CN103231363A - Operational type table-surface parallel robot - Google Patents

Operational type table-surface parallel robot Download PDF

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Publication number
CN103231363A
CN103231363A CN2013101559278A CN201310155927A CN103231363A CN 103231363 A CN103231363 A CN 103231363A CN 2013101559278 A CN2013101559278 A CN 2013101559278A CN 201310155927 A CN201310155927 A CN 201310155927A CN 103231363 A CN103231363 A CN 103231363A
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China
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robot
work table
drive
assembly
provided
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CN2013101559278A
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Chinese (zh)
Inventor
王振华
杨清义
刘立彬
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苏州博实机器人技术有限公司
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Priority to CN2013101559278A priority Critical patent/CN103231363A/en
Publication of CN103231363A publication Critical patent/CN103231363A/en

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Abstract

The invention relates to an operational type table-surface parallel robot which comprises a supporting framework and a lower base, wherein the supporting framework and the lower base are vertically and oppositely arranged, a supporting assembly is arranged between the supporting framework and the lower base to form a framework structure, a driving device and a slider driven by a driving device to be in linear reciprocating motion are installed on the supporting assembly, a tail end moving platform is arranged in the framework structure, a connection rod assembly is arranged between the slider and the tail end moving platform, and robot supporting legs, a fixed base and an integrated electronic cabinet are sequentially arranged at the bottom of the framework structure. The operational type table-surface parallel robot has the advantages of being high in rigidity, stable in structure, strong in bearing capacity, high in accuracy, small in moving inertia and high in repeated positioning accuracy and giving consideration to robot teaching and industrial application.

Description

一种作业型桌面并联机器人 A work table type parallel robot

技术领域 FIELD

[0001] 本发明涉及机器人技术领域,尤其是一种作业型桌面并联机器人。 [0001] The present invention relates to the field of robotics, in particular a work table parallel type robot.

背景技术 Background technique

[0002] 在公知的技术领域,并联机器人从20世纪80年代以来,成为机器人领域中的几个研究热点之一,美国、英国、日本、法国、德国、俄罗斯、韩国等国家的研究机构和企业先后开展了对并联机器人的研究。 [0002] In the known technology field, parallel robots since the 1980s, has become one of several research focus in the field of robotics, the United States, Britain, Japan, France, Germany, Russia, South Korea and other countries, research institutions and enterprises It has carried out research on parallel robot. 我国的燕山大学、哈尔滨工业大学、清华大学、天津大学、中科院沈阳自动化所等单位先后开展了研究,并研制出多台样机,目前关于并联机器入的研究开发和应用正日益广泛。 Our Yanshan University, Harbin Institute of Technology, Tsinghua University, Tianjin University, Shenyang Institute of Automation Chinese Academy of Sciences and other units have carried out research and developed several prototypes, research and development and applications currently on the parallel machines are becoming increasingly widespread.

[0003] 在市场经济为主导的经济模式下,为了适应快速变化的市场要求,对制造工具提出了新的要求,以作业型制造系统为代表的柔性加工系统正得到快速的发展。 [0003] in the market economy-oriented economic model, in order to adapt to rapidly changing market requirements, manufacturing tools put forward new requirements to job-based manufacturing system as the representative of flexible manufacturing systems are being developed rapidly. 并联装备作为机床技术和机器人技术相结合的产物,传统结构机床和机器人结构是各轴串联的,承载能力弱,精度小运动惯性大等缺点,而并联装备本身无累积误差的特点,决定了并联装备在作业型系统中的重要地位。 Parallel equipment as machine tool and robotics product of the combination, the conventional machine tool structure and configuration of the robot are each axis in series, poor bearing capacity, precision small motion large inertia and other shortcomings, in parallel equipment itself accumulated error determined by the characteristics of parallel equipped with an important position in the job type system. 作业型桌面并联机器人是在一般并联机器人的基础上加以改进,在满足工业应用的同时兼顾机器人教学的需要、便于控制操作的一种小型并联装备。 Desktop job type parallel robot is to be based on general parallel robot based on the improvement, taking into account the needs of teaching the robot while meeting industrial applications, easy to equip a small parallel control operations.

