CN219132366U

CN219132366U - Integrated upper arm of parallel robot

Info

Publication number: CN219132366U
Application number: CN202223025465.1U
Authority: CN
Inventors: 彭冬冬; 李焕志; 孙同亮
Original assignee: Hangzhou Yifei Robot Intelligent Manufacturing Co ltd
Current assignee: Hangzhou Yifei Robot Intelligent Manufacturing Co ltd
Priority date: 2022-11-15
Filing date: 2022-11-15
Publication date: 2023-06-06
Anticipated expiration: 2032-11-15

Abstract

The utility model discloses an integrated upper arm of a parallel robot, and belongs to the technical field of robots; at present, the mechanical arm is mainly bonded by special glue in the practical application process, and glue marks overflow in the practical installation process to influence the appearance; the adhesive combined structure has small moment of inertia, weaker bearing capacity of heavy load, poorer structural rigidity and larger precision error when in actual heavy load use; the device comprises an outer shell and an inner shell, wherein the outer shell and the inner shell are fixedly connected, the outer shell and the inner shell comprise an upper arm front end, an upper arm tail end, an arc outer diameter, an arc inner diameter and a fixed connection end, the outer shell is higher than the inner shell, and the fixed connection end and the upper arm tail end are positioned at two ends of the inner shell; the integrated upper arm structure is adopted, so that the strength of the upper arm is increased, and the high-precision performance of the upper arm in the operation process is ensured. And the moment of inertia of the upper arm is increased, and the overall load capacity is improved.

Description

Integrated upper arm of parallel robot

Technical Field

The utility model relates to the technical field of robots, in particular to an integrated upper arm of a parallel robot.

Background

A parallel robot may be defined as a closed loop mechanism in which a moving platform and a stationary platform are connected by at least two independent motion chains, the mechanism having two or more degrees of freedom and being driven in parallel. The parallel robot has the advantages of no accumulated error, higher precision, high speed, large bearing capacity and the like, and is widely applied to secondary packaging and material sorting in order to save manpower and space.

Along with popularization and development of automation technology, requirements on precision and load capacity of robots are higher and higher, and improvement on materials and structures of mechanical arms of parallel robots is a problem to be considered, and at present, the mechanical arms mainly have the following problems in the practical application process: the carbon fiber rod combined mechanical arm is bonded through special glue, glue marks overflow in the actual installation process, and the appearance is affected; the bonding combined structure has small moment of inertia, weaker bearing capacity and poorer structural rigidity, and when in actual heavy load use, the precision error is larger, so we propose an integrated upper arm of a parallel robot for solving the problems.

Disclosure of Invention

The utility model aims to provide an integrated upper arm of a parallel robot, which solves the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a parallelly connected robot integral type upper arm, includes shell and inner shell, shell and inner shell fixed connection, shell and inner shell include upper arm front end, upper arm end, circular arc external diameter, circular arc internal diameter and fixed connection end, the shell is high to be greater than the inner shell, fixed connection end and upper arm end are located the inner shell both ends.

As a preferable technical scheme of the utility model, the connecting shaft is fixedly arranged on the fixed connecting end, the connecting shaft is positioned at the center of the fixed connecting end, three pairs of screw holes are formed in the fixed connecting end, the screw holes are positioned at two ends of the connecting shaft, and the screw holes are positioned at the edge of the inner shell.

As a preferable technical scheme of the utility model, the outer wall of the outer shell is fixedly provided with a limiting seat, the limiting seat is positioned at the position of the fixed connecting end, the limiting seat is positioned in the direction of the inner diameter of the circular arc, the inner shell is provided with a plurality of triangular grooves, and the triangular grooves are distributed at the front end position of the upper arm.

As a preferable technical scheme of the utility model, ball joint connecting holes are rotatably arranged on two sides of the tail end of the upper arm, the diameter of each ball joint connecting hole is smaller than that of the connecting shaft, one end of each ball joint connecting hole is attached to the tail end of the upper arm, and the thickness of the tail end of the upper arm is smaller than that of the front end of the upper arm.

