CN103231363A - Operational type table-surface parallel robot - Google Patents
Operational type table-surface parallel robot Download PDFInfo
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- 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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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
Technical field
The present invention relates to the Robotics field, especially a kind of operation type desktop parallel robot.
Background technology
In the technique known field, parallel robot is since the eighties in 20th century, become one of several research focuses among the robot field, the research institution of countries such as the U.S., Britain, Japan, France, Germany, Russia, Korea S and enterprise have successively carried out the research to parallel robot.Units such as the University On The Mountain Of Swallows of China, Harbin Institute of Technology, Tsing-Hua University, University Of Tianjin, Chinese Academy of Sciences's Shenyang Institute of Automation have successively carried out research, and develop many model machines, research and development of going into about parallel manipulator at present and use just increasingly extensive.
Under the economic model that market economy is taken as the leading factor, in order to adapt to fast-changing market demands, new requirement has been proposed fabrication tool, be that the flexible manufacturing system (FMS) of representative is developed just fast with the operation type manufacturing system.The product that parallel connection equipment combines as machine tool technology and Robotics, traditional structure lathe and robot architecture are each series connection, a little less than the bearing capacity, shortcomings such as the little motional inertia of precision is big, and the characteristics of the no accumulated error of parallel connection equipment itself have determined the critical role of parallel connection equipment in the operation type system.Operation type desktop parallel robot is improved on the basis of general parallel robot, when satisfying commercial Application, take into account the robot teaching needs, be convenient to a kind of small-sized parallel connection equipment of control operation.
Summary of the invention
The technical problem to be solved in the present invention is: overcome traditional structure lathe and robot architecture owing to being that cascaded structure produces shortcomings such as bearing capacity is weak, precision is little, motional inertia is big, a kind of operation type desktop parallel robot is provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of operation type desktop parallel robot, comprise, the support frame that is oppositely arranged and lower bottom base down, between described support frame and lower bottom base, be provided with supporting component and constitute frame structure, the slide block that drive unit is installed and does straight reciprocating motion by the driving of drive unit at described supporting component, in described frame structure, be provided with terminal motion platform, and be provided with link assembly between described slide block and the terminal motion platform, be provided with the robot supporting leg successively in the bottom of described frame structure, firm banking and integrated electric cabinet.
Further, as a kind of concrete version, supporting component described in the present invention has the channel-section steel column of three uniform settings, between three channel-section steel columns, drive unit is installed, and described operation type desktop parallel robot has three supporting components, and three supporting components are the equilateral triangle distribution.
Further, as a kind of concrete drive form, drive unit of the present invention has drive motors, ball screw and slide block, described drive motors is in transmission connection by shaft coupling and ball screw, described ball screw is in transmission connection to realize the straight reciprocating motion of slide block by ball screw screw and slide block, described drive unit is installed between the channel-section steel column, described drive motors is fixedlyed connected with the channel-section steel column by motor fixing plate, bearing fixed seat respectively with ball screw, and described drive unit has the bearing that is connected as a single entity with the channel-section steel column.
Further, more reliable and more stable for overall structure, the present invention is equipped with the robot supporting leg corresponding to the position of described supporting component in the bottom of frame structure.
Further, as a kind of concrete type of attachment, link assembly described in the present invention has two Hooke's hinges that are oppositely arranged, between described two Hooke's hinges, be provided with connecting rod, one end of described connecting rod is connected with Hooke's hinge with fixing Hooke's hinge by cross axle, the other end is connected with Hooke's hinge by the rotation Hooke's hinge that can rotate around the axis of connecting rod, and described two Hooke's hinges are fixedlyed connected with terminal motion platform with slide block respectively.
Further, as a kind of concrete version, operation type desktop parallel robot of the present invention has 6 drive units and drives 6 slide blocks respectively, between each slide block and terminal motion platform, be equipped with a link assembly, be that each drive unit drives a link assembly, and per two drive units and per two link assemblies constitute one group of driver part, and three groups of driver parts are equilateral triangle and distribute.
Further, for the ease of clamping object to be processed, the present invention is provided with anchor clamps for clamping work pieces at described firm banking.
Further, consider circuit neat appearance, be convenient to follow-up care and maintenance, the cable of operation type desktop parallel manipulator philtrum of the present invention is successively via being pooled on the firm banking behind supporting component, the robot supporting leg, described firm banking is welded by channel-section steel, and at firm banking the air plug box of operation type desktop parallel robot is installed, described air plug box is connected with integrated electric cabinet.
Further, for the ease of integrally-built translation, the present invention is provided with roller in the bottom of described integrated electric cabinet.