发明内容 SUMMARY

[0004] 本发明要解决的技术问题是:克服传统结构机床和机器人结构由于是串联结构而产生承载能力弱、精度小、运动惯性大等缺点,提供一种作业型桌面并联机器人。 [0004] The present invention is to solve the technical problem: to overcome the traditional structure of the machine and the configuration of the robot is generated due to the tandem structure is poor bearing capacity, small precision, inertia and other shortcomings, there is provided a work table parallel type robot.

[0005] 本发明解决其技术问题所采用的技术方案是:一种作业型桌面并联机器人,包括上、下相对设置的支撑框架和下底座,在所述支撑框架和下底座之间设有支撑组件而构成框体结构,在所述支撑组件上安装有驱动装置以及通过驱动装置的驱动而作直线往复运动的滑块,在所述框体结构内设有末端运动平台,且所述滑块和末端运动平台之间设有连杆组件,在所述框体结构的底部依次设有机器人支腿、固定底座和一体化电控柜。 [0005] aspect of the present invention to solve the technical problem is that: a work table type robot, comprising a support frame and a lower case disposed opposite to the base, between the support frame and the support base is provided with housing structure constructed assembly, drive means mounted on the support assembly and by the driving means for the slider and a linear reciprocating movement of the frame structure equipped with platform end of the movement, and the slide It is provided between the linkage assembly and the end of the movement platform, in the bottom of the housing sequentially with the robot leg structure, a fixed base and integration cabinet.

[0006] 进一步的,作为一种具体的结构形式,本发明中所述支撑组件具有三个均布设置的槽钢立柱,在三个槽钢立柱之间安装有驱动装置,且所述作业型桌面并联机器人具有三个支撑组件,且三个支撑组件呈等边三角形分布。 [0006] Further, as a specific structure, the support assembly of the present invention has a uniform three upright channel provided the drive means is mounted between three upright channel, and the job type Desktop parallel robot with three support assembly and the support assembly three equilateral triangular distribution.

[0007] 进一步的,作为一种具体的驱动形式,本发明所述驱动装置具有驱动电机、滚珠螺杆和滑块,所述驱动电机通过联轴器与滚珠螺杆传动连接,所述滚珠螺杆通过滚珠螺杆丝母与滑块传动连接以实现滑块的直线往复运动,所述驱动装置安装在槽钢立柱之间,所述驱动电机和滚珠螺杆分别通过电机固定板、轴承固定座与槽钢立柱固定连接,且所述驱动装置具有与槽钢立柱连为一体的支座。 [0007] Further, as a specific form of the drive, according to the present invention, the drive means having a drive motor, ball screw and the slider, the drive motor is connected through a coupling ball screw drive, said ball screw via balls screw and nut connection for the slider drive linear reciprocating motion of the slider, said driving means is mounted between the upright channel, the drive motor and the ball screw motor fixing plate respectively, and a bearing holder fixed upright channel connection, and the drive means has a channel connected integrally abutment post.

[0008] 进一步的,为了整体结构更加稳定可靠,本发明对应于所述支撑组件的位置在框体结构的底部均设有机器人支腿。 [0008] Further, for more stable and reliable overall configuration, the present invention corresponds to the assembly position at the bottom of the supporting frame structure are provided with the robot leg.

[0009] 进一步的,作为一种具体的连接形式,本发明中所述连杆组件具有相对设置的两个虎克铰,在所述两个虎克铰之间设有连杆,所述连杆的一端通过十字轴和固定虎克铰与虎克铰连接,另一端通过可绕连杆的中轴线转动的转动虎克铰与虎克铰连接,且所述两个虎克铰分别与滑块和末端运动平台固定连接。 [0009] Further, as a specific connection type, the link assembly of the present invention having two oppositely disposed Hooke joint, a link is provided between the two Hooke joint, the linkage end of the rod is connected by a cross shaft and a fixed hinge with Hooke Hooke joint, the other end is rotatable about the axis of rotation of the rotary link and Hooke Hooke joint hinge connection, and the two sliding Hooke's joint, respectively blocks and end fixedly connected to the platform motion.

