Two-axis parallel robot

Abstract

The utility model discloses a two-shaft parallel robot which effectively solves the problems that after installation, secondary adjustment of the position is not convenient, and meanwhile clamped objects are not convenient to place in a variable-pitch mode. Comprising a mounting frame, an adjusting frame is slidably connected to the lower side of the mounting frame, an adjusting assembly is arranged on the rear side of the mounting frame and can drive the adjusting frame to move front and back, 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, and a connecting frame is fixedly connected to the lower end of the mechanical arm; a pitch changing assembly is arranged in the mounting groove, and a driving assembly capable of driving the pitch changing assembly to conduct pitch changing is arranged at the upper end of the connecting frame. The position of the mechanical arm in the front-back direction can be conveniently adjusted through the adjusting frame and the adjusting assembly, then secondary adjustment is achieved after installation, disassembly and adjustment are not needed, and the supporting frame and the mechanical arm are arranged so that articles can be conveniently taken according to the positions of the articles in the using process.

Description

TECHNICAL FIELD

[0001] The utility model relates to parallel robot technical field, concretely relates to a two-axis parallel robot. BACKGROUND

[0002] A two-axis parallel robot is a special robot structure, which is composed of a fixed frame and two servo motors. This robot design imitates the movement characteristics of the human hip joint and can move in two degrees of freedom. Its characteristics are smooth, natural and stable movement, while providing greater torque and faster speed. The existing two-axis robot needs to be installed after precise measurement of the position, and the position cannot be adjusted again after installation. At the same time, when the gripper grabs multiple items from the box during use, it is not convenient to place the items at a variable distance for the next process due to the close proximity of the items. SUMMARY

[0003] In view of the above situation, in order to overcome the defects of the prior art, the purpose of the utility model is to provide a two-axis parallel robot, which effectively solves the problem of inconvenient secondary adjustment of the position after installation and inconvenient variable distance placement of the grabbed items.

[0004] The technical solution solved is that the utility model includes a mounting frame, a adjusting frame is slidably connected to the lower side of the mounting frame, an adjusting assembly is provided on the rear side of the mounting frame, the adjusting assembly can drive the adjusting frame to move forward and backward, a support frame is fixedly connected to the front end of the adjusting frame, a mechanical arm is provided on the lower side of the support frame, a link frame is fixedly connected to the lower end of the mechanical arm, two front-to-back opposite mounting grooves are provided on the lower side of the link frame, a variable distance assembly is provided in the mounting groove, and a driving assembly is provided on the upper end of the link frame to drive the variable distance assembly to change distance.

[0005] The adjusting assembly includes a sleeve rod, the sleeve rod is slidably connected to the adjusting frame, a lead screw is threadedly connected in the sleeve rod, a fixed rod is fixedly connected to the rear end of the lead screw, a cone one is fixedly connected to the rear side of the fixed rod, a cone two is coaxially and slidably connected to the front side of the fixed rod through a tension spring, the cone one and the cone two are mutually symmetrical, a hexagonal prism is slidably connected to the rear side of the lead screw, a turntable is fixedly connected to the rear side of the hexagonal prism, trapezoidal blocks are slidably connected to the left and right sides of the turntable through compression springs, the trapezoidal blocks can enter between the cone one and the cone two, a plurality of teeth distributed along the circumferential direction of the turntable are fixedly connected to the front side of the turntable, and a tooth groove matched with the teeth is provided on the rear side of the mounting frame.

[0006] A return spring is sleeved on the hexagonal prism between the turntable and the lead screw.

[0007] The mechanical arm comprises two left and right opposite rotating motors, the rotating motors are fixedly connected with the support frame, the output end of the rotating motor is fixedly connected with a connecting rod one, one end of the connecting rod one is hingedly connected with a connecting rod two, the other end of the connecting rod two is hingedly connected with the connecting frame, the hingedly connected place of the right connecting rod one and the right connecting rod two is rotatably connected with an L-shaped support rod, the lower side of the support rod is hingedly connected with the connecting frame through a connecting rod, and the upper side of the support rod is hingedly connected with the support frame through a balance rod.

