CN216967780U - Parallel robot master arm - Google Patents
Parallel robot master arm Download PDFInfo
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- CN216967780U CN216967780U CN202220562763.5U CN202220562763U CN216967780U CN 216967780 U CN216967780 U CN 216967780U CN 202220562763 U CN202220562763 U CN 202220562763U CN 216967780 U CN216967780 U CN 216967780U
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- adjusting handle
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Abstract
The utility model relates to a parallel robot driving arm, which comprises a main body; the main body comprises a transmission end and a power end; the transmission end is hinged with an adjusting handle which can be freely opened and closed on the transmission end; a plurality of first semicircular holes are formed in the surface, which is in contact with the transmission end, of the adjusting handle along the length direction of the main body, and the first semicircular holes penetrate through the adjusting handle; a plurality of second semicircular holes are formed in the surface, in contact with the adjusting handle, of the transmission end along the length direction of the main body, and the first semicircular holes and the second semicircular holes just form connecting holes for being connected with the driven arm when the adjusting handle is attached to the transmission end; the far hinged end of the adjusting handle is provided with a clamping block, the transmission end is provided with a clamping interface corresponding to the clamping block, and the clamping block is connected with the clamping interface through screws; the power end is provided with a first clamping groove and a second clamping groove which are used for being clamped with the rotating end of the motor. The device reaches and need not to adjust whole parallel robot or transport mechanism's height both can realize adjusting the height of tongs or sucking disc, and is very convenient.
Description
Technical Field
The utility model relates to the technical field of parallel robots, in particular to a driving arm of a parallel robot.
Background
A parallel robot, PM for short, may be defined as a moving platform and a fixed platform connected by at least two independent kinematic chains, the mechanism having two or more degrees of freedom and being a closed loop mechanism driven in parallel. The method is characterized by 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 has light weight, high speed and good dynamic response.
The parallel robot comprises a driving arm and a driven arm, the lower end of the driven arm is provided with a gripper or a sucker for gripping an object, the limit height adjustment of the gripper or the sucker is usually realized by adjusting the height of the whole parallel robot at present and also realized by adjusting the height of a conveying mechanism for conveying the object, and the adjustment process needs to be disassembled again and then assembled, which is relatively troublesome.
In addition, the driving arms in the traditional parallel robot usually correspond to the motors providing power for the driving arms one by one, when one of the driving arms is damaged and replaced, the driving arm must be replaced according to the original specification, and particularly, the selection of parts is very limited due to the matching of the shaft hole in the driving arm and the rotating end of the motor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a driving arm of a parallel robot, which solves the problem that the limit height of a gripper or a sucker in the traditional parallel robot is troublesome to adjust.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a parallel robot master arm comprises a main body;
the main body comprises a transmission end and a power end; the transmission end is hinged with an adjusting handle, and the adjusting handle can be freely opened and closed on the transmission end;
a plurality of first semicircular holes are formed in the surface, which is in contact with the transmission end, of the adjusting handle along the length direction of the main body, and the first semicircular holes penetrate through the adjusting handle; a plurality of second semicircular holes are formed in the surface, in contact with the adjusting handle, of the transmission end along the length direction of the main body, and the first semicircular holes and the second semicircular holes just form connecting holes for being connected with the driven arm when the adjusting handle is attached to the transmission end;
a clamping block is arranged at the far hinged end of the adjusting handle, a clamping interface is arranged at the transmission end corresponding to the clamping block, and the clamping block is connected with the clamping interface through screws;
the power end is provided with a first clamping groove and a second clamping groove which are used for being clamped with the rotating end of the motor.
Further, the transmission end and the power end are arranged towards the left and the right respectively;
the power end is provided with a hinged handle, the left end of the hinged handle is rotatably arranged on the main body, and the right end of the hinged handle can rotate around the left end of the hinged handle; the first clamping groove is formed in the plane matched with the power end in the hinged handle, the second clamping groove is correspondingly formed in the power end, and the first clamping groove and the second clamping groove are used for clamping the rotating end of the motor.
Furthermore, a clamping groove used for meshing the hinged handle is formed in the power end; the clamping groove penetrates through the power end from top to bottom, and the right end of the clamping groove is opened at the end part of the power end.
Furthermore, a fastening screw is arranged at the right end of the hinged handle; the fastening screw penetrates through the hinge handle from front to back; arc-shaped grooves matched with the fastening screws penetrate through the front and the back of the power end.