[0010] 进一步的,作为一种具体的结构形式,本发明所述作业型桌面并联机器人具有6个驱动装置分别驱动6个滑块,在每个滑块与末端运动平台之间均设有一个连杆组件,即每个驱动装置驱动一个连杆组件,且每两个驱动装置和每两个连杆组件构成一组驱动部件,三组驱动部件呈等边三角形分布。 [0010] Further, as a specific structure, the job type table of the present invention having six parallel robot driving means drive the slide 6, between each slider and the end of the motion platform has a rod assembly, i.e., a driving means of each link assembly and each of the two drives and the two linkage assemblies each constitute a set of drive member, the drive member form three equilateral triangular distribution.

[0011] 进一步的,为了便于夹持待加工物体,本发明在所述固定底座上设有用于夹紧工件的夹具。 [0011] Further, in order to facilitate gripping the object to be processed, the present invention is provided with clamps for clamping the workpiece on the fixed base.

[0012] 进一步的,考虑到线路的整齐美观、便于后续的维护和保养,本发明所述作业型桌面并联机器人中的电缆依次经由支撑组件、机器人支腿后汇集到固定底座上,所述固定底座由槽钢焊接而成,且在固定底座上安装有作业型桌面并联机器人的航插盒,所述航插盒与一体化电控柜连接。 [0012] Further, considering the neat appearance of the line, to facilitate the subsequent maintenance and repair, the present invention is a desktop type of job in parallel robot sequentially through a cable support assembly, when the robot legs together to the fixed base, said fixed welded together by a channel base, and the cartridge is mounted aerial plug job type table parallel robot on a fixed base, the cartridge is connected to the integrated flight control cabinet plug.

[0013] 进一步的,为了便于整体结构的平移,本发明在所述一体化电控柜的下部设有滚轮。 [0013] Further, in order to facilitate the translation of the overall structure, the present invention is provided with rollers at the lower portion of the cabinet is integrated.

[0014] 本发明的有益效果是:本发明结构的机器人具有刚度大、结构稳定、承载能力强、精度高、运动惯性小并且重复定位精度高兼顾机器人教学和工业应用的特点。 [0014] Advantageous effects of the present invention are: a robot having a structure of the present invention, stiffness, structural stability, carrying capacity, high precision, low inertia and a high repeatability of the robot teaching both industrial applications and features.

附图说明 BRIEF DESCRIPTION

[0015] 下面结合附图和实施例对本发明进一步说明。 Figures and examples further illustrate the present invention [0015] The following binding.

[0016] 图1是本发明的结构示意图; [0016] FIG. 1 is a structural diagram of the present invention;

[0017] 图2是本发明中驱动装置的结构示意图; [0017] FIG. 2 is a schematic view of the driving device according to the present invention;

[0018] 图3是本发明中连杆组件的结构示意图; [0018] FIG. 3 is a schematic view of the linkage assembly structure of the present invention;

[0019] 图4是本发明的局部剖视的结构示意图; [0019] FIG. 4 is a structural diagram of a partial sectional view of the present invention;

[0020] 图中:1.支撑框架,2.支撑组件,2-1.槽钢立柱,3.驱动装置,3-2.驱动电机,3-3.电机固定板,3-4.联轴器,3-5.轴承固定座,3-6.滚珠螺杆,3-7.滚珠螺杆丝母,3-8.滑块,3-9.支座,4.连杆组件,4-1.虎克铰,4-2.十字轴,4-3.固定虎克铰,4-4.连杆,4-5.转动虎克铰,5.末端运动平台,6.下底座,7.机器人支腿,8.固定底座,9.一体化电控柜。 [0020] FIG: a support frame, the support assembly 2, 2-1 channel uprights, the driving device 3, the driving motor 3-2, a motor fixing plate 3-3, 3-4 coupling...... , a 3-5 bearing holder, 3-6. ball screw, 3-7 ball screw nut, 3-8 slider, 3-9. support, 4. linkage assembly 4-1. Hooke joint, 4-2. cross shaft, 4-3. Hooke joint fixing, 4-4. linkage, 4-5. Hooke joint rotation, 5. tip motion platform, 6 the lower base 7 robot legs, 8 fixed base 9 integrated cabinet.

