CN103624767A - Operation type parallel robot - Google Patents

Operation type parallel robot Download PDF

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Publication number
CN103624767A
CN103624767A CN201310155498.4A CN201310155498A CN103624767A CN 103624767 A CN103624767 A CN 103624767A CN 201310155498 A CN201310155498 A CN 201310155498A CN 103624767 A CN103624767 A CN 103624767A
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CN
China
Prior art keywords
robot
hinge
hooke
fixed
channel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201310155498.4A
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Chinese (zh)
Inventor
王振华
杨清义
刘立彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT Co Ltd
Original Assignee
ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT Co Ltd filed Critical ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT Co Ltd
Priority to CN201310155498.4A priority Critical patent/CN103624767A/en
Publication of CN103624767A publication Critical patent/CN103624767A/en
Pending legal-status Critical Current

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Abstract

The invention relates to an operation type parallel robot. The operation type parallel robot comprises a robot base and a robot body, wherein the robot body is mounted on the robot base. The robot body comprises steel channel stand columns, a steel channel base and a robot top cover. The steel channel base is fixed on the robot base, the steel channel stand columns are fixed with the steel channel base through screws, and the steel channel stand columns are fixed with the robot top cover through screws. The robot body further comprises stand column assemblies, connecting rod assemblies, tail end motion platforms and a tail end executing mechanism. The stand column assemblies are mounted inside the steel channel stand columns, the stand column assemblies are connected with the connecting rod assemblies, the connecting rod assemblies are connected with the tail end motion platforms, and the tail end executing mechanism is arranged under the tail end motion platforms. The stand column assemblies are provided with driver modules to drive the connecting rod assemblies to work. The robot of the structure has the advantages of being large in rigidity, stable in structure, strong in carrying capacity, high in precision, small in movement inertia, and high in repeated positioning precision, thereby being used wider and wider.