[0008] The variable distance assembly comprises a variable distance rod, a plurality of variable distance grooves are formed in the variable distance rod, a plurality of variable distance blocks corresponding to the variable distance grooves are sleeved on the variable distance rod, the variable distance blocks are slidably connected with the connecting frame, a sliding pin located in the corresponding variable distance groove is fixedly connected in the variable distance block, and a suction disc is fixedly connected to the lower end of the variable distance block.

[0009] The mounting groove is fixedly connected with a rack one on the left and right sides, and the variable distance rod is fixedly connected with a spur gear meshing with the corresponding rack on the left and right sides.

[0010] The driving assembly comprises a driving motor, the output end of the driving motor is fixedly connected with a spur gear, two front and back opposite U-shaped push-pull rods are slidably connected in the connecting frame, the push-pull rods are rotatably connected with the corresponding variable distance rods, a rack two is fixedly connected to the upper end of the push-pull rod, and the two rack twos are meshed with the spur gear.

[0011] The utility model discloses a mounting frame is set up and is convenient for installing the device in the appropriate position, sets up the adjusting frame, adjusting assembly and is convenient for adjusting the position of mechanical arm front and back direction, and then realizes secondary adjustment after installation, need not to carry out the dismounting adjustment, sets up the support frame and mechanical arm and is convenient for taking according to the article position when using, sets up the connecting frame, mounting groove, variable distance assembly and driving assembly can drive variable distance assembly and carry out variable distance with driving assembly, and then after taking multiple articles in the box, can be placed according to demand, and it is convenient to carry out the next process, realize variable distance and place, improve the practicality of device. DRAWINGS

[0012] Figure 1 It is the isometric view of the utility model.

[0013] Figure 2 It is the bottom view schematic diagram of the suction disc in the utility model.

[0014] Figure 3 It is the front view schematic diagram of the driving motor in the utility model.

[0015] Figure 4 It is the explosion schematic diagram of the variable distance rod in the utility model.

[0016] Figure 5 It is the part cutaway right view schematic diagram of the mounting frame in the utility model.

[0017] Figure 6 is the explosion right view schematic diagram of the turntable in the utility model.

[0018] Figure 7 is the partial cutaway plan schematic diagram of the turntable in the utility model.

[0019] In the drawing: 1, mounting frame; 2, adjusting frame; 3, support frame; 4, link frame; 5, mounting slot; 6, sleeve rod; 7, lead screw; 8, fixed rod; 9, cone one; 10, cone two; 11, hexagonal prism; 12, turntable; 13, trapezoidal block; 14, tooth; 15, return spring; 16, rotary motor; 17, connecting rod one; 18, connecting rod two; 19, support rod; 20, link rod; 21, balance rod; 22, variable distance rod; 23, variable distance slot; 24, variable distance block; 25, sliding pin; 26, suction cup; 27, rack one; 28, spur gear; 29, drive motor; 30, spur gear; 31, push-pull rod; 32, rack two. DETAILED DESCRIPTION

[0020] The specific embodiments of the utility model are further described in detail below in combination with the drawings.

[0021] By Figures 1 to 7 It is given, including mounting frame 1, adjusting frame 2 is slidably connected on the lower side of mounting frame 1, adjusting assembly is arranged on the rear side of mounting frame 1, adjusting assembly can drive adjusting frame 2 to move forward and backward, support frame 3 is fixedly connected to the front end of adjusting frame 2, mechanical arm is arranged on the lower side of support frame 3, link frame 4 is fixedly connected to the lower end of mechanical arm, two front and rear opposite mounting slots 5 are formed on the lower side of link frame 4, variable distance assembly is arranged in mounting slot 5, and drive assembly for driving variable distance assembly to change distance is arranged on the upper end of link frame 4.

