CN218195171U

CN218195171U - Drag teaching device and parallel robot

Info

Publication number: CN218195171U
Application number: CN202221241209.3U
Authority: CN
Inventors: 姚辉晶; 李婷婷; 苏学满
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2023-01-03
Anticipated expiration: 2032-05-23

Abstract

The utility model relates to a robot equipment technical field specifically is a drag device and parallel robot of teaching, drag teaching device and include the base, install the mounting on the base, slidable mounting is at the removal axle between base and mounting, space between removal axle outer wall and the mounting inner wall constitutes seal chamber after sealed processing, be equipped with the intercommunication piece that supplies external gas business turn over on the mounting lateral wall in the seal chamber, be equipped with the elastic component between the lower terminal surface of removal axle and the base, install the stopper on the up end of base, the equipartition has a plurality of fixed pin that can with the stopper block or break away from on the up end of removal axle. The utility model discloses a break away from with the power supply completely when dragging the teaching, do not receive the influence of motor friction and speed reducer speed reduction ratio, adopt balance cylinder to offset the influence of gravity simultaneously and can realize light simple teaching of dragging, can simplify parallel robot's operation, improve the ease for use of robot.

Description

Drag teaching device and parallel robot

Technical Field

The utility model relates to a robot equipment technical field specifically is a drag device and parallel robot of teaching.

Background

The parallel robot has the characteristics of high speed, high rigidity, high bearing capacity, good dynamic response and the like, is widely used in the fields of aerospace, automobile industry, electronic products, medicine industry, food industry and the like in parallel connection, and has more freedom degrees, complex motion space and high solving difficulty compared with a series robot, so that the programming of the parallel robot is very complex.

The dragging teaching technology is that the tail end of a robot is directly dragged to reach a designated position to record a running track so as to reduce a complex programming process, dragging is realized by controlling the current of a motor in the driving dragging teaching technology, but the actual dragging process is not friendly due to the friction of the motor and the influence of cogging torque, and after the tail end is complicated and enlarged, the dragging teaching can not be realized by controlling the current due to the existence of a reduction ratio. Drag teaching on the one hand and need solve the influence that drags the in-process and drag the resistance, guarantee that the operator can easily drag the robot, on the other hand, the robot that also guarantees to drag can carry the work piece of great weight.

Disclosure of Invention

To the technical problem, the utility model provides a drag device and parallel robot of teaching.

The utility model discloses the technical problem that will solve adopts following technical scheme to realize:

the utility model provides a drag device of teaching, which comprises a base, install the mounting on the base, slidable mounting is at the removal axle between base and mounting, space between removal off-axial wall and the mounting inner wall constitutes seal chamber after sealed processing, be equipped with the intercommunication piece that supplies the external gas business turn over on the mounting lateral wall in the seal chamber, be equipped with the elastic component between the lower terminal surface of removal axle and the base, install the stopper on the up end of base, the equipartition has a plurality of fixed pin that can with the stopper block or break away from on the up end of removal axle.

Preferably, the space upside between removal axle outer wall and the mounting inner wall is equipped with the sealing washer No. one, and the space downside is equipped with the sealing washer No. two.

Preferably, the communication piece for the inlet and outlet of the outside air is a quick-change connector installed on the side wall of the fixing piece.

Preferably, the elastic member is a spring.

Preferably, a guide shaft is arranged between the lower end face of the moving shaft and the base, the movable upper end of the guide shaft is located in the moving shaft, the fixed lower end of the guide shaft is located in the base, and the spring is mounted on the outer shaft of the guide shaft.

Preferably, a plurality of limiting holes aligned with the plurality of fixing pins at the upper and lower positions are uniformly distributed on the limiting block.