Description

A kind of operation type parallel robot
Technical field
The present invention relates to a kind of structure of robot, especially relate to a kind of robot in parallel of operation type.
Background technology
Under the economic model of taking as the leading factor in market market economy, in order to adapt to fast-changing market demands, fabrication tool has been proposed to new requirement, the flexible manufacturing system (FMS) that the operation type manufacturing system of take is representative is developed just fast.The product that parallel connection equipment combines as machine tool technology and Robotics, traditional structure lathe and robot architecture are each axle series connection, a little less than bearing capacity, the shortcomings such as the little motional inertia of precision is large, and parallel connection equipment itself is without the feature of accumulated error, determined the critical role of parallel connection equipment in operation type system.The research of parallel robot operation type brings good start to feasibility and the diversity of parallel connection equipment.
Summary of the invention
Technical problem to be solved by this invention is to provide that a kind of rigidity is large, Stability Analysis of Structures, bearing capacity is strong, precision is high, motional inertia is little and repetitive positioning accuracy is high operation type parallel robot.
Main technical content of the present invention is as follows:
An operation type parallel robot, comprises robot base and robot body, and robot body is arranged on robot base, and described robot body comprises channel steel upright post, channel-section steel base, robot top cover; Described channel-section steel base is fixed on robot base, described channel steel upright post is fixed by screw and channel-section steel base, described channel steel upright post and robot top cover are fixed by screw, and described channel steel upright post, channel-section steel base, robot top cover form the basic framework of described operation type parallel robot; Described robot body also comprises columns assemblies, link assembly, end movement platform, end effector mechanism; Described columns assemblies is arranged in channel steel upright post, and described columns assemblies connects link assembly, and described link assembly connects end movement platform, and described end movement platform is divided into set terminal executing agency; Driver module is set in described columns assemblies and carrys out the work of drive link assembly.
Above-mentioned driver module comprises drive motors, shaft coupling, ball screw, ball screw screw and slide block; Described drive motors is connected with ball screw by shaft coupling, and rotatablely moving of drive motors is converted to rectilinear motion by ball screw; Described ball screw screw and slide block are fixed together, and by ball screw, drive ball screw screw and slide block moving linearly; Described columns assemblies comprises upper bracket, bearing fixed seat and motor fixing seat; Described drive motors is fixed on channel steel upright post by motor fixing plate, and described ball screw is fixed on channel steel upright post by bearing fixed seat and upper bracket.
Above-mentioned link assembly comprises Hooke's hinge, cross axle, fixedly Hooke's hinge, connecting rod and rotation Hooke's hinge; Described Hooke's hinge is fixed on slide block, and described Hooke's hinge is connected with fixing Hooke's hinge by cross axle, and one end of described connecting rod is fixed on fixedly on Hooke's hinge, other end connection of rotating Hooke's hinge, and described rotation Hooke's hinge connects end movement platform; Described Hooke's hinge, fixedly Hooke's hinge, rotate Hooke's hinge and can relatively rotate around cross axle, described rotation Hooke's hinge can be made axis around connecting rod and rotate.
Two of above-mentioned link assemblies are one group, arrange altogether three groups, and the corresponding correspondence of described channel steel upright post arranges three.
Above-mentioned every group of link assembly arranges two driver modules, controls respectively two link assemblies.
Above-mentioned channel steel upright post is equilateral triangle and is arranged on channel-section steel base.
By technique scheme, the present invention at least has following advantages:
It is large that the robot of this kind of structure has rigidity, Stability Analysis of Structures, the feature that bearing capacity is strong, precision is high, motional inertia is little and repetitive positioning accuracy is high, and the application meeting of the robot of this kind of structure in teaching and industry is more and more extensive.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Accompanying drawing explanation
Fig. 1 is operation type parallel robot general structure schematic diagram of the present invention;
Fig. 2 is the structural representation that the columns assemblies of driver module is installed of the present invention;
Fig. 3 is link assembly structural representation of the present invention.
Fig. 4 is operation type six-degree-of-freedom parallel robot connection diagram.
The specific embodiment
For further setting forth the present invention, reach technological means and the effect that predetermined goal of the invention is taked, below in conjunction with accompanying drawing and preferred embodiment, its specific embodiment, structure, feature and effect thereof to proposing according to the present invention, be described in detail as follows.
As shown in Figure 1, a kind of operation type parallel robot, comprises and robot base 8 and robot body, robot body is arranged on robot base 8, and robot body comprises channel steel upright post 2-1, channel-section steel base 7, robot top cover 1; Channel-section steel base 7 is fixed on robot base 8, channel steel upright post 2-1 is fixing by screw and channel-section steel base 7, channel steel upright post 2-1Yu robot top cover 1 is fixed by screw, and channel steel upright post 2-1, channel-section steel base 7, robot top cover 1 form the basic framework of described operation type parallel robot; Robot body also comprises columns assemblies 2, link assembly 4, end movement platform 5, end effector mechanism 6; Columns assemblies 2 is arranged in channel steel upright post 2-1, and columns assemblies 3 connects link assembly 4, and link assembly 4 connects end movement platform 5, and end movement platform 5 is divided into set terminal executing agency 6; Driver module 3 is set in columns assemblies 2 and carrys out 4 work of drive link assembly.
As shown in Figure 2 and Figure 4, above-mentioned driver module comprises drive motors 2-2, shaft coupling 2-4, ball screw 2-6, ball screw screw 2-7 and slide block 2-8; Drive motors 2-2 is connected with ball screw 2-6 by shaft coupling 2-4, and rotatablely moving of drive motors 2-2 is converted to rectilinear motion by ball screw 2-6; Ball screw screw 2-7 and slide block 2-8 are fixed together, and by ball screw 2-6, drive ball screw screw 2-7 and slide block 2-8 moving linearly; Columns assemblies 2 comprises upper bracket 2-9, bearing fixed seat 2-5 and motor fixing seat 2-3; Drive motors 2 is fixed on channel steel upright post 2-1 by motor fixing plate 2-3; Ball screw 2-6 is fixed on channel steel upright post 2-1 by bearing fixed seat 2-5 and upper bracket 2-9.
As shown in Figure 3 and Figure 4,4 of above-mentioned connection rod set comprise Hooke's hinge 4-1, cross axle 4-2, fixedly Hooke's hinge 4-3, connecting rod 4-4 and rotate Hooke's hinge 4-5; It is upper that Hooke's hinge 4-1 is fixed on slide block 2-8, and Hooke's hinge 4-1 is connected with fixing Hooke's hinge 4-3 by cross axle 4-2, and one end of connecting rod 4-4 is fixed on that fixedly Hooke's hinge 4-3 is upper, other end connection of rotating Hooke's hinge 4-5, rotation Hooke's hinge 4-5 connection end movement platform 1; Hooke's hinge 4-1, fixedly Hooke's hinge 4-3, rotate Hooke's hinge 4-5 and can relatively rotate around cross axle 4-2, rotate Hooke's hinge 4-5 and can make axis around connecting rod 4-4 and rotate, this composition structure of link assembly 4 has guaranteed the unique of smooth and easy and motion that operation type parallel manipulator manpower transmits.
Every two of above-mentioned link assembly 4 is one group, arranges altogether three groups, and the corresponding correspondence of channel steel upright post 2-1 arranges three.Every group of link assembly 4 arranges two driver modules 3, controls respectively two link assemblies 4.Channel steel upright post 2-1 is equilateral triangle and is arranged on channel-section steel base 7.6 link assembly 4 upper ends are connected on the slide block 2-8 of driver module 3, and lower end is by screw and end movement platform 5 one, and the slide block 2-8 position that any position of assurance end movement platform 5 corresponds to driver module 3 is all unique group of solution; Workpiece is arranged on robot base 8, and robot base 8 is equipped with the pliers of clamping work pieces above, is used for clamping work pieces to facilitate parallel robot processing; Cable by channel steel upright post 2-1 the inside driver module 3 is all pooled to channel-section steel base 7, channel-section steel base 7 is welded by 10# channel-section steel, the air plug box of operation type parallel robot is housed above, outside cable links up operation type parallel manipulator human agent and electrical control cubicles by air plug box, guarantees that robot completes corresponding action by control instruction.
The above, it is only preferred embodiment of the present invention, not the present invention is done to any pro forma restriction, although the present invention discloses as above with preferred embodiment, yet not in order to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, when can utilizing the technology contents of above-mentioned announcement to make a little change or being modified to the equivalent embodiment of equivalent variations, in every case be the content that does not depart from technical solution of the present invention, any simple modification of above embodiment being done according to technical spirit of the present invention, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.

