High-strength driving arm of parallel robot

Abstract

The utility model provides a high-strength driving arm of a parallel robot, relates to the technical field of robots, and solves the technical problems that the strength of the driving arm is lower, and the driving arm is easy to break when the load is heavier. The high-strength driving arm of the parallel robot comprises an arm main body, lining parts and a connection reinforcing part, the lining parts are located in an inner cavity of the arm main body and fixedly connected with the side wall of the inner cavity of the arm main body, and the connection reinforcing part is located in the inner cavity of the arm main body and penetrates through the lining parts to fixedly connect all the lining parts; due to the fact that the connection reinforcing part penetrates through the lining parts and fixedly connects all the lining parts together, the integrity of the interior of the arm body can be improved, and the structural strength is further improved. When the arm body bears loads, the loads can be dispersed to the lining parts, the strength of the high-strength driving arm of the parallel robot is improved, the internal structure of the arm body is more stable, the arm body is prevented from being broken, and the bearing capacity of the high-strength driving arm of the parallel robot is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a high-strength active arm of a parallel robot. Background Art

[0002] The robot's static platform is used to place and fix the servo motor and active arm to ensure smooth operation in a high-frequency and high-intensity working environment.

[0003] The active arm in the prior art uses carbon fiber material, which can effectively improve the strength ratio and is used for connecting the servo motor and the driven arm.

[0004] The applicant has found that the prior art has at least the following technical problems: However, the carbon fiber bonded composite arm has insufficient load capacity and low strength, and is prone to breakage when loaded with heavy loads, and cannot adapt to some working conditions with high precision requirements and large loads. Utility Model Content

[0005] The purpose of the utility model is to provide a high-strength active arm and static platform of a parallel robot, so as to solve the technical problem in the prior art that the active arm has low strength and is prone to breakage when the load is heavy; the many technical effects that can be produced by the preferred technical scheme among the many technical schemes provided by the utility model are detailed as follows.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] The high-strength active arm of a parallel robot provided by the utility model comprises an arm body, an inner lining part and a connection reinforcement part, wherein:

[0008] The lining portion is located in the inner cavity of the arm body and is fixedly connected to the inner cavity side wall of the arm body. The connection reinforcement portion is located in the inner cavity of the arm body and passes through the lining portion to fixedly connect all the lining portions.

[0009] Preferably, the lining portion is arranged at least at both ends of the arm body, and the lining portion is a cylindrical structure, and the side wall of the cylindrical structure is fixedly connected to the inner cavity side wall of the arm body, and the end sides of two adjacent cylindrical structures are arranged opposite to each other, and a hole is provided on the end sides for the connection reinforcement portion to pass through.

[0010] Preferably, the connection reinforcement portion comprises a screw rod, the screw rod passes through all the lining portions, and the end of the screw rod is threadedly connected with a nut portion.

[0011] Preferably, the high-strength active arm of the parallel robot also includes a front end head and a rear end head, the front end head is used to connect to the driving device, and the rear end head is used to connect to the driven arm, one end of the arm body extends into the front end head and is fixedly connected to the front end head, and the other end of the arm body extends into the rear end head and is fixedly connected to the rear end head.

[0012] Preferably, the parallel robot high-strength active arm further includes a first locking member and a second locking member, wherein:

[0013] The first locking member passes through the front end head, the side wall of the arm body and the corresponding lining part and locks the three, and the second locking member passes through the rear end head, the side wall of the arm body and the corresponding lining part and locks the three.

[0014] Preferably, the front end head is bonded to the arm body, and a first groove for accommodating an adhesive is provided on the inner wall of the front end head, with the open side of the first groove facing the arm body; the rear end head is bonded to the arm body, and a second groove for accommodating an adhesive is provided on the inner wall of the front end head, with the open side of the second groove facing the arm body.

[0015] Preferably, the lining portion is provided with a raised ring for the corresponding locking member to pass through, and the raised ring is protruded from the inner wall of the lining portion.

[0016] Preferably, a center block and a positioning pin are provided on the front end head, and the positioning pin is arranged around the center block. The center block and the positioning pin are used to insert the driving end of the driving device, thereby ensuring that the active arm is coaxially arranged with the driving device.