A parallel robot applies a device for dragging teaching, which comprises a dragging teaching device, a fixed seat, fixed connecting rods symmetrically distributed on the fixed seat, a speed reducer arranged on the fixed connecting rods, a joint coaxially connected with the speed reducer, an adjusting connecting rod connected with the joint, a balance cylinder connected between the fixed connecting rods and the adjusting connecting rods, and a clamp arranged on the tail end part of the adjusting connecting rod;

the base in the dragging teaching device is rotatably installed on the joint and is fixedly connected with the adjusting connecting rod.

Preferably, the joint comprises a transmission shaft coaxially connected with the speed reducer and a large gear coaxially connected with the tail end of the transmission shaft, a base in the dragging teaching device is sleeved on the transmission shaft, and a plurality of positioning holes aligned with the plurality of fixing pins in the vertical position are uniformly distributed in the large gear.

Preferably, the adjusting connecting rod is fixedly connected with a rotary encoder, and the rotary encoder is coaxially connected with a pinion in meshed connection with the gearwheel.

The utility model has the advantages that:

compared with the prior art, the utility model discloses a break away from with the power supply completely when dragging the teaching, do not receive the influence of motor friction and speed reducer speed reduction ratio, adopt balance cylinder to offset the influence of gravity simultaneously and can realize light simple teaching of dragging, can simplify parallel robot's operation, improve robot's ease for use.

Drawings

The invention will be further described with reference to the following figures and examples:

fig. 1 is a schematic cross-sectional view of the device for dragging teaching according to the present invention in an inoperative state;

fig. 2 is a schematic cross-sectional view of the working state of the device for drag teaching according to the present invention;

fig. 3 is a schematic three-dimensional structure diagram of a device for dragging teaching according to the present invention;

fig. 4 is a schematic view of the parallel robot with the dragging function according to the present invention;

fig. 5 is a schematic cross-sectional view of a parallel robot joint with a dragging function according to the present invention;

fig. 6 is a schematic view of a scheme for recording joint values during the drag teaching of the present invention.

In the figure: 1. dragging the teaching device; 11. a base; 111. a guide shaft; 112. a spring; 12. a fixing member; 121. a quick-change connector; 122. a first sealing ring; 123. sealing the cavity; 13. a movable shaft; 131. a second sealing ring; 14. a retainer ring; 15. a fixing pin; 16. a limiting block; 161. a limiting hole; 17. a first bearing; 18. a second bearing; 2. fixing the connecting rod; 21. a speed reducer; 22. a synchronous pulley; 23. a synchronous belt; 3. a joint; 31. a drive shaft; 32. a spacer sleeve; 33. a bull gear; 331. positioning holes; 4. adjusting the connecting rod; 41. a pinion gear; 42. a rotary encoder; 5. a balance cylinder; 51. an upper revolute pair; 52. a lower revolute pair; 6. a clamp; 7. a fixed seat.

Detailed Description

In order to make the technical means, creation characteristics, achievement purpose and efficacy of the present invention easy to understand, the present invention is further explained below with reference to the accompanying drawings and embodiments.

As shown in fig. 1 to 3, a device for teaching a drag includes a base 11, a fixed member 12 attached to the base 11, and a moving shaft 13 slidably attached between the base 11 and the fixed member 12.

A bearing 17 is installed to the inner wall downside of base 11, no. two bearings 18 are installed to the inner wall upside, and stopper 16 is installed to the up end of base 11, and stopper 16 and No. two bearings 18 laminating for prevent No. two bearings 18 axial to move.

A guide shaft 111 is arranged between the base 11 and the moving shaft 13, a spring 112 is arranged on the outer ring of the guide shaft 111, the fixed end of the spring 112 is positioned in the base 11, the movable end is positioned in the moving shaft 13, and the spring 112 is used for ejecting the moving shaft 13. The guide shafts 111 are fixed on the base 11 in a circumferentially uniform manner, the number of the guide shafts 111 is equal to the number of the springs 112, the number of the springs 112 is adjusted according to the elastic force, and the guide shafts 111 are fixed in the holes of the base 11.

