CN223630352U - Two-axis parallel robot - Google Patents
Two-axis parallel robotInfo
- Publication number
- CN223630352U CN223630352U CN202423312404.2U CN202423312404U CN223630352U CN 223630352 U CN223630352 U CN 223630352U CN 202423312404 U CN202423312404 U CN 202423312404U CN 223630352 U CN223630352 U CN 223630352U
- Authority
- CN
- China
- Prior art keywords
- frame
- fixedly connected
- rod
- cone
- pitch changing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a two-axis parallel robot, which effectively solves the problems that the position is inconvenient to adjust for the second time after installation and the clamped article is inconvenient to place in a variable distance; the utility model provides a device for adjusting the front and back directions of a mechanical arm, which comprises a mounting frame, wherein an adjusting frame is connected to the lower side of the mounting frame in a sliding way, an adjusting assembly is arranged on the rear side of the mounting frame and can drive the adjusting frame to move back and forth, a supporting frame is fixedly connected to the front end of the adjusting frame, a mechanical arm is arranged on the lower side of the supporting frame, a connecting frame is fixedly connected to the lower end of the mechanical arm, two front and back opposite mounting grooves are formed in the lower side of the connecting frame, a distance changing assembly is arranged in the mounting grooves, and a driving assembly which can drive the distance changing assembly to change the distance is arranged at the upper end of the connecting frame.
Description
Technical Field
The utility model relates to the technical field of parallel robots, in particular to a two-axis parallel robot.
Background
A two-axis parallel robot is a special robot structure and consists of a fixed frame and two servo motors. The robot design mimics the motion characteristics of a human hip joint and can move in two degrees of freedom. The novel two-axis robot has the characteristics of smooth and natural movement and high stability, simultaneously provides larger moment and higher speed, is required to be installed after the position is finely measured during installation, cannot be changed secondarily after the installation, and cannot be placed in a variable distance when a clamping jaw is used for grabbing a plurality of articles from a box body due to the fact that the articles are more compact, and is inconvenient to carry out the next procedure.
Disclosure of utility model
Aiming at the situation, the utility model aims to overcome the defects of the prior art, and the utility model aims to provide the two-axis parallel robot, which effectively solves the problems that the position is inconvenient to adjust secondarily after installation and the clamped article is inconvenient to place in a variable distance.
The technical scheme includes that the adjustable support comprises a mounting frame, an adjusting frame is connected to the lower side of the mounting frame in a sliding mode, an adjusting component is arranged on the rear side of the mounting frame and can drive the adjusting frame to move forwards and backwards, a supporting frame is fixedly connected to the front end of the adjusting frame, a mechanical arm is arranged on the lower side of the supporting frame, a connecting frame is fixedly connected to the lower end of the mechanical arm, two front-back opposite mounting grooves are formed in the lower side of the connecting frame, a distance changing component is arranged in each mounting groove, and a driving component capable of driving the distance changing component to change distances is arranged at the upper end of the connecting frame.
The adjusting component comprises a loop bar, the loop bar is in sliding connection with the adjusting frame, a screw is connected with the loop bar in an internal thread manner, the rear end of the screw is fixedly connected with a fixing rod, the rear side of the fixing rod is fixedly connected with a first cone, the front side of the fixing rod is coaxially and slidably connected with a second cone through a tension spring, the first cone and the second cone are symmetrical with each other, the rear side of the screw is slidably connected with a hexagonal prism, the rear side of the hexagonal prism is fixedly connected with a rotary table, the left side and the right side of the rotary table are slidably connected with trapezoidal blocks through pressure springs, the trapezoidal blocks can enter between the first cone and the second cone, the front side of the rotary table is fixedly connected with a plurality of teeth uniformly distributed along the circumferential direction of the first cone, and tooth grooves matched with the teeth are formed in the rear side of the mounting frame.
And a reset spring positioned between the turntable and the screw rod is sleeved on the hexagonal prism.
The mechanical arm comprises two rotating motors which are opposite left and right, the rotating motors are fixedly connected with a support frame, the output ends of the rotating motors are fixedly connected with a first connecting rod, one end of the first connecting rod is hinged with a second connecting rod, the other end of the second connecting rod is hinged with a connecting frame, an L-shaped supporting rod is rotatably connected at the hinged position of the first connecting rod on the right side and the second connecting rod on the right side, the lower side of the supporting rod is hinged with the connecting frame through a connecting rod, and the upper side of the supporting rod is hinged with the support frame through a balance rod.