[0017] Preferably, the rear end head comprises a sleeve body, a shaft and a ball joint, wherein:

[0018] The axis of the sleeve is perpendicular to the axis of the arm body, the shaft is located in the sleeve, the ball joint is threadedly connected to both ends of the shaft, a locking piece passes through the side wall of the sleeve and detachably connects the sleeve and the shaft, so that the shaft and the sleeve have a locked state and an adjustable state, and when in the adjustable state, the shaft can move back and forth along the axis of the sleeve.

[0019] The high-strength active arm of the parallel robot provided by the utility model has the following beneficial effects compared with the prior art: the lining portion is located in the inner cavity of the arm body and is fixedly connected to the inner cavity side wall of the arm body, which can improve the structural strength of the arm body, and because the connection reinforcement portion passes through the inner lining portion and fixes all the inner lining portions together, the integrity of the interior of the arm body can be improved, thereby further improving the structural strength; when the arm body is under load, the load can be dispersed to each inner lining portion, thereby improving the strength of the high-strength active arm of the parallel robot, making the internal structure of the arm body more stable, preventing the arm body from breaking, and making the high-strength active arm of the parallel robot more load-bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the high-strength active arm of the parallel robot;

[0022] Figure 2 It is an axial cross-sectional view of the high-strength active arm of the parallel robot;

[0023] Figure 3 yes Figure 2 A partial enlarged view of point B in the middle;

[0024] Figure 4 It is a structural schematic diagram of the lining part;

[0025] Figure 5 yes Figure 1 A partial enlarged view of the middle A;

[0026] Figure 6 It is a structural diagram of the front end.

[0027] In the figure, 1 is the arm body; 2 is the inner lining; 21 is the raised ring; 3 is the screw; 4 is the front end head; 41 is the first groove; 42 is the center block; 43 is the positioning pin; 5 is the rear end head; 51 is the sleeve; 52 is the shaft; 53 is the ball joint; 54 is the locking piece; 6 is the nut part; 7 is the first locking piece; 8 is the second locking piece. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0029] In the description of the present invention, it should be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Combine the following Figure 1-Figure 6 The technical solution provided by the utility model is described in more detail.

[0032] Embodiment 1:

[0033] like Figure 1 and Figure 2 As shown, this embodiment provides a high-strength active arm of a parallel robot, including an arm body 1, an inner lining 2 and a connection reinforcement part (screw 3), wherein: the inner lining 2 is located in the inner cavity of the arm body 1 and is fixedly connected to the inner cavity side wall of the arm body 1, and the connection reinforcement part (screw 3) is located in the inner cavity of the arm body 1 and passes through the inner lining 2 to fix all the inner linings 2. The inner lining 2 is integrally formed or bonded or welded with the arm body 1, which will not be described in detail here.

[0034] In the high-strength active arm of the parallel robot of this embodiment, the lining portion 2 is located in the inner cavity of the arm body 1 and is fixedly connected to the inner cavity side wall of the arm body 1, which can improve the structural strength of the arm body 1. Even if the arm body is made of carbon fiber, the load-bearing capacity of the arm body can be improved; and because the connection reinforcement portion passes through the lining portion 2 and all the lining portions 2 are fixedly connected together, the integrity of the interior of the arm body 1 can be improved, and the structural strength can be further improved; when the arm body 1 is under load, the load can be dispersed to each lining portion 2, thereby improving the strength of the high-strength active arm of the parallel robot, making the internal structure of the arm body 1 more stable, preventing the arm body 1 from breaking, and making the high-strength active arm of the parallel robot more load-bearing.

[0035] As an alternative embodiment, see Figure 2 As shown, the lining portion 2 is arranged at least at both ends of the arm body 1, and the lining portion 2 is a cylindrical structure. The side wall of the cylindrical structure is fixedly connected to the inner cavity side wall of the arm body 1, and the end sides of two adjacent cylindrical structures are arranged opposite to each other, and a hole is provided on the end side for the connection reinforcement portion to pass through.

[0036] As an optional embodiment, the connection reinforcement portion includes a screw rod 3 , the screw rod 3 passes through all the lining portions 2 , and the end of the screw rod 3 is threadedly connected with a nut portion 6 .

[0037] See also Figure 3 The screw rod 3 passes through the end side of the inner lining part 2, connecting the inner lining part 2 of the arm body 1 together, and can disperse the external force when bearing the load, thereby improving the load-bearing capacity. The nut part 6 is threadedly connected to the end of the screw rod 3, and can prevent the screw rod 3 from separating from the corresponding inner lining part 2.