A first sealing ring 122 in contact with the moving shaft 13 is installed on the inner wall of the fixing member 12, a second sealing ring 131 in contact with the fixing member 12 is installed on the outer wall of the moving shaft 13, a sealing cavity 123 is formed by the first sealing ring 122 and the second sealing ring 131, a quick-change connector 121 is installed on the outer wall of the fixing member 12 in the sealing cavity 123, when the teaching is dragged, external air enters the sealing cavity 123 through the quick-change connector 121 to push the moving shaft 13 to move downwards, when the teaching is dragged, the air in the sealing cavity 123 is released from the quick-change connector 121, and the moving shaft 13 is restored to the initial state under the elastic force of the spring 112.

The upper end of the movable shaft 13 is provided with a check ring 14, twelve fixing pins 15 are uniformly distributed on the upper end of the check ring 14, twelve limiting holes 161 are uniformly distributed on the limiting block 16, and the twelve fixing pins 15 can be correspondingly clamped or separated from the twelve limiting holes 161. The stopper hole 161 of the stopper 16 serves as a guide and a support. When gas enters the seal cavity 123, the gas pushes the moving shaft 13 to slide downward, the spring 112 is gradually compressed by the pressure of the moving shaft 13, and the fixing pin 15 mounted on the retainer ring 14 slides downward into the limiting hole 161 of the limiting block 16.

As shown in fig. 4 and 5, the parallel robot comprises a dragging teaching device 1, a fixed seat 7, a fixed connecting rod 2 installed on the fixed seat 7, and an adjusting connecting rod 4 rotating around the fixed connecting rod 2, wherein a joint 3 is arranged at the joint of the fixed connecting rod 2 and the adjusting connecting rod 4, a balance cylinder 5 is connected between the fixed connecting rod 2 and the adjusting connecting rod 4, an upper revolute pair 51 is connected between the balance cylinder 5 and the fixed connecting rod 2, and a lower revolute pair 52 is connected between the balance cylinder 5 and the adjusting connecting rod 4. The tail end of the adjusting connecting rod 4 is provided with a clamp 6, and the dragging teaching device 1 is arranged on the joint 3.

As shown in fig. 5, a speed reducer 21 and a synchronous pulley 22 mounted at an input end of the speed reducer 21 are mounted in the fixed link 2, a transmission shaft 31 is mounted at an output end of the speed reducer 21, and the servo motor transmits torque to the synchronous pulley 22 through a synchronous belt 23 to drive the output end of the speed reducer 21 to rotate.

A base 11 in the dragging teaching device 1 is fixed on an adjusting connecting rod 4, inner rings of a first bearing 17 and a second bearing 18 in the dragging teaching device 1 are installed on an outer shaft of a transmission shaft 31, a spacer 32 is further arranged on the outer shaft of the transmission shaft 31 and between the first bearing 17 and the second bearing 18, and the spacer 32 is used for eliminating bearing play.

As shown in fig. 5 and 6, the large gear 33 is coaxially installed at the end of the transmission shaft 31, twelve positioning holes 331 are uniformly distributed on the large gear 33, in a non-dragging state, the fixing pin 15 penetrates into the positioning holes 331, and the torque of the speed reducer 21 passes through the transmission shaft 31 to reach the large gear 33 to reach the fixing pin 15, so as to drive the adjusting link 4 to rotate.

The utility model discloses a theory of operation and use flow:

when the parallel robot is used for dragging teaching, an external air source enters the sealed cavity 123 from the quick-change connector 121 to push the movable shaft 13 to move downwards, the fixing pin 15 installed on the retainer ring 14 is separated from the positioning hole 331 of the large gear 33, the adjusting connecting rod 4 rotates relative to the transmission shaft 31 along with the inner ring of the first bearing 17 and the second bearing 18, the influence of gravity is balanced through the balance cylinder 5 installed between the fixing connecting rod 2 and the adjusting connecting rod 4, the dragging function of the parallel robot is achieved, the small gear 41 installed in the adjusting connecting rod 4 rotates around the large gear 33 fixed on the transmission shaft 31 in the daily dragging process of the parallel robot, and the rotating angle of the dragging robot is recorded in real time through the rotary encoder 42.