The pitch-changing assembly comprises a pitch-changing rod, a plurality of pitch-changing grooves are formed in the pitch-changing rod, a plurality of pitch-changing blocks which correspond to the pitch-changing grooves one by one are sleeved on the pitch-changing rod, the pitch-changing blocks are connected with the connecting frame in a sliding mode, sliding pins which are located in the corresponding side pitch-changing grooves are fixedly connected in the pitch-changing blocks, and suction discs are fixedly connected at the lower ends of the pitch-changing blocks.
The left side and the right side of the mounting groove are respectively and fixedly connected with a first rack, and the left side and the right side of the variable-pitch rod are respectively and fixedly connected with spur gears meshed with the racks on the corresponding sides.
The driving assembly comprises a driving motor, the output end of the driving motor is fixedly connected with a spur gear, two push-pull rods which are opposite front and back and are U-shaped are connected in a sliding mode in the connecting frame, the push-pull rods are connected with the distance-changing rods on the corresponding sides in a rotating mode, the upper ends of the push-pull rods are fixedly connected with racks II, and the racks II are meshed with the spur gear respectively.
According to the utility model, the installation frame is arranged to facilitate the installation of the device at a proper position, the adjusting frame and the adjusting component are arranged to facilitate the adjustment of the position of the mechanical arm in the front-rear direction, so that the secondary adjustment after the installation is realized, the disassembly adjustment is not needed, the supporting frame and the mechanical arm are arranged to facilitate the taking according to the position of the article when in use, the connecting frame, the installing groove, the distance changing component and the driving component are arranged to drive the distance changing component to change the distance, and further, after the plurality of articles in the box body are taken, the articles can be scattered and placed according to the requirement, the next procedure is convenient, the distance changing grabbing and placing are realized, and the practicability of the device is improved.
Drawings
Fig. 1 is an isometric view of the present utility model.
Fig. 2 is a schematic bottom view of the suction cup of the present utility model.
Fig. 3 is a schematic front view of a driving motor according to the present utility model.
Fig. 4 is an exploded view of the distance rod of the present utility model.
Fig. 5 is a schematic view of the mounting bracket of the present utility model in a right side view, partially cut away.
Fig. 6 is an exploded right side view of the turntable of the present utility model.
Fig. 7 is a schematic top view, partially cut away, of a turntable in accordance with the present utility model.
The device comprises a mounting frame 1, a regulating frame 2, a supporting frame 3, a connecting frame 4, a mounting groove 5, a mounting groove 6, a loop bar 7, a lead screw 8, a fixing bar 9, a cone I, a cone II, a cone 11, a hexagonal prism 12, a turntable 13, a trapezoid block 14, teeth 15, a return spring 16, a rotating motor 17, a connecting rod I, a connecting rod 18, a connecting rod II, 19, a supporting rod 20, a connecting rod 21, a balance bar 22, a distance changing bar 23, a distance changing groove 24, a distance changing block 25, a sliding pin 26, a sucker 27, a rack I, a spur gear 28, a spur gear 29, a driving motor 30, a spur gear 31, a push-pull rod 32 and a rack II.
Detailed Description
The following describes the embodiments of the present utility model in further detail with reference to the drawings.
The utility model provides by fig. 1 to 7, including mounting bracket 1, mounting bracket 1 downside sliding connection has adjustment frame 2, and mounting bracket 1 rear side is equipped with adjustment subassembly, and adjustment subassembly can drive adjustment frame 2 back-and-forth movement, and adjustment frame 2 front end fixedly connected with support frame 3, support frame 3 downside are equipped with the arm, and arm lower extreme fixedly connected with links up frame 4, and two front and back relative mounting groove 5 have been seted up to linking up frame 4 downside, are equipped with the displacement subassembly in the mounting groove 5, and linking up frame 4 upper end is equipped with the drive assembly that can drive the displacement subassembly and carry out the displacement.
As shown in the figure, set up mounting bracket 1 and be convenient for install the device in suitable position, set up alignment jig 2, adjustment subassembly is convenient for to adjust the position of arm fore-and-aft direction, and then realize carrying out the secondary adjustment after the installation, need not to dismantle the adjustment, set up support frame 3 and arm and be convenient for take according to article position when using, set up and link up frame 4, mounting groove 5, displacement subassembly and drive assembly can utilize drive assembly to drive the displacement subassembly and carry out the displacement, and then after taking a plurality of articles in the box, can place its dispersion as required, be convenient for carry out next process, realize the displacement and snatch and place, the practicality of device is improved.