具体实施方式 Detailed ways

[0021] 现在结合附图对本发明作进一步详细的说明。 [0021] Now DRAWINGS The invention will be further described in detail. 这些附图均为简化的示意图,仅以示意方式说明本发明的基本结构,因此其仅显示与本发明有关的构成。 The drawings are simplified schematic way of illustration only schematically the basic structure of the present invention, therefore only the configuration of the display related to the present invention.

[0022] 如图1至图4所示的本发明一种作业型桌面并联机器人的优选实施例,包括上、下相对设置的支撑框架I和下底座6,在所述支撑框架I和下底座6之间设有支撑组件2而构成框体结构,支撑框架I与下底座6上面有安装孔和定位止口,作业型桌面并联机器人各部件的相对位置通过支撑框架I与下底座6来保证,在所述支撑组件2上安装有驱动装置3以及通过驱动装置3的驱动而作直线往复运动的滑块3-8,在所述框体结构内设有末端运动平台5,且所述滑块3-8和末端运动平台5之间设有连杆组件4,在所述框体结构的底部依次设有机器人支腿7、固定底座8和一体化电控柜9。 [0022] A work table parallel robot of the invention shown in FIG. 1 to FIG 4 a preferred embodiment, includes an upper supporting frame I and a lower case disposed opposite the base 6, the support frame and a lower base I in the support assembly 62 is provided between the frame structure and configured, above the supporting frame 6 and the lower base I with a mounting hole and locating spigot, the relative positions of the components of a desktop type of operation is ensured by the parallel robot with the lower base of the support frame 6 I , on the support assembly 2 is attached to the slider by the drive means 3 and the driving device 3 and 3-8 reciprocates linearly with movement of the end of the frame structure 5 internet site thereof, and the slide 3-8 is provided between the block 5 and the end of the movement linkage assembly platform 4, at the bottom of the frame structure 7 are sequentially provided a robot leg, the fixed base 8 and 9 integrated cabinet.

[0023] 所述支撑组件2具有三个均布设置的槽钢立柱,在三个槽钢立柱2-1之间安装有驱动装置3,且所述作业型桌面并联机器人具有三个支撑组件2,且三个支撑组件2呈等边三角形分布,对应于所述支撑组件2的位置在框体结构的底部均设有机器人支腿7,有效保证了作业型桌面机器人的刚度和运动精度;所述驱动装置3具有驱动电机3-2、滚珠螺杆3-6和滑块3-8,所述驱动电机3-2通过联轴器3-4与滚珠螺杆3_6传动连接,所述滚珠螺杆3-6通过滚珠螺杆丝母3-7与滑块3-8传动连接以实现滑块3-8的直线往复运动,所述驱动装置3安装在槽钢立柱2-1之间,所述驱动电机3-2和滚珠螺杆3-6分别通过电机固定板3-3、轴承固定座3-5与槽钢立柱2-1固定连接,且所述驱动装置3具有与槽钢立柱2-1连为一体的支座3-9。 [0023] The channel support member 2 having a uniform three columns arranged in three channel between 2-1 column mounted drive means 3, and the working table parallel type robot having three support assembly 2 and the support assembly 2 has three equilateral triangular distribution, a position corresponding to the support assembly 2 at the bottom of the frame structure 7 are provided with the robot leg, effectively ensuring the rigidity and precision of movement of the robot job type table; the 33-2, 3-6 and the ball screw of said slider driving means having a driving motor 3-8, 3-2 connected to the drive motor and ball screw drive through a coupling 3_6 3-4, the ball screw 3- 6 is connected through a ball screw nut 3-7 and 3-8 slider drive to effect a linear reciprocating motion of the slider 3-8, the drive means 3 mounted upright between channel 2-1, the drive motor 3 2 and 3-6, respectively, by the ball screw motor fixing plate 3-3, 3-5 bearing holder is fixedly connected with the channel uprights 2-1 and the column means 3 has a channel connected integrally to the driving 2-1 the stand 3-9.