After the dragging teaching is finished, the gas in the sealed cavity 123 is released, the moving shaft 13 moves upwards under the action of the spring 112, the fixing pin 15 is inserted into the positioning hole 331 of the large gear 33 again, at the moment, the controller converts the numerical value recorded by the rotary encoder 42 into the actual value to complete the programming work, after the fixing pin 15 is inserted into the large gear 33, the output torque of the speed reducer 21 is transmitted to the large gear 33 through the transmission shaft 31 and then is transmitted to the base 11 through the fixing pin 15, and finally the adjusting connecting rod 4 is driven to rotate.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A device for drag teaching, comprising: including base (11), install mounting (12) on base (11), slidable mounting constitutes seal chamber (123) at the removal axle (13) between base (11) and mounting (12) after sealed processing in the space between removal axle (13) outer wall and mounting (12) inner wall, be equipped with the intercommunication piece that supplies the external gas business turn over on mounting (12) lateral wall in seal chamber (123), be equipped with the elastic component between the lower terminal surface of removing axle (13) and base (11), install stopper (16) on the up end of base (11), the equipartition has a plurality of fixed pin (15) that can block or break away from with stopper (16) on the up end of removing axle (13).

2. A drag teaching device according to claim 1, wherein: a first sealing ring (122) is arranged on the upper side of a gap between the outer wall of the movable shaft (13) and the inner wall of the fixed part (12), and a second sealing ring (131) is arranged on the lower side of the gap.

3. A device for drag teaching according to claim 1 wherein: the communication piece for the inlet and outlet of the outside air is a quick-change connector (121) arranged on the side wall of the fixing piece (12).

4. A device for drag teaching according to claim 1 wherein: the elastic element is a spring (112).

5. A device for drag teaching according to claim 4 wherein: a guide shaft (111) is arranged between the lower end face of the moving shaft (13) and the base (11), the movable upper end of the guide shaft (111) is positioned in the moving shaft (13), the fixed lower end of the guide shaft (111) is positioned in the base (11), and a spring (112) is installed on the outer shaft of the guide shaft (111).

6. A device for drag teaching according to claim 1 wherein: a plurality of limiting holes (161) which are aligned with the plurality of fixing pins (15) in the vertical position are uniformly distributed on the limiting block (16).

7. A parallel robot, characterized by: the device for dragging the teaching according to any one of claims 1 to 6 comprises a dragging teaching device (1), a fixed seat (7), fixed connecting rods (2) symmetrically distributed on the fixed seat (7), a speed reducer (21) installed on the fixed connecting rods (2), a joint (3) coaxially connected with the speed reducer (21), an adjusting connecting rod (4) connected with the joint (3), a balance cylinder (5) connected between the fixed connecting rods (2) and the adjusting connecting rod (4), and a clamp (6) installed on the tail end of the adjusting connecting rod (4);

a base (11) in the dragging teaching device (1) is rotatably installed on the joint (3) and is fixedly connected with the adjusting connecting rod (4).

8. A parallel robot according to claim 7, characterized in that: the joint (3) comprises a transmission shaft (31) coaxially connected with the speed reducer (21) and a large gear (33) coaxially connected with the tail end of the transmission shaft (31), a base (11) in the dragging teaching device (1) is sleeved on the transmission shaft (31), and a plurality of positioning holes (331) aligned with a plurality of fixing pins (15) in the vertical position are uniformly distributed in the large gear (33).

9. A parallel robot according to claim 8, wherein: the adjusting connecting rod (4) is fixedly connected with a rotary encoder (42), and the rotary encoder (42) is coaxially connected with a pinion (41) which is meshed and connected with the large gear (33).