The adjusting component comprises a loop bar 6, the loop bar 6 is in sliding connection with the adjusting frame 2, a screw rod 7 is connected with the internal thread of the loop bar 6, a fixing rod 8 is fixedly connected with the rear end of the screw rod 7, a cone I9 is fixedly connected with the rear side of the fixing rod 8, a cone II 10 is coaxially and slidably connected with the front side of the fixing rod 8 through a tension spring, the cone I and the cone II 10 are symmetrical with each other, a hexagonal prism 11 is slidingly connected with the rear side of the screw rod 7, a turntable 12 is fixedly connected with the rear side of the hexagonal prism 11, trapezoidal blocks 13 are slidingly connected with the left side and the right side of the turntable 12 through pressure springs, the trapezoidal blocks 13 can enter between the cone I9 and the cone II 10, a plurality of teeth 14 uniformly distributed along the circumferential direction of the turntable 12 are fixedly connected with the front side of the turntable, and tooth grooves matched with the teeth 14 are formed in the rear side of the mounting frame 1.
As shown in the figure, the loop bar 6 and the screw rod 7 are arranged, the loop bar 6 can be driven to move back and forth by rotating the screw rod 7, the adjusting frame 2 can be driven to move back and forth, fine adjustment is carried out on the position, the fixing bar 8, the first cone 9, the tension spring, the second cone 10, the hexagonal prism 11, the rotary table 12, the trapezoid block 13, the teeth 14 and the tooth grooves are arranged, the rotary table 12 can be utilized to push forward, the trapezoid block 13 enters between the first cone 10 and the second cone 10 when the teeth 14 are disengaged from the tooth grooves, the screw rod 7 can be driven to rotate by the rotary table 12 and the hexagonal prism 11 at the moment, the position can be changed, after position adjustment is completed, the rotary table 12 can be continuously pushed to move forward, after the trapezoid block 13 contacts with the inclined surface of the second cone, the second cone can be driven to move forward, the tension spring is stretched, after the second cone moves to contact with the first cone, the trapezoid block 13 is recycled into the rotary table 12 again, the second cone can continuously move backward until the trapezoid block 13 contacts with the inclined surface of the first cone 9, and at the same time, and the position of the screw rod 7 is prevented from being limited by meshing the teeth 14 and the tooth grooves again.
The hexagonal prism 11 is sleeved with a reset spring 15 positioned between the turntable 12 and the screw rod 7.
As shown in the figure, a return spring 15 is arranged, so that the position of the rotary table 12 is conveniently limited, and the teeth 14 and tooth grooves are prevented from being disengaged at will.
The mechanical arm comprises two rotating motors 16 which are opposite left and right, the rotating motors 16 are fixedly connected with a support frame 3, the output end of each rotating motor 16 is fixedly connected with a first connecting rod 17, one end of each first connecting rod 17 is hinged with a second connecting rod 18, the other end of each second connecting rod 18 is hinged with a connecting frame 4, an L-shaped supporting rod 19 is rotatably connected at the hinged position of each first connecting rod 17 on the right and each second connecting rod 18, the lower side of each supporting rod 19 is hinged with the connecting frame 4 through a connecting rod 20, and the upper side of each supporting rod 19 is hinged with the support frame 3 through a balance rod 21.
As shown in the figure, the mechanical arm is convenient for driving the connecting frame 4 to change the position, so that the aim of grabbing the articles and placing the articles at the required positions is fulfilled.
The pitch changing assembly comprises a pitch changing rod 22, a plurality of pitch changing grooves 23 are formed in the pitch changing rod 22, a plurality of pitch changing blocks 24 which are in one-to-one correspondence with the pitch changing grooves 23 are sleeved on the pitch changing rod 22, the pitch changing blocks 24 are in sliding connection with the connecting frame 4, sliding pins 25 which are positioned in the corresponding side pitch changing grooves 23 are fixedly connected in the pitch changing blocks 24, and suction discs 26 are fixedly connected to the lower ends of the pitch changing blocks 24.
As shown in the figure, the distance changing rod 22, the distance changing groove 23, the distance changing block 24, the sliding pin 25 and the sucker 26 are arranged, the distance changing block 24 is driven to move equidistantly through the sliding pin 25 and the distance changing groove 23 by utilizing the rotation of the distance changing rod 22, the distance between the distance changing blocks can be adjusted according to requirements when a plurality of articles are placed after being adsorbed by the sucker 26, and the next procedure is convenient to carry out.
The left and right sides of the mounting groove 5 are respectively and fixedly connected with a first rack 27, and the left and right sides of the variable-pitch rod 22 are respectively and fixedly connected with a spur gear 28 meshed with the racks on the corresponding sides.