[0022] As shown in the drawing, the mounting frame 1 is arranged to facilitate the installation of the device in the appropriate position, the adjusting frame 2 and the adjusting assembly are arranged to facilitate the adjustment of the position of the mechanical arm in the forward and backward directions, thereby realizing secondary adjustment after installation without disassembly and adjustment, the support frame 3 and the mechanical arm are arranged to facilitate the taking according to the position of the article during use, the link frame 4, the mounting slot 5, the variable distance assembly and the drive assembly can drive the variable distance assembly to change distance by the drive assembly, thereby the multiple articles in the box can be placed according to the requirement after being taken, facilitating the next process, realizing variable distance grabbing and placing, and improving the practicability of the device.

[0023] 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 in threaded connection in the sleeve rod 6, a fixed rod 8 is fixedly connected to the rear end of the lead screw 7, a cone body one 9 is fixedly connected to the rear side of the fixed rod 8, a cone body two 10 is coaxially slidingly connected to the front side of the fixed rod 8 through a tension spring, the cone body one and the cone body two 10 are mutually symmetrical, a hexagonal prism 11 is slidingly connected to the rear side of the lead screw 7, a rotating disc 12 is fixedly connected to the rear side of the hexagonal prism 11, trapezoidal blocks 13 are slidingly connected to the left and right sides of the rotating disc 12 through compression springs, the trapezoidal blocks 13 can enter between the cone body one and the cone body two 10, a plurality of teeth 14 are fixedly connected to the front side of the rotating disc 12 and are uniformly distributed along the circumferential direction of the rotating disc 12, and a tooth groove matched with the teeth 14 is formed in the rear side of the mounting frame 1.

[0024] As shown in the drawings, the sleeve rod 6 and the lead screw 7 are arranged, the sleeve rod 6 can be moved forward and backward by rotating the lead screw 7, the adjusting frame 2 can be moved forward and backward, the position can be finely adjusted, the fixed rod 8, the cone body one 9, the tension spring, the cone body two 10, the hexagonal prism 11, the rotating disc 12, the trapezoidal blocks 13, the teeth 14 and the tooth groove are arranged, the rotating disc 12 can be pushed forward, the teeth 14 are disengaged from the tooth groove at the same time, the trapezoidal blocks 13 enter between the cone body one and the cone body two 10, at this time, the rotating disc 12 and the hexagonal prism 11 can drive the lead screw 7 to rotate, the position can be changed, after the position adjustment is completed, the rotating disc 12 can be continuously pushed forward, when the trapezoidal blocks 13 contact the inclined surface of the cone body two, the rotating disc 12 is pulled to move backward, the cone body one can be moved forward, the tension spring is stretched, when the cone body two moves to contact the cone body one, it stops, at this time, the trapezoidal blocks 13 are recovered into the rotating disc 12 again, the rotating disc 12 can be continuously moved backward, until the trapezoidal blocks 13 contact the inclined surface of the cone body one 9, at the same time, the teeth 14 and the tooth groove are engaged again, the position of the lead screw 7 is limited, the lead screw 7 is prevented from being randomly rotated.

[0025] The hexagonal prism 11 is sleeved with a reset spring 15 between the rotating disc 12 and the lead screw 7.

[0026] As shown in the drawings, the reset spring 15 is arranged, the position of the rotating disc 12 is limited, the teeth 14 and the tooth groove are prevented from being randomly disengaged.

[0027] The mechanical arm comprises two left and right opposite rotating motors 16, the rotating motors 16 are fixedly connected with the support frame 3, the output end of the rotating motor 16 is fixedly connected with a connecting rod one 17, one end of the connecting rod one 17 is hingedly connected with a connecting rod two 18, the other end of the connecting rod two 18 is hingedly connected with the connecting frame 4, the hingedly connected place of the right connecting rod one 17 and the right connecting rod two 18 is rotationally connected with an L-shaped support rod 19, the lower side of the support rod 19 is hingedly connected with the connecting frame 4 through a connecting rod 20, the upper side of the support rod 19 is hingedly connected with the support frame 3 through a balance rod 21.

[0028] As shown in the drawings, the mechanical arm is arranged, the connecting frame 4 can be driven to change the position, the purpose of placing the grabbed object at the required position is achieved.

