comprises a first fixing seat, a second fixing seat, a first connecting rod and a second connecting rod, the first fixing seat and the second fixing seat are respectively fixedly connected with the supporting rod, one end of the first connecting rod is connected with the first fixing seat in a rotating mode, a rotating shaft is fixedly connected to the other end of the first connecting rod, one end of the second connecting rod is connected with the second fixing seat in a rotating mode, a rotating hole is formed in the position, close to the center of the length direction, of the second connecting rod, and the rotating hole is formed in the rotating shaft in a penetrating mode.
2. A parallel robotic slave arm according to claim 1 wherein said number of spring assemblies is two, two of said spring assemblies being located adjacent each end of said strut.
3. The parallel robot slave arm of claim 1, wherein the spring assembly comprises two connecting frames and two springs, the two connecting frames are respectively rotatably connected with the two support rods, and two ends of each spring are respectively connected with the connecting frames in a clamping manner.
4. The parallel robot slave arm of claim 3, wherein the number of the springs is two, and the two springs are respectively clamped with the positions of the connecting frame near the two ends.
5. The parallel robot driven arm according to claim 1, wherein the mounting assembly further comprises a bolt, a connecting wire and a power-assisted rod, a threaded hole is formed in a position, close to the middle, of the first connecting rod, the bolt is in threaded connection with the threaded hole, one end of the connecting wire is fixedly connected with the bolt, a threading hole is formed in a position, far away from the second fixing seat, of the second connecting rod, the connecting wire penetrates through the threading hole, and the connecting wire is fixedly connected with the power-assisted rod.
6. The parallel robot slave arm of claim 5, wherein a placement hole is formed in one end of the second connecting rod, which is far away from the second fixing seat, along the length direction of the second connecting rod, and the assisting rod is placed in the placement hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220550351.XU CN216859722U (en) | 2022-03-14 | 2022-03-14 | Parallel robot driven arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220550351.XU CN216859722U (en) | 2022-03-14 | 2022-03-14 | Parallel robot driven arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216859722U true CN216859722U (en) | 2022-07-01 |
Family
ID=82124244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220550351.XU Active CN216859722U (en) | 2022-03-14 | 2022-03-14 | Parallel robot driven arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216859722U (en) |
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2022
- 2022-03-14 CN CN202220550351.XU patent/CN216859722U/en active Active
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