As shown, the rack one 27 and the spur gear 28 are arranged to rotate during the forward and backward movement of the pitch lever 22, so that the distance between the pitch blocks 24 can be changed.
The driving assembly comprises a driving motor 29, a spur gear 30 is fixedly connected to the output end of the driving motor 29, two front-back opposite U-shaped push-pull rods 31 are slidably connected to the connecting frame 4, the push-pull rods 31 are rotatably connected with the distance-changing rods 22 on the corresponding sides of the push-pull rods 31, a second rack 32 is fixedly connected to the upper end of the push-pull rods 31, and the second racks 32 are respectively meshed with the spur gear 30.
As shown in the figure, the driving motor 29, the spur gear 30, the push-pull rods 31 and the second rack 32 are arranged, the spur gear 30 can be driven by the driving motor 29 to rotate, and then the second rack 32 drives the two push-pull rods 31 to swing relatively or reversely, so that the two distance-changing rods 22 are driven to move relatively or reversely, and the distance-changing clamping and placing are realized.
When the mechanical arm is used, the whole body is installed at a proper position by utilizing the installation frame 1, then the front and back positions of the mechanical arm can be adjusted for the second time according to requirements, the turntable 12 is pushed forwards, the teeth 14 are disengaged from the tooth grooves, the trapezoid blocks 13 enter between the first cone body and the second cone body 10, then the turntable 12 is rotated, the hexagonal prism 11 drives the screw rod 7 to rotate, the screw rod 7 drives the adjusting frame to move and adjust through the sleeve rod 6, after the adjustment is completed, the turntable 12 is pushed forwards continuously, the trapezoid blocks 13 are disengaged from the first cone body and the second cone body 10 under the action of the second cone body 10, at the moment, the turntable 12 can move forwards, the teeth 14 are engaged with the tooth grooves again, the limitation on the position of the screw rod 7 is completed, and random rotation of the screw rod 7 is avoided;
The mechanical arm can work subsequently, after the sucking disc 26 finishes the absorption of articles, the two rotating motors 16 are matched with each other to move the connecting frame 4 to a required position, the driving motor 29 is started, the spur gear 30 and the rack two 32 drive the two push-pull rods 31 to move back to back, meanwhile, the two distance-changing rods 22 rotate while moving back to back under the action of the spur gear 28 and the rack one 27, at the moment, the distance between the distance-changing blocks 24 starts to be increased until the proper distance is reached, then the articles can be put down, and after the lowering is finished, the distance between the distance-changing blocks 24 is reduced again by reversing through the driving motor 29, so that the next carrying is convenient until all the carrying is finished.
In the present utility model, the motor is a prior art, and detailed description thereof is omitted here.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions, without departing from the spirit of the utility model or exceeding the scope of the utility model as defined in the accompanying claims.
Claims (7)
1. The utility model provides a diaxon parallel robot, including mounting bracket (1), its characterized in that, mounting bracket (1) downside sliding connection has alignment jig (2), mounting bracket (1) rear side is equipped with adjustment subassembly, adjustment subassembly can drive alignment jig (2) back-and-forth movement, alignment jig (2) front end fixedly connected with support frame (3), support frame (3) downside is equipped with the arm, arm lower extreme fixedly connected with links up frame (4), two front and back relative mounting groove (5) have been seted up to linking frame (4) downside, be equipped with the displacement subassembly in mounting groove (5), link up frame (4) upper end and be equipped with the drive assembly that can drive the displacement subassembly and carry out the displacement.
2. The two-axis parallel robot according to claim 1, wherein the adjusting assembly comprises a sleeve rod (6), the sleeve rod (6) is in sliding connection with the adjusting frame (2), a lead screw (7) is connected with the sleeve rod (6) in a threaded manner, a fixing rod (8) is fixedly connected with the rear end of the lead screw (7), a cone one (9) is fixedly connected with the rear side of the fixing rod (8), a cone two (10) is coaxially and slidably connected with the front side of the fixing rod (8) through a tension spring, the cone one and the cone two (10) are symmetrical with each other, a hexagonal prism (11) is slidably connected with the rear side of the lead screw (7), a rotary disc (12) is fixedly connected with two sides of the rotary disc (12) through a pressure spring, the trapezoidal blocks (13) can enter between the cone one (9) and the cone two (10), a plurality of teeth (14) uniformly distributed along the circumferential direction of the front side of the rotary disc (12), and tooth sockets matched with the teeth (14) are formed on the rear side of the mounting frame (1).
3. A two-axis parallel robot according to claim 2, characterized in that the hexagonal prism (11) is sleeved with a return spring (15) between the turntable (12) and the screw (7).