[0029] The variable distance assembly comprises a variable distance rod 22, a plurality of variable distance grooves 23 are formed in the variable distance rod 22, a plurality of variable distance blocks 24 corresponding to the variable distance grooves 23 are sleeved on the variable distance rod 22, the variable distance blocks 24 are slidably connected with the connecting frame 4, sliding pins 25 are fixedly connected in the variable distance blocks 24 and located in the corresponding variable distance grooves 23, and suction cups 26 are fixedly connected to the lower ends of the variable distance blocks 24.

[0030] As shown in the drawings, the variable distance rod 22, the variable distance groove 23, the variable distance block 24, the sliding pin 25 and the suction cup 26 can be used to move the variable distance blocks 24 at equal distances by rotating the variable distance rod 22, driving the variable distance blocks 24 through the sliding pins 25 and the variable distance grooves 23, and adjusting the distance between the objects after the objects are adsorbed by the suction cups 26, so that the next process can be conveniently performed.

[0031] The mounting groove 5 is fixedly connected with a rack one 27 on the left and right sides, and the variable distance rod 22 is fixedly connected with a spur gear 28 on the left and right sides and engaged with the corresponding rack.

[0032] As shown in the drawings, the rack one 27 and the spur gear 28 can be rotated during the forward and backward movement of the variable distance rod 22, so that the distance between the variable distance blocks 24 can be changed.

[0033] 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 U-shaped push-pull rods 31 are slidably connected in the connecting frame 4 and opposite to each other, the push-pull rods 31 are rotationally connected with the corresponding variable distance rods 22, a rack two 32 is fixedly connected to the upper end of the push-pull rod 31, and the two rack twos 32 are engaged with the spur gear 30.

[0034] As shown in the drawings, the driving motor 29, the spur gear 30, the push-pull rod 31 and the rack two 32 can be used to rotate the spur gear 30 by driving the driving motor 29, then drive the two push-pull rods 31 to swing relative to or away from each other through the rack two 32, and then drive the two variable distance rods 22 to move relative to or away from each other, so that the variable distance clamping and placing can be realized.

[0035] In use, the mounting frame 1 is used to mount the whole device at a suitable position, then the forward and backward positions of the mechanical arm can be adjusted again according to requirements, the turntable 12 is pushed forward, the teeth 14 are disengaged from the tooth groove, the trapezoidal block 13 enters between the vertebral body one and the cone body two 10, then the turntable 12 is rotated, the turntable 12 drives the lead screw 7 to rotate through the six prism 11, the lead screw 7 drives the adjusting frame to move and adjust through the sleeve rod 6, after the adjustment is completed, the turntable 12 is continuously pushed forward, the trapezoidal block 13 is separated from the vertebral body one and the cone body two 10 under the action of the cone body two 10, at this time, the turntable 12 can be moved forward, the teeth 14 are engaged with the tooth groove again to limit the position of the lead screw 7, and the random rotation of the lead screw 7 is avoided.

[0036] Subsequently, the robot can work, when the suction cup 26 completes the suction of the article, the two rotary motors 16 cooperate with each other to move the adapter frame 4 to the required position, and then the driving motor 29 is started, the two push-pull rods 31 are driven to move away from each other through the spur gear 30 and the rack two 32, at the same time, the two variable distance rods 22 are driven to move away from each other and rotate under the action of the spur gear 28 and the rack one 27, at this time, the distance between the variable distance blocks 24 starts to increase, until the appropriate distance is reached, the distance adjustment is completed, and then the article can be lowered, and after the lowering is completed, the distance between the variable distance blocks 24 is reduced again by reversing the driving motor 29, so as to facilitate the next transportation, until all the transportation is completed.

[0037] In the utility model, the motor is prior art, and detailed description is not given here.

[0038] The specific embodiments described herein are merely illustrative of the spirit of the utility model. Those skilled in the art to which the utility model belongs can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the utility model or exceed the range defined by the appended claims.