[0024] 所述连杆组件4具有相对设置的两个虎克铰4-1,在所述两个虎克铰4-1之间设有连杆4-4,所述连杆4-4的一端通过十字轴4-2和固定虎克铰4-3与虎克铰4_1连接,另一端通过可绕连杆4-4的中轴线转动的转动虎克铰4-5与虎克铰4-1连接,且所述两个虎克铰4-1分别与滑块3-8和末端运动平台5固定连接,连杆组件4的这种组成结构保证了作业型桌面并联机器人力传递的顺畅和运动的唯一,所述作业型桌面并联机器人具有6个驱动装置3分别驱动6个滑块3-8,在每个滑块3-8与末端运动平台5之间均设有一个连杆组件4,即每个驱动装置3驱动一个连杆组件4,且每两个驱动装置3和每两个连杆组件4构成一组驱动部件,三组驱动部件呈等边三角形分布,在所述固定底座8上设有用于夹紧工件的夹具,用来夹紧工件方便并联机器人加工。 [0024] The connecting rod assembly 4 having two oppositely disposed Hooke joint 4-1, Hooke joint between said two link 4-1 with 4-4, the link 4-4 Hooke's joint and a fixed end 4-2 and 4-3 are connected by 4_1 Hooke joint cross shaft, the other end is rotatable about an axis of rotation of the link 4-4 Hooke joint rotation with 4-5 Hooke joint 4 -1 is connected and the two are Hooke joint 5 4-1 3-8 slider and fixedly connected with the end of the movement platform, this structure consisting of a connecting rod assembly 4 to ensure the smooth operation type parallel robot force transmitted Desktop and motion only, the job type table parallel robot having six drive means 6 drive the slider 3 3-8, 3-8 between each slider and the end of the motion platform 5 has a linkage assembly 4, i.e., a third drive means each drive rod assembly 4, and each of the two drive means 3 and 4 each of the two connecting rod assembly constitute a group of drive member, the drive member form three equilateral triangular profile, the fixed clamps for clamping the workpiece is provided on the base 8, for clamping the workpiece to facilitate parallel processing of the robot.

[0025] 所述作业型桌面并联机器人中的电缆依次经由支撑组件2、机器人支腿7后汇集到固定底座8上,所述固定底座8由槽钢焊接而成,固定底座8是由铸铁铸造而成,内部空间保证机器人的电缆不互相干扰,固定底座8的刚度和减震特性既保证了机器人动作的精度和稳定性,且在固定底座8上安装有作业型桌面并联机器人的航插盒,所述航插盒与一体化电控柜9连接,外部的电缆通过航插盒把作业型桌面并联机器人主体与一体化电控柜9连接起来,保证机器人按控制指令完成相应的动作,为了方便移动,在所述一体化电控柜9的下部还设有滚轮。 [0025] The job table parallel type robot sequentially via a cable support assembly 2, after robot leg 7 together fixed to the base 8, the fixed base 8 is welded together by the channel, the fixed base 8 is made of cast iron casting from the internal space of the robot to ensure cables do not interfere with each other, the stiffness and damping characteristics of the fixed base 8 to ensure both precision and stability of the robot operation, and the cartridge is mounted aerial plug job type table parallel robot on the fixed base 8 the integration of the cassette cabinet aviation plug 9 connected to an external cable job type table parallel robot with integrated cabinet body 9 connected via radio cassette inserted, ensure the completion of the corresponding operation according to the robot control command, to easy to move, in a lower portion of the cabinet 9 is also provided with integrated rollers.