The invention has the beneficial effects as follows: the robot of structure of the present invention has that rigidity is big, Stability Analysis of Structures, bearing capacity is strong, precision is high, motional inertia is little and the characteristics of the high robot teaching of taking into account of repetitive positioning accuracy and commercial Application.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of drive unit among the present invention;
Fig. 3 is the structural representation of link assembly among the present invention;
Fig. 4 is the structural representation of broken section of the present invention;
Among the figure: 1. support frame, 2. supporting component, 2-1. channel-section steel column, 3. drive unit, 3-2. drive motors, 3-3. motor fixing plate, 3-4. shaft coupling, 3-5. bearing fixed seat, 3-6. ball screw, 3-7. ball screw screw, 3-8. slide block, 3-9. bearing, 4. link assembly, the 4-1. Hooke's hinge, the 4-2. cross axle, 4-3. is Hooke's hinge fixedly, 4-4. connecting rod, 4-5. rotates Hooke's hinge, 5. terminal motion platform, 6. lower bottom base, 7. robot supporting leg, 8. firm banking, 9. integrated electric cabinet.
The specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only show the formation relevant with the present invention.
The preferred embodiment of a kind of operation type desktop of the present invention as shown in Figures 1 to 4 parallel robot, comprise, the support frame 1 that is oppositely arranged down and lower bottom base 6, between described support frame 1 and lower bottom base 6, be provided with supporting component 2 and constitute frame structure, support frame 1 with installing hole and positioning spigot are arranged above the lower bottom base 6, the relative position of each parts of operation type desktop parallel robot guarantees by support frame 1 and lower bottom base 6, the slide block 3-8 that drive unit 3 is installed and does straight reciprocating motion by the driving of drive unit 3 at described supporting component 2, in described frame structure, be provided with terminal motion platform 5, and be provided with link assembly 4 between described slide block 3-8 and the terminal motion platform 5, be provided with robot supporting leg 7 successively in the bottom of described frame structure, firm banking 8 and integrated electric cabinet 9.
Described supporting component 2 has the channel-section steel column of three uniform settings, between three channel-section steel column 2-1, drive unit 3 is installed, and described operation type desktop parallel robot has three supporting components 2, and three supporting components 2 are equilateral triangle and distribute, position corresponding to described supporting component 2 is equipped with robot supporting leg 7 in the bottom of frame structure, has effectively guaranteed operation type desktop machine people's rigidity and kinematic accuracy; Described drive unit 3 has drive motors 3-2, ball screw 3-6 and slide block 3-8, described drive motors 3-2 is in transmission connection by shaft coupling 3-4 and ball screw 3-6, described ball screw 3-6 is in transmission connection to realize the straight reciprocating motion of slide block 3-8 by ball screw screw 3-7 and slide block 3-8, described drive unit 3 is installed between the channel-section steel column 2-1, described drive motors 3-2 and ball screw 3-6 are respectively by motor fixing plate 3-3, bearing fixed seat 3-5 is fixedlyed connected with channel-section steel column 2-1, and described drive unit 3 has the bearing 3-9 that is connected as a single entity with channel-section steel column 2-1.
Described link assembly 4 has two Hooke's hinge 4-1 that are oppositely arranged, between described two Hooke's hinge 4-1, be provided with connecting rod 4-4, the end of described connecting rod 4-4 is connected with Hooke's hinge 4-1 with fixing Hooke's hinge 4-3 by cross axle 4-2, the other end is by being connected with Hooke's hinge 4-1 around the rotation Hooke's hinge 4-5 that rotate the axis of connecting rod 4-4, and described two Hooke's hinge 4-1 are fixedlyed connected with terminal motion platform 5 with slide block 3-8 respectively, this composition structure of link assembly 4 has guaranteed the unique of smooth and easy and motion that operation type desktop parallel manipulator manpower transmits, described operation type desktop parallel robot has 6 drive units 3 and drives 6 slide block 3-8 respectively, between each slide block 3-8 and terminal motion platform 5, be equipped with a link assembly 4, be that each drive unit 3 drives a link assembly 4, and per two drive units 3 and per two link assemblies 4 constitute one group of driver part, three groups of driver parts are equilateral triangle and distribute, be provided with anchor clamps for clamping work pieces at described firm banking 8, be used for clamping work pieces and make things convenient for parallel robot processing.
The cable of described operation type desktop parallel manipulator philtrum is successively via supporting component 2, be pooled to behind the robot supporting leg 7 on the firm banking 8, described firm banking 8 is welded by channel-section steel, firm banking 8 is to be formed by iron casting, the inner space guarantees that the cable of robot does not interfere with each other, the rigidity of firm banking 8 and shock absorbing characteristics had both guaranteed precision and the stability of robot motion, and the air plug box of operation type desktop parallel robot is installed at firm banking 8, described air plug box is connected with integrated electric cabinet 9, outside cable couples together operation type desktop parallel manipulator human agent and integrated electric cabinet 9 by the air plug box, guarantee that robot finishes corresponding action by control instruction, mobile for convenience, also be provided with roller in the bottom of described integrated electric cabinet 9.
Be enlightenment with above-mentioned foundation desirable embodiment of the present invention, by above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the specification, must determine its technical scope according to the claim scope.
Claims (9)
1. operation type desktop parallel robot, it is characterized in that: comprise, the support frame that is oppositely arranged (1) and lower bottom base (6) down, between described support frame (1) and lower bottom base (6), be provided with supporting component (2) and constitute frame structure, the slide block (3-8) that drive unit (3) is installed and does straight reciprocating motion by the driving of drive unit (3) at described supporting component (2), in described frame structure, be provided with terminal motion platform (5), and be provided with link assembly (4) between described slide block (3-8) and the terminal motion platform (5), be provided with robot supporting leg (7) successively in the bottom of described frame structure, firm banking (8) and integrated electric cabinet (9).