Furthermore, a hinge part is arranged at the left end of the hinge handle, and a first hinge hole is formed in the hinge part; the driving arm is provided with a second hinge hole, and the first hinge hole and the second hinge hole are sleeved with a rotating shaft.
The utility model has the beneficial effects that:
the utility model provides a parallel robot master arm, including main part and regulation handle, it sets up the list of doing in the main part to adjust the handle rotation, it is equipped with first semicircle orifice to adjust the handle, it is equipped with the second semicircle orifice to correspond in the main part, each first semicircle orifice all can form the connecting hole that is used for joint slave arm with its corresponding second semicircle orifice, when the altitude mixture control of carousel or sucking disc is carried out to needs, can set up the upper end of slave arm in the connecting hole of difference, thereby reach and need not to adjust whole parallel robot or transport mechanism's height both can realize adjusting the height of tongs or sucking disc, it is very convenient.
Furtherly is equipped with the articulated handle at the right-hand member of main part, is equipped with first joint groove on the articulated handle, corresponds in the main part and is equipped with second joint groove, and when main part and motor drive end cooperation, first joint groove and second joint groove can be adjusted and rotate the end in order to be suitable for the not motor of equidimension, increase the wide adaptability of main part itself.
Drawings
Fig. 1 is a schematic view of the overall structure of the utility model.
Names corresponding to the marks in the figure:
1. the main part, 10, second semicircle orifice, 11, arc wall, 12, joint interface, 13, screw hole, 14, second joint groove, 15, reinforcement hole, 16, draw-in groove, 2, regulation handle, 20, joint piece, 21, set screw, 22, first semicircle orifice, 3, articulated handle, 30, articulated portion, 31, set screw, 32, nut, 33, first joint groove, 4, pivot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
The embodiment of the utility model comprises the following steps:
as shown in fig. 1, the parallel robot master arm comprises a main body 1.
The main body 1 is of a rod-shaped structure, the left end of the main body is a transmission end and is used for being connected with a driven arm, and the right end of the main body is a power end and is used for being connected with a rotating end of a motor.
The transmission end is hinged with an adjusting handle 2, the left end of the adjusting handle 2 is hinged with the end part of the transmission end, and specifically, the adjusting handle 2 is hinged with the transmission end through a hinge; the adjusting handle 2 can be freely rotated on the transmission end through a hinge to be opened and closed; when adjusting handle 2 and transmission end angle of opening and shutting are zero, the downside of adjusting handle 2 and the last side of transmission end contact each other, it is equipped with a plurality of first semicircle holes 22 to run through around 1 length direction of main part on the downside of adjusting handle 2, it is equipped with a plurality of second semicircle holes 10 to run through around 1 length direction of main part on the last side of transmission end, each first semicircle hole 22 all has the second semicircle hole 10 corresponding with it, when adjusting handle 2 and transmission end laminated each other, each first semicircle hole 22 and a second semicircle hole 10 all form one and are used for the connecting hole of being connected with the driven arm.
The right end of the adjusting handle 2 is provided with a clamping block 20, a clamping interface 12 is arranged on the transmission end corresponding to the clamping block 20, and when the adjusting handle 2 is attached to the transmission end, the clamping block 20 is just positioned in the clamping interface 12; the fixing screw 21 is arranged on the clamping block 20 in a rotating mode, the threaded hole 13 is formed in the bottom of the clamping interface 12, and when the clamping block 20 is located in the clamping interface 12, the fixing screw 21 can be arranged in the threaded hole 13 in a rotating mode so as to fix the adjusting handle 2 on the transmission end and limit the rotation of the adjusting handle 2.
In the parallel robot, when one driving arm and the driven arm corresponding to the driving arm are located on the same straight line, the position of the gripper or the sucker is the lowest, and the integral height of the parallel robot or the height of the conveying mechanism needs to be adjusted if the upper and lower positions of the gripper or the sucker are required to be adjusted, so that the parallel robot is very inconvenient.
The power end is provided with a hinged handle 3, the left end of the hinged handle 3 is rotatably arranged on the main body 1, and the right end of the hinged handle 3 can rotate around the left end; the surface of the hinged handle 3, which is matched with the power end, is provided with a first clamping groove 33, the power end is correspondingly provided with a second clamping groove 14, and the first clamping groove 33 and the second clamping groove 14 are used for clamping the rotating end of the motor.