[0038] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the high-strength active arm of the parallel robot also includes a front end head 4 and a rear end head 5. The front end head 4 is used to connect to the driving device, and the rear end head 5 is used to connect to the driven arm. One end of the arm body 1 extends into the front end head 4 and is fixedly connected to the front end head 4, and the other end of the arm body 1 extends into the rear end head 5 and is fixedly connected to the rear end head 5.

[0039] The driving device of the static platform includes a motor connected to a reducer. The driving device is connected to the arm body 1 through the front end head 4, thereby driving the high-intensity active arm movement of the corresponding parallel robot. The arm body 1 is connected to the slave arm through the rear end head 5, thereby realizing the follow-up of the slave arm.

[0040] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the front end head 4 is bonded to the arm body 1, as shown in FIG. Figure 3As shown, a first groove 41 for accommodating an adhesive is provided on the inner wall of the front end head 4, and the open side of the first groove 41 faces the arm body 1; similarly, the rear end head 5 is bonded to the arm body 1, and a second groove (not marked in the figure) for accommodating an adhesive is provided on the inner wall of the front end head 4, and the open side of the second groove faces the arm body 1.

[0041] The first groove 41 can hold a certain amount of glue, so that the amount of glue between the front end head 4 and the outer wall of the arm body 1 is larger, so that the front end head 4 and the arm body 1 are more firmly bonded. The second groove can hold a certain amount of glue, so that the amount of glue between the rear end head 5 and the outer wall of the arm body 1 is larger, so that the rear end head 5 and the arm body 1 are more firmly bonded.

[0042] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the high-strength active arm of the parallel robot also includes a first locking member 7 and a second locking member 8, wherein: Figure 1 The first locking member 7 passes through the front end 4, the side wall of the arm body 1 and the corresponding lining part 2 and locks the three together, see Figure 2 The second locking member 8 passes through the rear end head 5, the side wall of the arm body 1 and the corresponding lining part 2 and locks the three. The first locking member 7 and the second locking member 8 can be structures such as screws or bolts. The above structure improves the stability of the connection structure between the arm body 1, the front end head 4 and the rear end head 5.

[0043] In addition to being fixed by gluing, the front end head 4 and the arm body 1, as well as the rear end head 5 and the arm body 1, are also locked by a first locking member 7 and a second locking member 8, respectively, so that the overall structure of the active arm is more stable and has a higher load capacity.

[0044] As an alternative embodiment, see Figure 4 As shown, a protruding ring 21 for a corresponding locking member to pass through is provided on the inner lining portion 2 , and the protruding ring 21 is provided to protrude from the inner wall of the inner lining portion 2 .

[0045] The raised ring 21 can increase the connection area between the first locking member 7 and the lining portion 2 and between the second locking member 8 and the corresponding lining portion 2, thereby improving the stability of the connection structure between the front end head 4 and the arm body 1 and between the rear end head 5 and the arm body 1.

[0046] As an alternative embodiment, see Figure 6 As shown, a center block 42 and a positioning pin 43 are provided on the front end head 4. The positioning pin 43 is arranged around the center block 42. The center block 42 and the positioning pin 43 are used to insert the driving end of the driving device, thereby ensuring that the active arm is coaxially arranged with the driving device.

[0047] The above structure can ensure that the arm body 1 and the driving device are coaxial and increase the center positioning accuracy; adding a positioning pin 43 to the rear end head 5 of the active arm ensures that the movement angles of the active arm and the driving device are consistent without deviation when the robot runs at high speed.

[0048] In the prior art, the ball joint used to connect to the slave arm is directly fixed to the end of the active arm. Due to manufacturing errors or installation errors, the distances between the two ball joints and the axis of the active arm are not equal, which can easily lead to an asymmetric static platform, thereby causing errors in the robot's end position and program instructions.

[0049] For the above questions, see Figure 1 and Figure 5 As shown, the rear end head 5 includes a sleeve body 51, a shaft rod 52 and a ball joint 53, wherein: the axis of the sleeve body 51 is perpendicular to the axis of the arm body 1, the shaft rod 52 is located in the sleeve body 51, the ball joint 53 is threadedly connected to both ends of the shaft rod 52, and the locking piece 54 passes through the side wall of the sleeve body 51 and detachably connects the sleeve body 51 and the shaft rod 52, thereby making the shaft rod 52 and the sleeve body 51 have a locked state and an adjustable state. When in the adjustable state, the shaft rod 52 can move back and forth along the axis of the sleeve body 51.