As a preferable technical scheme of the utility model, the front surface of the front end of the upper arm is kept collinear with the front surface of the fixed connecting end, and the back surface of the fixed connecting end is connected with the speed reducer assembly.

As a preferable technical scheme of the utility model, the height of the connecting shaft is larger than that of the shell, and the height of the screw hole is the same as that of the fixed connecting end.

Compared with the prior art, the utility model has the beneficial effects that:

1. the integrated upper arm structure is adopted, so that the strength of the upper arm is increased, and the high-precision performance of the upper arm in the operation process is ensured. The moment of inertia of the upper arm is increased, and the overall load capacity is improved;

2. the integral upper arm structure is compared with the carbon fiber rod combined mechanical arm, the special glue is not used for bonding, and the trouble that glue marks affect the overall appearance is avoided;

3. the integrated aluminum alloy structure machined by the machine has no accumulated error, and the precision is higher than that of a carbon fiber rod combined mechanical arm which is installed by using a manual tool.

Drawings

Figure 1 is a schematic diagram of the structure of the present utility model,

figure 2 is a schematic top view of the present utility model,

fig. 3 is an enlarged schematic view of the structure of fig. 1 a according to the present utility model.

In the figure: 1. a housing; 11. an inner case; 12. the front end of the upper arm; 13. an upper arm end; 14. the outer diameter of the arc; 15. an arc inner diameter; 16. a fixed connection end; 2. a connecting shaft; 21. screw holes; 3. a limit seat; 31. triangular grooves; 4. ball joint connection holes.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Examples: as shown in fig. 1-3, the utility model provides an integrated upper arm of a parallel robot, which comprises an outer shell 1 and an inner shell 11, wherein the outer shell 1 and the inner shell 11 are fixedly connected, the outer shell 1 and the inner shell 11 comprise an upper arm front end 12, an upper arm tail end 13, an arc outer diameter 14, an arc inner diameter 15 and a fixed connection end 16, the outer shell 1 is higher than the inner shell 11, the fixed connection end 16 and the upper arm tail end 13 are positioned at two ends of the inner shell 11, the connection is convenient, the front surface of the upper arm front end 12 and the front surface of the fixed connection end 16 are kept collinear, the back surface of the fixed connection end 16 is connected with a speed reducer assembly, the back surface thickness of the upper arm front end 12 is thinner than the back surface of the fixed connection end 16, the thickness of a reinforcing rib and the angle between the reinforcing ribs can be changed to realize the weight reduction of the upper arm, the outer shell 1 and the inner shell 11 are the whole, the outer shell 1 is used for protecting the robot arm from being scratched, and the inner shell 11 is provided with a plurality of structures.

The connecting shaft 2 is fixedly arranged on the fixed connecting end 16, the connecting shaft 2 is located at the center of the fixed connecting end 16, three pairs of screw holes 21 are formed in the fixed connecting end 16, connection is facilitated, the screw holes 21 are located at two ends of the connecting shaft 2, the screw holes 21 are located at the edge of the inner shell 11 and are not in interference with the connecting shaft 2, the height of the connecting shaft 2 is larger than that of the outer shell 1, the screw holes 21 are the same as the height of the fixed connecting end 16, the screw holes 21 are 6 and are correspondingly arranged with screw holes 21 of the speed reducer assembly, the speed reducer assembly is connected with the speed reducer assembly through screw penetrating holes 21, the boss height is 3mm, interference collision is prevented when the speed reducer assembly moves, and the shaft on the speed reducer assembly is connected with the connecting shaft 2 so as to drive the upper arm to move.

The fixed spacing seat 3 that is equipped with of shell 1 outer wall, spacing seat 3 are located fixed connection end 16 positions, and spacing seat 3 is located circular arc internal diameter 15 direction, has offered a plurality of triangular groove 31 on the inner shell 11, and triangular groove 31 distributes in upper arm front end 12 positions, increases pleasing to the eye, improves hardness, and spacing seat 3 is through carrying out hard spacing with the stopper between, does not produce collision and interference when limiting integral type upper arm and moving to upper and lower extreme position, and triangular groove 31 not only increases pleasing to the eye, increases shell 1 and inner shell 11 hardness moreover.