2. a kind of operation type desktop parallel robot as claimed in claim 1, it is characterized in that: described supporting component (2) has three channel-section steel columns (2-1) that are oppositely arranged, drive unit (3) is installed between three channel-section steel columns (2-1), and described operation type desktop parallel robot has three supporting components (2), and three supporting components (2) are the equilateral triangle distribution.
3. a kind of operation type desktop parallel robot as claimed in claim 2, it is characterized in that: described drive unit (3) has drive motors (3-2), ball screw (3-6) and slide block (3-8), described drive motors (3-2) is in transmission connection by shaft coupling (3-4) and ball screw (3-6), described ball screw (3-6) is in transmission connection to realize the straight reciprocating motion of slide block (3-8) by ball screw screw (3-7) and slide block (3-8), described drive unit (3) is installed between the channel-section steel column (2-1), described drive motors (3-2) and ball screw (3-6) are respectively by motor fixing plate (3-3), bearing fixed seat (3-5) is fixedlyed connected with channel-section steel column (2-1), and described drive unit (3) has the bearing (3-9) that is connected as a single entity with channel-section steel column (2-1).
4. a kind of operation type desktop parallel robot as claimed in claim 1 or 2, it is characterized in that: the position corresponding to described supporting component (2) is equipped with robot supporting leg (7) in the bottom of frame structure.
5. a kind of operation type desktop parallel robot as claimed in claim 1, it is characterized in that: described link assembly (4) has two Hooke's hinges (4-1) that are oppositely arranged, between described two Hooke's hinges (4-1), be provided with connecting rod (4-4), one end of described connecting rod (4-4) is connected with Hooke's hinge (4-1) with fixing Hooke's hinge (4-3) by cross axle (4-2), the other end is connected with Hooke's hinge (4-1) by the rotation Hooke's hinge (4-5) that can rotate around the axis of connecting rod (4-4), and described two Hooke's hinges (4-1) are fixedlyed connected with terminal motion platform (5) with slide block (3-8) respectively.
6. a kind of operation type desktop parallel robot as claimed in claim 1, it is characterized in that: described operation type desktop parallel robot has 6 drive units (3) and drives 6 slide blocks (3-8) respectively, between each slide block (3-8) and terminal motion platform (5), be equipped with a link assembly (4), be that each drive unit (3) drives a link assembly (4), and per two drive units (3) and per two link assemblies (4) constitute one group of driver part, and three groups of driver parts are equilateral triangle and distribute.
7. a kind of operation type desktop parallel robot as claimed in claim 1 is characterized in that: be provided with anchor clamps for clamping work pieces at described firm banking (8).
8. a kind of operation type desktop parallel robot as claimed in claim 1, it is characterized in that: the cable of described operation type desktop parallel manipulator philtrum is successively via being pooled on the firm banking (8) behind supporting component (2), the robot supporting leg (7), described firm banking (8) is welded by channel-section steel, and at firm banking (8) the air plug box of operation type desktop parallel robot is installed, described air plug box is connected with integrated electric cabinet (9).
9. a kind of operation type desktop parallel robot as claimed in claim 1, it is characterized in that: the bottom at described integrated electric cabinet (9) is provided with roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101559278A CN103231363A (en) | 2013-04-28 | 2013-04-28 | Operational type table-surface parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101559278A CN103231363A (en) | 2013-04-28 | 2013-04-28 | Operational type table-surface parallel robot |
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| CN103231363A true CN103231363A (en) | 2013-08-07 |
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| CN2013101559278A Pending CN103231363A (en) | 2013-04-28 | 2013-04-28 | Operational type table-surface parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105459078A (en) * | 2015-12-16 | 2016-04-06 | 上海大学 | Structural dimension parameter adjustable Mecanum wheel type mobile robot |
| CN106112982A (en) * | 2016-07-29 | 2016-11-16 | 安庆米锐智能科技有限公司 | A kind of e-commerce product show robot special intelligent mechanical hand |
| CN107962557A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | A kind of four axis robot of desktop |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105459078A (en) * | 2015-12-16 | 2016-04-06 | 上海大学 | Structural dimension parameter adjustable Mecanum wheel type mobile robot |
| CN106112982A (en) * | 2016-07-29 | 2016-11-16 | 安庆米锐智能科技有限公司 | A kind of e-commerce product show robot special intelligent mechanical hand |
| CN107962557A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | A kind of four axis robot of desktop |
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Address after: 215000 Suzhou Industrial Park, Jiangsu Road, No. 128 Applicant after: JIANGSU HUIBO ROBOTICS TECHNOLOGY CO., LTD. Address before: 215121, Jiangsu, Suzhou Industrial Park, Jinji Lake Road, 99, Northwest District, Suzhou City, 09 Applicant before: Suzhou BoShi Robotics Technology Co., Ltd. |
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Application publication date: 20130807 |