[0050] The locking element 54 may be a screw or a bolt. Before the locking element 54 locks the sleeve 51 and the shaft 52, the shaft 52 and the sleeve 51 are in an adjustment state. Figure 5 The shaft 52 can reciprocate along the axis of the sleeve 51 until the distances between the two ball joints 53 and the axis of the arm body 1 are equal, ensuring that the three groups of active arms are equally distributed along the static platform, thereby improving the accuracy of the robot.

[0051] After the adjustment is completed, tighten the locking piece 54, the locking piece 54 abuts against the shaft 52, or the locking piece 54 passes through the side wall of the sleeve 51 and is threadedly connected to the shaft 52, so that the shaft 52 and the sleeve 51 are in a locked state, the shaft 52 cannot move, and the stability of the structure is ensured.

[0052] The high-strength active arm of the parallel robot of this embodiment has high load capacity, strong stability and high repeatability positioning accuracy at high speed.

[0053] Example 2

[0054] This embodiment provides a static platform, including the above-mentioned high-strength active arm of the parallel robot.

[0055] The static platform of this embodiment has the advantages of high load capacity, strong stability and high repeatability positioning accuracy because it has the high-strength active arm of the parallel robot.

[0056] In the description of this specification, specific features, structures or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A high-strength active arm of a parallel robot, characterized in that: It comprises an arm body, an inner lining part and a connection reinforcement part, wherein: The lining portion is located in the inner cavity of the arm body and is fixedly connected to the inner cavity side wall of the arm body. The connection reinforcement portion is located in the inner cavity of the arm body and passes through the lining portion to fixedly connect all the lining portions.

2. The high-strength active arm of the parallel robot according to claim 1, characterized in that: The lining portion is at least arranged at both ends of the arm body, and the lining portion is a cylindrical structure. The side wall of the cylindrical structure is fixedly connected to the inner cavity side wall of the arm body, and the end sides of two adjacent cylindrical structures are arranged opposite to each other, and a hole is arranged on the end side for the connection reinforcement portion to pass through.

3. The high-strength active arm of the parallel robot according to claim 1, characterized in that: The connection reinforcement part includes a screw rod, the screw rod passes through all the lining parts, and a nut part is threadedly connected to an end of the screw rod.

4. The high-strength active arm of the parallel robot according to claim 1, characterized in that: The high-strength active arm of the parallel robot also includes a front end head and a rear end head, the front end head is used to connect to the driving device, and the rear end head is used to connect to the driven arm. One end of the arm body extends into the front end head and is fixedly connected to the front end head, and the other end of the arm body extends into the rear end head and is fixedly connected to the rear end head.

5. The high-strength active arm of the parallel robot according to claim 4, characterized in that: The parallel robot high-strength active arm further includes a first locking member and a second locking member, wherein: The first locking member passes through the front end head, the side wall of the arm body and the corresponding lining part and locks the three, and the second locking member passes through the rear end head, the side wall of the arm body and the corresponding lining part and locks the three.

6. The high-strength active arm of the parallel robot according to claim 4, characterized in that: The front end head is bonded to the arm body, and a first groove for accommodating adhesive is provided on the inner wall of the front end head, and the open side of the first groove faces the arm body; the rear end head is bonded to the arm body, and a second groove for accommodating adhesive is provided on the inner wall of the front end head, and the open side of the second groove faces the arm body.

7. The high-strength active arm of the parallel robot according to claim 4, characterized in that: The inner lining portion is provided with a raised ring for the corresponding locking member to pass through, and the raised ring protrudes from the inner wall of the inner lining portion.

8. The high-strength active arm of the parallel robot according to claim 4, characterized in that: The front end head is provided with a center block and a positioning pin, the positioning pin is arranged around the center block, and the center block and the positioning pin are used to insert the driving end of the driving device, so as to ensure that the active arm is coaxially arranged with the driving device.

9. The high-strength active arm of the parallel robot according to claim 4, characterized in that: The rear end head comprises a sleeve body, a shaft rod and a ball joint, wherein: The axis of the sleeve is perpendicular to the axis of the arm body, the shaft is located in the sleeve, the ball joint is threadedly connected to both ends of the shaft, a locking piece passes through the side wall of the sleeve and detachably connects the sleeve and the shaft, so that the shaft and the sleeve have a locked state and an adjustable state, and when in the adjustable state, the shaft can move back and forth along the axis of the sleeve.

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