The two sides of the tail end 13 of the upper arm are rotatably provided with ball joint connecting holes 4, the diameter of each ball joint connecting hole 4 is smaller than that of the connecting shaft 2, one end of each ball joint connecting hole 4 is attached to the tail end 13 of the upper arm, the thickness of the tail end 13 of the upper arm is smaller than that of the front end 12 of the upper arm, the ball joint connecting holes 4 are symmetrically arranged on the two sides of the tail end 13 of the upper arm, and the ball joint connecting holes are respectively connected with two lower arms through spherical joint heads.

Working principle: firstly, 6 screw holes 21 are correspondingly arranged with screw holes 21 of a speed reducer assembly, the speed reducer assembly is connected with the speed reducer assembly through screw holes 21, the speed reducer assembly is positioned at the back of a fixed connecting end 16, the boss height is 3mm, interference collision is prevented during movement, a shaft on the speed reducer assembly is connected with a connecting shaft 2, so that an upper arm is driven to move, then ball joint connecting holes 4 are symmetrically formed in two sides of the tail end 13 of the upper arm, the ball joint connecting holes are respectively connected with two lower arms through spherical joint heads, then a limiting seat 3 is hard limited with a limiting block, collision and interference are prevented when the integral upper arm moves to an upper limit position and a lower limit position, a triangular groove 31 is attractive, and the hardness of an outer shell 1 and an inner shell 11 is increased.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a parallelly connected robot integral type upper arm, includes shell (1) and inner shell (11), its characterized in that: the novel multifunctional electric bicycle comprises an outer shell (1) and an inner shell (11), wherein the outer shell (1) and the inner shell (11) are fixedly connected, the outer shell (1) and the inner shell (11) comprise an upper arm front end (12), an upper arm tail end (13), an arc outer diameter (14), an arc inner diameter (15) and a fixed connection end (16), the outer shell (1) is higher than the inner shell (11), and the fixed connection end (16) and the upper arm tail end (13) are located at two ends of the inner shell (11).

2. The parallel robot-integrated upper arm of claim 1, wherein: the connecting shaft is characterized in that a connecting shaft (2) is fixedly arranged on the fixed connecting end (16), the connecting shaft (2) is located at the center of the fixed connecting end (16), three pairs of screw holes (21) are formed in the fixed connecting end (16), the screw holes (21) are located at two ends of the connecting shaft (2), and the screw holes (21) are located at the edge of the inner shell (11).

3. The parallel robot-integrated upper arm of claim 1, wherein: the utility model discloses a novel energy-saving electric motor is characterized in that a limit seat (3) is fixedly arranged on the outer wall of an outer shell (1), the limit seat (3) is located at a position of a fixed connection end (16), the limit seat (3) is located in the direction of an arc inner diameter (15), a plurality of triangular grooves (31) are formed in an inner shell (11), and the triangular grooves (31) are distributed at the position of an upper arm front end (12).

4. The parallel robot-integrated upper arm of claim 1, wherein: the ball joint connecting holes (4) are formed in two sides of the tail end (13) of the upper arm in a rotating mode, the diameter of each ball joint connecting hole (4) is smaller than that of each connecting shaft (2), one end of each ball joint connecting hole (4) is attached to the tail end (13) of the upper arm, and the thickness of the tail end (13) of the upper arm is smaller than that of the front end (12) of the upper arm.

5. The parallel robot-integrated upper arm of claim 1, wherein: the front surface of the front end (12) of the upper arm and the front surface of the fixed connecting end (16) are kept collinear, and the back surface of the fixed connecting end (16) is connected with the speed reducer assembly.

6. The parallel robot-integrated upper arm of claim 2, wherein: the height of the connecting shaft (2) is larger than that of the shell (1), and the height of the screw hole (21) is the same as that of the fixed connecting end (16).