[0026] 以上述依据本发明的理想实施例为启示, 通过上述的说明内容,相关工作人员完全可以在不偏离本项发明技术思想的范围内,进行多样的变更以及修改。 [0026] In the above-described embodiments of the present invention is based on the vision revelation, the above described content, relevant staff can without departing from the scope of the technical ideas of the present inventions, a variety of changes and modifications. 本项发明的技术性范围并不局限于说明书上的内容,必须要根据权利要求范围来确定其技术性范围。 Technical scope of the present invention is not limited to the content item on the instructions, which must be determined according to the technical scope of the claims.

Claims (9)

1.一种作业型桌面并联机器人,其特征在于:包括上、下相对设置的支撑框架(I)和下底座(6),在所述支撑框架(I)和下底座(6)之间设有支撑组件(2)而构成框体结构,在所述支撑组件(2)上安装有驱动装置(3)以及通过驱动装置(3)的驱动而作直线往复运动的滑块(3-8 ),在所述框体结构内设有末端运动平台(5 ),且所述滑块(3-8 )和末端运动平台(5 )之间设有连杆组件(4),在所述框体结构的底部依次设有机器人支腿(7)、固定底座(8)和一体化电控柜(9)。 1. A work table type robot, characterized by: comprising a support frame (I) and disposed opposite the lower base (6), between the support frame (I) and a lower base (6) provided a support assembly (2) to form the frame structure, is mounted on the support assembly (2) with drive means (3) and by drive means (3) and a slider for linear reciprocating motion (3-8) in the frame structure equipped with a tip body motion platform (5) and the slide (3-8) and the end of the movement platform is provided with linkage assembly (4) between (5), in the frame sequentially robot base structure is provided with legs (7), the fixed base (8) and an integrated cabinet (9).
2.如权利要求1所述的一种作业型桌面并联机器人,其特征在于:所述支撑组件(2)具有三个相对设置的槽钢立柱(2-1),在三个槽钢立柱(2-1)之间安装有驱动装置(3),且所述作业型桌面并联机器人具有三个支撑组件(2 ),且三个支撑组件(2 )呈等边三角形分布。 2. A work table type parallel robot according to claim 1, wherein: said support assembly (2) having a channel uprights (2-1) disposed opposite three of the three channel uprights ( installation between 2-1) have driving means (3), and the working table parallel type robot having three support assembly (2), and the three support assembly (2) arranged in an equilateral triangular distribution.
3.如权利要求2所述的一种作业型桌面并联机器人,其特征在于:所述驱动装置(3)具有驱动电机(3-2 )、滚珠螺杆(3-6 )和滑块(3-8 ),所述驱动电机(3-2 )通过联轴器(3-4 )与滚珠螺杆(3-6 )传动连接,所述滚珠螺杆(3-6 )通过滚珠螺杆丝母(3-7 )与滑块(3-8 )传动连接以实现滑块(3-8)的直线往复运动,所述驱动装置(3)安装在槽钢立柱(2-1)之间,所述驱动电机(3-2)和滚珠螺杆(3-6)分别通过电机固定板(3-3)、轴承固定座(3-5)与槽钢立柱(2-1)固定连接,且所述驱动装置(3 )具有与槽钢立柱(2-1)连为一体的支座(3-9 )。 3. A work table type parallel robot according to claim 2, characterized in that: means (3) having a drive motor (3-2), a ball screw (3-6) and a slider (the driven 3- 8), the drive motor (3-2) (3-6) connected to the ball screw by a drive coupling (3-4), the ball screw (3-6) through a ball screw nut (3-7 ) and the slide (3-8) a transmission connection for the slide (3-8) in a linear reciprocating motion, said drive means (3) mounted channel between the uprights (2-1), the drive motor ( 3-2) and a ball screw (3-6), respectively by a motor fixing plate (3-3), the bearing holder (3-5) and the channel uprights (2-1) is fixedly connected, and the drive means (3 ) has a channel uprights (2-1) is integral abutment (3-9).