4. The two-axis parallel robot according to claim 1, wherein the mechanical arm comprises two rotating motors (16) which are opposite left and right, the rotating motors (16) are fixedly connected with the support frame (3), the output ends of the rotating motors (16) are fixedly connected with a first connecting rod (17), one end of the first connecting rod (17) is hinged with a second connecting rod (18), the other end of the second connecting rod (18) is hinged with the connecting frame (4), an L-shaped supporting rod (19) is rotatably connected at the hinged position of the first connecting rod (17) on the right and the second connecting rod (18), the lower side of the supporting rod (19) is hinged with the connecting frame (4) through a connecting rod (20), and the upper side of the supporting rod (19) is hinged with the support frame (3) through a balancing rod (21).
5. The two-axis parallel robot according to claim 1, wherein the pitch changing assembly comprises a pitch changing rod (22), a plurality of pitch changing grooves (23) are formed in the pitch changing rod (22), a plurality of pitch changing blocks (24) which are in one-to-one correspondence with the pitch changing grooves (23) are sleeved on the pitch changing rod (22), the pitch changing blocks (24) are in sliding connection with the connecting frame (4), sliding pins (25) which are positioned in the pitch changing grooves (23) on the corresponding sides of the pitch changing blocks (24) are fixedly connected in the pitch changing blocks (24), and suction discs (26) are fixedly connected to the lower ends of the pitch changing blocks (24).
6. The two-axis parallel robot according to claim 5, wherein a first rack (27) is fixedly connected to the left and right sides of the mounting groove (5), and a spur gear (28) engaged with the corresponding rack is fixedly connected to the left and right sides of the pitch-changing rod (22).
7. The two-axis parallel robot according to claim 5, wherein the driving assembly comprises a driving motor (29), a spur gear (30) is fixedly connected to the output end of the driving motor (29), two front-back opposite U-shaped push-pull rods (31) are slidably connected to the connecting frame (4), the push-pull rods (31) are rotatably connected with the distance-changing rods (22) on the corresponding sides of the push-pull rods, a second rack (32) is fixedly connected to the upper ends of the push-pull rods (31), and the two second racks (32) are meshed with the spur gear (30) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202423312404.2U CN223630352U (en) | 2024-12-31 | 2024-12-31 | Two-axis parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202423312404.2U CN223630352U (en) | 2024-12-31 | 2024-12-31 | Two-axis parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN223630352U true CN223630352U (en) | 2025-12-05 |
Family
ID=97861946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202423312404.2U Active CN223630352U (en) | 2024-12-31 | 2024-12-31 | Two-axis parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN223630352U (en) |
-
2024
- 2024-12-31 CN CN202423312404.2U patent/CN223630352U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114577654B (en) | Wear-resisting zirconium aluminium welt surface wear resistance testing arrangement | |
| CN203765385U (en) | Double-station computer numerical control machining center | |
| CN112936146B (en) | An integrated assembly fixture for a reverse planetary roller screw pair | |
| CN108717222A (en) | A kind of adjustable fiber array making fixture | |
| CN215966880U (en) | Auxiliary device for laser hybrid welding of steel plate | |
| CN223630352U (en) | Two-axis parallel robot | |
| CN114274127A (en) | A track manipulator for automobile manufacturing | |
| CN212460292U (en) | Projector lens shift adjustment mechanism and projector | |
| CN118977009B (en) | Arc welding device for electronic equipment | |
| CN222038270U (en) | Auxiliary devices for water conservancy project installation | |
| CN222404136U (en) | A welding bracket for producing electronic component motherboard | |
| CN218613436U (en) | Workpiece grinding and clamping equipment | |
| CN116277094B (en) | Transposition manipulator of automatic wire harness production line | |
| CN215699676U (en) | Vertical five-axis linkage numerical control milling machining center of longmen | |
| CN113146593B (en) | Swing arm type mechanical arm | |
| CN112847501B (en) | Biological breeding slicer | |
| CN210058312U (en) | Physical experiment instrument frame for middle school students | |
| CN115609550A (en) | Automatic assembly system of automobile auxiliary instrument board based on robot | |
| CN223314029U (en) | Four-axis joint robot based on thread rolling technology | |
| CN115026806A (en) | Electric automatization diversified adjustable mechanical arm | |
| CN219971035U (en) | Locomotive engine cylinder block turning device | |
| CN209052104U (en) | A high-speed stacking mechanism | |
| CN219768052U (en) | Shaft part repairing clamp | |
| CN222327440U (en) | Turnover device for mechanical automatic production and processing | |
| CN222308851U (en) | One-axis servo manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |