Extended telescopic arm mechanism for parallel robots

Abstract

The present invention discloses an extended telescopic arm mechanism for a parallel robot, including an assembly plate, including a bottom plate, a middle plate, and a top plate arranged in sequence; a linear cylinder, including an output rod and a cylinder body; the two ends of the cylinder body are respectively fixed to the middle plate and the top plate, and the end of the output rod is fixed to the bottom plate; a guide rod, one end of which is fixed to the bottom plate, and a guide sleeve for the guide rod to pass through is provided on the middle plate; a limit rod, a limit rod is fixed between the middle plate and the top plate; there are two guide rods and they are distributed in parallel on both sides of the output rod, and there are two limit rods and they are distributed in parallel on both sides of the cylinder body; along the axis of the linear cylinder, the connecting lines of the guide rod and the limit rod in sequence form a rhombus. This invention provides a linear cylinder type telescopic arm with enhanced bending strength, which can be used in the sorting field of parallel robots to greatly expand the activity radius. At the same time, the thickness of the telescopic arm is greatly controlled, so that it still has high flexibility and spatial adaptability.

Description

Technical Field

[0001] The invention relates to the field of automation, and in particular to an extended telescopic arm mechanism for a parallel robot. Background Art

[0002] Linear cylinder is a basic component commonly used in non-standard automation. It can provide linear reciprocating motion and also serve to extend the arm.

[0003] When used as an extended arm function, a larger active radius can be obtained, but this also brings a problem. A longer arm will naturally deteriorate the bending strength of the structure, causing the output rod of the linear cylinder to move crookedly, affecting its accuracy and life. The existing method is to set guide rods parallel to the linear cylinder to enhance the bending strength of the structure, but this will also greatly increase the width of the arm, making it impossible to use this linear cylinder system in many narrow scenarios. Summary of the invention

[0004] The problem to be solved by the present invention is to provide an extended telescopic arm mechanism for a parallel robot, and provide a linear cylinder type telescopic arm with enhanced bending strength, which can be used in the sorting field of the parallel robot to greatly expand the activity radius. At the same time, the thickness of the telescopic arm is greatly controlled, so that it still has high flexibility and spatial adaptability.

[0005] In order to solve the above problems, the present invention provides an extended telescopic arm mechanism for a parallel robot. In order to achieve the above objectives, the technical solution adopted by the present invention to solve the technical problems is:

[0006] The extended telescopic arm mechanism for a parallel robot comprises: an assembly plate, comprising a bottom plate, a middle plate, and a top plate which are arranged in sequence; a linear cylinder, comprising an output rod and a cylinder body; the two ends of the cylinder body are respectively fixed to the middle plate and the top plate, and the end of the output rod is fixed to the bottom plate; a guide rod, one end of which is fixed to the bottom plate, and a guide sleeve for the guide rod to pass through is provided on the middle plate; a limit rod, a limit rod is fixed between the middle plate and the top plate; there are two guide rods which are parallelly distributed on both sides of the output rod, and there are two limit rods which are parallelly distributed on both sides of the cylinder body; along the axis of the linear cylinder, the lines connecting the guide rod and the limit rod in sequence form a rhombus.

[0007] The beneficial effects of adopting the above technical solution are: this technical solution mainly provides a linear cylinder type telescopic arm with enhanced bending strength, which can be used in the sorting field of parallel robots to greatly expand the activity radius. At the same time, the thickness of the telescopic arm is greatly controlled, so that it still has high flexibility and spatial adaptability.

[0008] The limit rod and the cylinder are fixed at both ends to ensure the structural strength of the "big arm" section. The parallel relationship between the guide rod and the output rod is also stable, but the guide rod and the guide sleeve provide a guide limit for the extension and retraction of the output rod, ensuring the straightness of its output action and the structural strength of the "small arm" section.

[0009] In addition, the guide rod and the limit rod are arranged in a mutually staggered diamond shape, which means that when the output rod retracts, the guide rod will not interfere with the limit rod. The guide rod and the limit rod can each be arranged as close to the central axis of the linear cylinder as possible, thereby controlling the overall thickness of the telescopic arm.

[0010] Finally, the guide rods and limit rods do not overlap in the same spatial plane layout, but instead strengthen the bending strength of the telescopic arm in all directions.

[0011] As a further improvement of the present invention, the length of the guide rod is not shorter than that of the output rod, the cross sections of the guide rod and the limit rod are both circular, and balls in a ring array are arranged in the guide sleeve.

[0012] The beneficial effects of adopting the above technical solution are: the guide rod always passes through the guide sleeve and will not get loose. The guide rod and the limit rod are both cylindrical, and the bending strength of the structure in all directions is excellent. The ball reduces the resistance when the telescopic arm moves.

[0013] As a further improvement of the present invention, the profile of the middle plate is a rhombus with rounded corners at each vertex, and the diameter of the guide rod is greater than the diameter of the limiting rod.

[0014] The beneficial effect of adopting the above technical solution is that the shape of the middle plate is just suitable for the assembly of the guide rod and the limit rod, and on this basis, its own area is controlled, thereby controlling the thickness of the telescopic arm.

[0015] As a further improvement of the present invention, the connection line between the two guide rods is parallel to the length direction of the middle plate, and the distance between the two guide rods is greater than the distance between the two limit rods.

[0016] The beneficial effect of adopting the above technical solution is that the guide rods are relatively far apart, because the telescopic rods are relatively movable, and the guide rods and the guide sleeves are also relatively movable, so they are relatively far apart to compensate for the looseness and skewness caused by the movable assembly.

[0017] As a further improvement of the present invention, there are several first through holes in a circular array on the top plate, and the first through holes are assembled with the parallel manipulator through bolts. The parallel manipulator includes three connecting rods converging on the top plate, and the angles between the linear cylinder and all the connecting rods are equal.

[0018] The beneficial effect of adopting the above technical solution is that multiple bolts are used to fix the telescopic arm and the manipulator.

[0019] As a further improvement of the present invention, a side of the top plate facing the linear cylinder is provided with a blind hole, an end of the cylinder body is provided with a lug inserted into the blind hole, and the lug is provided with a second through hole for the positioning pin to pass through.

[0020] The beneficial effect of adopting the above technical solution is that the fixation of the blind hole and the lug is equivalent to limiting the rotational freedom of the entire telescopic arm around its own axis.

[0021] As a further improvement of the present invention, the bottom plate is provided with an internal threaded hole assembled with the output rod, and a suction cup is assembled on a side of the bottom plate away from the linear cylinder, and the suction cup has a lower concave cavity.

[0022] The beneficial effect of adopting the above technical solution is that the internal thread can fine-tune the assembly position with the output rod, because the limit relationship between the guide rod and the guide sleeve will not hinder the adjustment of the internal thread and the output rod. The suction cup can play the role of negative pressure adsorption and turnover of the workpiece.

[0023] As a further improvement of the present invention, the bottom plate and the suction cup are connected by a two-way pipe, the two-way pipe includes a bottom opening connected to the lower concave cavity, and the side of the two-way pipe has a side opening connected to the bottom opening, and the side opening is located outside the suction cup.

[0024] The beneficial effect of adopting the above technical solution is that the bottom opening of the two-way pipe provides negative pressure suction for the entire suction cup, and the side opening is also convenient for connecting the hose to the external hose and then to the vacuum generator.

[0025] As a further improvement of the present invention, the two-way pipe and the bottom plate are connected via a buffer sleeve.

[0026] The beneficial effect of adopting the above technical solution is that the sleeve plays a certain elastic buffering role, thereby preventing the suction cup from crushing the workpiece when the workpiece rotates.

[0027] As a further improvement of the present invention, the length of the limiting rod is not shorter than the length of the guide rod.

[0028] The beneficial effect of adopting the above technical solution is that even if the linear cylinder retracts to the shortest position, the top end of the guide rod will not interfere with the top plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 is a front view of an embodiment of the present invention;

[0031] Figure 2 is an AA cross-sectional view of an embodiment of the present invention;

[0032] Figure 3 is a BB cross-sectional view of an embodiment of the present invention;

[0033] Figure 4 is a CC cross-sectional view of an embodiment of the present invention;

[0034] Figure 5 is a DD cross-sectional view of an embodiment of the present invention;

[0035] Figure 6 is a perspective view of an embodiment of the present invention;

[0036] Figure 7 is a perspective view of an embodiment of the present invention;

[0037] Figure 8 It is a partial enlarged view of point E of an embodiment of the present invention;

[0038] Fig. 9 It is an application schematic diagram of an implementation mode of the present invention.

[0039] 1-suction cup; 1a-lower concave cavity; 2-two-way pipe; 2a-bottom opening; 2b-side opening; 3-bottom plate; 3a-inner threaded hole; 4-middle plate; 5-top plate; 5a-first through hole; 5b-blind hole; 6-linear cylinder; 6a-output rod; 6b-cylinder body; 6c-lug; 6d-second through hole; 7-guide rod; 8-guide sleeve; 9-limiting rod; 10-parallel manipulator; 10a-connecting rod; 11-sleeve. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with specific embodiments:

[0041] In order to achieve the purpose of the present invention, an extended telescopic arm mechanism for a parallel robot includes: an assembly plate, including a bottom plate 3, a middle plate 4, and a top plate 5 arranged in sequence; a linear cylinder 6, including an output rod 6a and a cylinder body 6b; the two ends of the cylinder body 6b are respectively fixed to the middle plate 4 and the top plate 5, and the end of the output rod 6a is fixed to the bottom plate 3; a guide rod 7, one end of which is fixed to the bottom plate 3, and a guide sleeve 8 for the guide rod 7 to pass through is provided on the middle plate 4; a limiting rod 9, a limiting rod 9 is fixed between the middle plate 4 and the top plate 5; there are two guide rods 7 and they are parallelly distributed on both sides of the output rod 6a, and there are two limiting rods 9 and they are parallelly distributed on both sides of the cylinder body 6b; along the axis of the linear cylinder 6, as shown Figure 5 As shown, the connecting lines of the guide rod 7 and the limit rod 9 in sequence form a rhombus.

[0042] The beneficial effects of adopting the above technical solution are: this technical solution mainly provides a linear cylinder type telescopic arm with enhanced bending resistance, which can be used in the sorting field of parallel robots to greatly expand the activity radius. At the same time, the thickness of the telescopic arm is greatly controlled, so that it still has high flexibility and spatial adaptability. The limit rod and the cylinder body are fixed at both ends to ensure the structural strength of this "big arm" section. The parallel relationship between the guide rod and the output rod is also stable, but the guide rod and the guide sleeve provide a guide limit for the extension of the output rod, ensuring the straightness of its output action and the structural strength of the "small arm" section. In addition, the guide rod and the limit rod are in a mutually displaced diamond layout, which means that when the output rod retracts, the guide rod will not interfere with the limit rod. The guide rod and the limit rod can each be arranged as close to the central axis of the linear cylinder as possible, thereby controlling the overall thickness of the telescopic arm. Finally, the guide rod and the limit rod do not overlap in the same spatial plane layout, but instead strengthen the bending resistance of the telescopic arm in all directions.

[0043] In some other embodiments of the present invention, the length of the guide rod 7 is not shorter than that of the output rod 6a, the cross-sections of the guide rod 7 and the limit rod 9 are both circular, and the guide sleeve 8 is provided with balls in a ring array.

[0044] The beneficial effects of adopting the above technical solution are: the guide rod always passes through the guide sleeve and will not get loose. The guide rod and the limit rod are both cylindrical, and the bending strength of the structure in all directions is excellent. The ball reduces the resistance when the telescopic arm moves.

[0045] In some other embodiments of the present invention, the profile of the middle plate 4 is a rhombus with rounded corners at each vertex, and the diameter of the guide rod 7 is greater than the diameter of the limiting rod 9 .

[0046] The beneficial effect of adopting the above technical solution is that the shape of the middle plate is just suitable for the assembly of the guide rod and the limit rod, and on this basis, its own area is controlled, thereby controlling the thickness of the telescopic arm.

[0047] In some other embodiments of the present invention, the connection line between the two guide rods 7 is parallel to the length direction of the middle plate 4 , and the distance between the two guide rods 7 is greater than the distance between the two limit rods 9 .

[0048] The beneficial effect of adopting the above technical solution is that the guide rods are relatively far apart, because the telescopic rods are relatively movable, and the guide rods and the guide sleeves are also relatively movable, so they are relatively far apart to compensate for the looseness and skewness caused by the movable assembly.

[0049] like Fig. 9As shown, in some other embodiments of the present invention, a plurality of first through holes 5a are provided in a circular array on the top plate 5, and the first through holes 5a are assembled with the parallel manipulator 10 by bolts. The parallel manipulator 10 includes three connecting rods 10a converging on the top plate, and the angles between the linear cylinder 6 and all the connecting rods 10a are equal.

[0050] The beneficial effect of adopting the above technical solution is that multiple bolts are used to fix the telescopic arm and the manipulator.

[0051] like Figure 3 As shown, in some other embodiments of the present invention, the top plate 5 has a blind hole 5b on one side facing the linear cylinder 6, the end of the cylinder body 6b has a lug 6c inserted into the blind hole 5b, and the lug 6c has a second through hole 6d for the positioning pin to pass through.

[0052] The beneficial effect of adopting the above technical solution is that the fixation of the blind hole and the lug is equivalent to limiting the rotational freedom of the entire telescopic arm around its own axis.

[0053] In some other embodiments of the present invention, the base plate 3 has an internal threaded hole 3a assembled with the output rod 6a, and a suction cup 1 is assembled on a side of the base plate 3 facing away from the linear cylinder 6, and the suction cup 1 has a lower concave cavity 1a.

[0054] The beneficial effect of adopting the above technical solution is that the internal thread can fine-tune the assembly position with the output rod, because the limit relationship between the guide rod and the guide sleeve will not hinder the adjustment of the internal thread and the output rod. The suction cup can play the role of negative pressure adsorption and turnover of the workpiece.

[0055] like Figure 2 , Figure 8 As shown, in some other embodiments of the present invention, the bottom plate 3 is connected to the suction cup 1 via a two-way pipe 2, the two-way pipe 2 includes a bottom opening 2a connected to the lower concave cavity 1a, and the side of the two-way pipe 2 has a side opening 2b connected to the bottom opening 2a, and the side opening 2b is located outside the suction cup 1.

[0056] The beneficial effect of adopting the above technical solution is that the bottom opening of the two-way pipe provides negative pressure suction for the entire suction cup, and the side opening is also convenient for connecting the hose to the external hose and then to the vacuum generator.

[0057] like Figure 2 As shown, in some other embodiments of the present invention, the two-way pipe 2 and the bottom plate 3 are further connected via a buffer sleeve 11.

[0058] The beneficial effect of adopting the above technical solution is that the sleeve plays a certain elastic buffering role, thereby preventing the suction cup from crushing the workpiece when the workpiece rotates.

[0059] In some other embodiments of the present invention, the length of the limiting rod 9 is not shorter than the length of the guiding rod 7 .

[0060] The beneficial effect of adopting the above technical solution is that even if the linear cylinder retracts to the shortest position, the top end of the guide rod will not interfere with the top plate.

[0061] like Figure 4 As shown, the bottom plate 3 has a circular contour.

[0062] like Figure 5 As shown, the length of the middle plate 4 is greater than the diameter of the bottom plate 3 .

[0063] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An extended telescopic arm mechanism for a parallel robot, characterized in that: include: An assembly plate, comprising a bottom plate, a middle plate, and a top plate which are arranged in sequence; The linear cylinder comprises an output rod and a cylinder body; the two ends of the cylinder body are respectively fixed to the middle plate and the top plate, and the end of the output rod is fixed to the bottom plate; A guide rod, one end of which is fixed to the bottom plate, and a guide sleeve for the guide rod to pass through is provided on the middle plate; A limiting rod is fixed between the middle plate and the top plate; There are two guide rods and they are parallelly distributed on both sides of the output rod, and there are two limit rods and they are parallelly distributed on both sides of the cylinder body; along the axis of the linear cylinder, the connecting lines of the guide rods and the limit rods in sequence form a rhombus; The length of the guide rod is not shorter than that of the output rod, the cross sections of the guide rod and the limit rod are both circular, and the guide sleeve is provided with balls in a circular array; The profile of the middle plate is a rhombus with rounded corners at each vertex, and the diameter of the guide rod is greater than the diameter of the limit rod; The connecting line between the two guide rods is parallel to the length direction of the middle plate, and the distance between the two guide rods is greater than the distance between the two limit rods; The top plate has a blind hole on one side facing the linear cylinder, the end of the cylinder body has a lug inserted into the blind hole, and the lug has a second through hole for the positioning pin to pass through.

2. The extended telescopic arm mechanism for a parallel robot according to claim 1, characterized in that: The top plate has a plurality of first through holes in a circular array, and the first through holes are assembled with a parallel manipulator through bolts. The parallel manipulator includes three connecting rods converging on the top plate, and the angles between the linear cylinder and all the connecting rods are equal.

3. The extended telescopic arm mechanism for a parallel robot according to claim 1, characterized in that: The bottom plate is provided with an internal threaded hole for assembling with the output rod, and a suction cup is arranged on a side of the bottom plate away from the linear cylinder, and the suction cup is provided with a lower concave cavity.

4. The extended telescopic arm mechanism for a parallel robot according to claim 3, characterized in that: The bottom plate and the suction cup are connected via a two-way pipe, the two-way pipe comprises a bottom opening connected to the lower concave cavity, the side surface of the two-way pipe is provided with a side opening connected to the bottom opening, and the side opening is located outside the suction cup.

5. The extended telescopic arm mechanism for a parallel robot according to claim 4, characterized in that: The two-way pipe and the bottom plate are also connected via a buffer sleeve.

6. The extended telescopic arm mechanism for a parallel robot according to claim 1, characterized in that: The length of the limiting rod is not shorter than the length of the guide rod.

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