4.如权利要求1或2所述的一种作业型桌面并联机器人,其特征在于:对应于所述支撑组件(2)的位置在框体结构的底部均设有机器人支腿(J)。 4. A work table parallel type robot of claim 1 or claim 2, wherein: the position corresponding to the support assembly (2) at the bottom of the frame structure of the robot has legs (J).
5.如权利要求1所述的一种作业型桌面并联机器人,其特征在于:所述连杆组件(4)具有相对设置的两个虎克铰(4-1),在所述两个虎克铰(4-1)之间设有连杆(4-4),所述连杆(4-4)的一端通过十字轴(4-2 )和固定虎克铰(4-3 )与虎克铰(4-1)连接,另一端通过可绕连杆(4-4)的中轴线转动的转动虎克铰(4-5)与虎克铰(4-1)连接,且所述两个虎克铰(4-1)分别与滑块(3-8 )和末端运动平台(5 )固定连接。 5. A work table type parallel robot according to claim 1, wherein: said linkage assembly (4) having two Hooke joint (4-1) is disposed opposite in the two tiger g is provided between the rod hinge (4-1) (4-4), one end of the rod (4-4) with a cross shaft tiger by (4-2) and the fixed Hooke joint (4-3) g hinges (4-1), and the other end of the rotation of the rotating Hooke joint (4-5) connected to a Hooke joint (4-1) by a connecting rod about the axis (4-4), and the two a Hooke joint (4-1) are fixedly connected with the slide (3-8) and end motion platform (5).
6.如权利要求1所述的一种作业型桌面并联机器人,其特征在于:所述作业型桌面并联机器人具有6个驱动装置(3 )分别驱动6个滑块(3-8 ),在每个滑块(3-8 )与末端运动平台(5)之间均设有一个连杆组件(4),即每个驱动装置(3)驱动一个连杆组件(4),且每两个驱动装置(3)和每两个连杆组件(4)构成一组驱动部件,三组驱动部件呈等边三角形分布。 6. A work table type parallel robot according to claim 1, wherein: said job type table parallel robot having six drive means (3) respectively driving slide 6 (3-8), each sliders are provided between (3-8) and the end of the motion platform (5), i.e., (3) a drive rod assembly (4) a linkage assembly (4) for each drive means, and each of the two drive means (3) and each of the two linkage assembly (4) form a set of drive member, the drive member form three equilateral triangular distribution.
7.如权利要求1所述的一种作业型桌面并联机器人,其特征在于:在所述固定底座(8)上设有用于夹紧工件的夹具。 7. A work table type parallel robot according to claim 1, wherein: the clamp is provided for clamping the workpiece on the fixed base (8).
8.如权利要求1所述的一种作业型桌面并联机器人,其特征在于:所述作业型桌面并联机器人中的电缆依次经由支撑组件(2)、机器人支腿(7)后汇集到固定底座(8)上,所述固定底座(8)由槽钢焊接而成,且在固定底座(8)上安装有作业型桌面并联机器人的航插盒,所述航插盒与一体化电控柜(9)连接。 8. A work table type parallel robot according to claim 1, wherein: said work table parallel type robot sequentially via a cable support assembly (2), the robot legs together to stationary base (7) (8), said fixed base (8) are welded together by the channel, and mounted with a cartridge inserted aviation job type table parallel robot on a fixed base (8), the cartridge insertion and integration cabinet Air (9).
9.如权利要求1所述的一种作业型桌面并联机器人,其特征在于:在所述一体化电控柜(9)的下部设有滚轮。 9. A work table type parallel robot according to claim 1, wherein: a lower portion provided with rollers of the integrated cabinet (9).
CN2013101559278A 2013-04-28 2013-04-28 Operational type table-surface parallel robot CN103231363A (en)

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