Claims

1. A two-axis parallel robot comprising a mounting frame (1), characterized in that, The adjusting frame (2) is slidably connected to the lower side of the mounting frame (1), and the rear side of the mounting frame (1) is provided with an adjusting assembly. The adjusting assembly can drive the adjusting frame (2) to move forward and backward. The front end of the adjusting frame (2) is fixedly connected with a support frame (3). The lower side of the support frame (3) is provided with a mechanical arm. The lower end of the mechanical arm is fixedly connected with a connecting frame (4). The lower side of the connecting frame (4) is provided with two front and rear opposite mounting grooves (5). The mounting grooves (5) are provided with a variable distance assembly. The upper end of the connecting frame (4) is provided with a driving assembly which can drive the variable distance assembly to change the distance.

2. The two-axis parallel robot of claim 1, wherein, The adjusting assembly comprises a sleeve rod (6) which is slidably connected with the adjusting frame (2). The sleeve rod (6) is internally threadedly connected with a lead screw (7). The rear end of the lead screw (7) is fixedly connected with a fixed rod (8). The rear side of the fixed rod (8) is fixedly connected with a cone I (9). The front side of the fixed rod (8) is coaxially slidably connected with a cone II (10) through a tension spring. The cone I and the cone II (10) are mutually symmetrical. The rear side of the lead screw (7) is slidably connected with a hexagonal prism (11). The rear side of the hexagonal prism (11) is fixedly connected with a rotating disc (12). The left and right sides of the rotating disc (12) are slidably connected with trapezoidal blocks (13) through compression springs. The trapezoidal blocks (13) can enter between the cone I (9) and the cone II (10). The front side of the rotating disc (12) is fixedly connected with a plurality of teeth (14) which are uniformly distributed along the circumferential direction thereof. The rear side of the mounting frame (1) is provided with a tooth groove which is matched with the teeth (14).

3. A two-axis parallel robot according to claim 2, characterized in that, The hexagonal prism (11) is sleeved with a reset spring (15) which is located between the rotating disc (12) and the lead screw (7).

4. The two-axis parallel robot of claim 1, wherein, The mechanical arm comprises two left and right opposite rotating motors (16). The rotating motors (16) are fixedly connected with the support frame (3). The output end of the rotating motor (16) is fixedly connected with a connecting rod I (17). One end of the connecting rod I (17) is hingedly connected with a connecting rod II (18). The other end of the connecting rod II (18) is hingedly connected with the connecting frame (4). The hinged place of the right connecting rod I (17) and the right connecting rod II (18) is rotatably connected with an L-shaped support rod (19). The lower side of the support rod (19) is hingedly connected with the connecting frame (4) through a connecting rod (20). The upper side of the support rod (19) is hingedly connected with the support frame (3) through a balance rod (21).

5. The two-axis parallel robot of claim 1, wherein, The variable distance assembly comprises a variable distance rod (22). A plurality of variable distance grooves (23) are formed in the variable distance rod (22). A plurality of variable distance blocks (24) which are one-to-one corresponding to the variable distance grooves (23) are sleeved on the variable distance rod (22). The variable distance blocks (24) are slidably connected with the connecting frame (4). The variable distance blocks (24) are internally fixedly connected with slide pins (25) which are located in the corresponding variable distance grooves (23). The lower end of the variable distance block (24) is fixedly connected with a suction disc (26).

6. A two-axis parallel robot according to claim 5, wherein, The left and right sides of the mounting groove (5) are respectively fixedly connected with a rack I (27). The left and right sides of the variable distance rod (22) are respectively fixedly connected with spur gears (28) which are engaged with the corresponding racks.

7. The two-axis parallel robot of claim 5, wherein, The driving assembly comprises a driving motor (29), the output end of the driving motor (29) is fixedly connected with a spur gear (30), two front and back opposite and U-shaped push-pull rods (31) are slidingly connected in the connecting frame (4), the push-pull rod (31) is rotationally connected with the variable-length rod (22) on the corresponding side of the push-pull rod (31), the upper end of the push-pull rod (31) is fixedly connected with a rack two (32), and the two rack two (32) are meshed with the spur gear (30) respectively.

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