The power end is provided with a clamping groove 16 which is used for being meshed with the hinged handle 3; the clamping groove 16 penetrates through the power end vertically, and the right end of the clamping groove 16 is opened at the end part of the power end; the hinge handle 3 can be rotated into the catching groove 16 at its right end while being rotated about its left end, thereby narrowing the hole formed by the engagement of the first catching groove 33 and the second catching groove 14 as much as possible to maximally catch the rotating end of the motor.
The right end of the hinged handle 3 is provided with a fastening screw 31; the fastening screw 31 is arranged to penetrate the hinge handle 3 from front to back; the power end is provided with an arc-shaped groove 11 which is matched with the fastening screw 31 in a front-back penetrating manner, the arc-shaped groove 11 is provided in a front-back penetrating manner, when the hinged handle 3 rotates into the clamping groove 16, the fastening screw 31 correspondingly enters the arc-shaped groove 11, and after the rotating end of the motor is clamped as much as possible by the first clamping groove 33 and the second clamping groove 14, the nut 32 on the fastening screw 31 is screwed down, so that the relative rotation of the hinged handle 3 and the power end is fixed; a reinforcing hole 15 is formed on the bottom surface of the second catching groove 14, and when the nut 32 of the fastening screw 31 is tightened, the screw is screwed up into the reinforcing hole 15 from the lower side surface of the power end to press the rotating end of the motor against rotation.
The left end of the hinge handle 3 is provided with a hinge part 30, and the hinge part 30 is provided with a first hinge hole; the power end is provided with a second hinge hole corresponding to the hinge part 30, and the first hinge hole and the second hinge hole are sleeved with a rotating shaft 4.
Claims (5)
1. The parallel robot master arm is characterized in that: comprises a main body;
the main body comprises a transmission end and a power end; the transmission end is hinged with an adjusting handle, and the adjusting handle can be freely opened and closed on the transmission end;
a plurality of first semicircular holes are formed in the surface, which is in contact with the transmission end, of the adjusting handle along the length direction of the main body, and the first semicircular holes penetrate through the adjusting handle; a plurality of second semicircular holes are formed in the surface, in contact with the adjusting handle, of the transmission end along the length direction of the main body, and the first semicircular holes and the second semicircular holes just form connecting holes for being connected with the driven arm when the adjusting handle is attached to the transmission end;
a clamping block is arranged at the far hinged end of the adjusting handle, a clamping interface is arranged at the transmission end corresponding to the clamping block, and the clamping block is connected with the clamping interface through screws;
the power end is provided with a first clamping groove and a second clamping groove which are used for being clamped with the rotating end of the motor.
2. The parallel robot master arm of claim 1, wherein: the transmission end and the power end are arranged towards the left and the right respectively;
the power end is provided with a hinged handle, the left end of the hinged handle is rotatably arranged on the main body, and the right end of the hinged handle can rotate around the left end of the hinged handle; the first clamping groove is formed in the plane matched with the power end in the hinged handle, the second clamping groove is correspondingly formed in the power end, and the first clamping groove and the second clamping groove are used for clamping the rotating end of the motor.
3. The parallel robot master arm of claim 2, wherein: the power end is provided with a clamping groove used for meshing the hinged handle; the clamping groove penetrates through the power end from top to bottom, and the right end of the clamping groove is opened at the end part of the power end.
4. A parallel robotic master arm according to claim 3, wherein: a fastening screw is arranged at the right end of the hinged handle; the fastening screw penetrates through the hinge handle from front to back; arc-shaped grooves matched with the fastening screws penetrate through the front and the back of the power end.
5. The parallel robot master arm of claim 4, wherein: the left end of the hinge handle is provided with a hinge part, and the hinge part is provided with a first hinge hole; the driving arm is provided with a second hinge hole, and the first hinge hole and the second hinge hole are sleeved with a rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220562763.5U CN216967780U (en) | 2022-03-15 | 2022-03-15 | Parallel robot master arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220562763.5U CN216967780U (en) | 2022-03-15 | 2022-03-15 | Parallel robot master arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216967780U true CN216967780U (en) | 2022-07-15 |
Family
ID=82359038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220562763.5U Active CN216967780U (en) | 2022-03-15 | 2022-03-15 | Parallel robot master arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216967780U (en) |
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2022
- 2022-03-15 CN CN202220562763.5U patent/CN216967780U/en active Active
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