Claims (6)

1. an operation type parallel robot, comprises robot base and robot body, and robot body is arranged on robot base, and described robot body comprises channel steel upright post, channel-section steel base, robot top cover; Described channel-section steel base is fixed on robot base, described channel steel upright post is fixed by screw and channel-section steel base, described channel steel upright post and robot top cover are fixed by screw, and described channel steel upright post, channel-section steel base, robot top cover form the basic framework of described operation type parallel robot; It is characterized in that: described robot body also comprises columns assemblies, link assembly, end movement platform, end effector mechanism; Described columns assemblies is arranged in channel steel upright post, and described columns assemblies connects link assembly, and described link assembly connects end movement platform, and described end movement platform is divided into set terminal executing agency; Driver module is set in described columns assemblies and carrys out the work of drive link assembly.
2. a kind of operation type parallel robot according to claim 1, is characterized in that: described driver module comprises drive motors, shaft coupling, ball screw, ball screw screw and slide block; Described drive motors is connected with ball screw by shaft coupling, and rotatablely moving of drive motors is converted to rectilinear motion by ball screw; Described ball screw screw and slide block are fixed together, and by ball screw, drive ball screw screw and slide block moving linearly; Described columns assemblies comprises upper bracket, bearing fixed seat and motor fixing seat; Described drive motors is fixed on channel steel upright post by motor fixing plate, and described ball screw is fixed on channel steel upright post by bearing fixed seat and upper bracket.
3. a kind of operation type parallel robot according to claim 1, is characterized in that: described link assembly comprises Hooke's hinge, cross axle, fixedly Hooke's hinge, connecting rod and rotation Hooke's hinge; Described Hooke's hinge is fixed on slide block, and described Hooke's hinge is connected with fixing Hooke's hinge by cross axle, and one end of described connecting rod is fixed on fixedly on Hooke's hinge, other end connection of rotating Hooke's hinge, and described rotation Hooke's hinge connects end movement platform; Described Hooke's hinge, fixedly Hooke's hinge, rotate Hooke's hinge and can relatively rotate around cross axle, described rotation Hooke's hinge can be made axis around connecting rod and rotate.
4. a kind of operation type parallel robot according to claim 1, is characterized in that: two of described link assemblies are one group, and arrange altogether three groups, the corresponding correspondence of described channel steel upright post arranges three.
5. a kind of operation type parallel robot according to claim 4, is characterized in that: described every group of link assembly arranges two driver modules, controls respectively two link assemblies.
6. a kind of operation type parallel robot according to claim 4, is characterized in that: described channel steel upright post is equilateral triangle and is arranged on channel-section steel base.
CN201310155498.4A 2013-04-27 2013-04-27 Operation type parallel robot Pending CN103624767A (en)

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CN201310155498.4A CN103624767A (en) 2013-04-27 2013-04-27 Operation type parallel robot

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Application Number Priority Date Filing Date Title
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CN103624767A true CN103624767A (en) 2014-03-12

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107486867A (en) * 2017-10-12 2017-12-19 长沙展朔轩兴信息科技有限公司 Robot tool exchanging device driven by air pressure
CN113084782A (en) * 2021-04-12 2021-07-09 哈尔滨工业大学 Parallel platform based on quick-release kinematic pair

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11114777A (en) * 1997-08-11 1999-04-27 Toyoda Mach Works Ltd Method for controlling machine tool
CN1300658A (en) * 1999-12-23 2001-06-27 东北大学电脑技术中心 Robotic machine-tool
CN101108481A (en) * 2007-08-31 2008-01-23 清华大学 Parallel machine with restructurable configuration and scale
CN201012496Y (en) * 2006-08-22 2008-01-30 燕山大学 Parallel-connection robot binocular active vision monitoring mechanism
CN201693552U (en) * 2010-06-13 2011-01-05 汕头大学 Three-degree-of-rotation-freedom parallel robot
CN101947785A (en) * 2010-08-30 2011-01-19 苏州博实机器人技术有限公司 Reconfigurable in-parallel robot
CN203282475U (en) * 2013-04-27 2013-11-13 张家港诺信自动化设备有限公司 Operation-type parallel robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11114777A (en) * 1997-08-11 1999-04-27 Toyoda Mach Works Ltd Method for controlling machine tool
CN1300658A (en) * 1999-12-23 2001-06-27 东北大学电脑技术中心 Robotic machine-tool
CN201012496Y (en) * 2006-08-22 2008-01-30 燕山大学 Parallel-connection robot binocular active vision monitoring mechanism
CN101108481A (en) * 2007-08-31 2008-01-23 清华大学 Parallel machine with restructurable configuration and scale
CN201693552U (en) * 2010-06-13 2011-01-05 汕头大学 Three-degree-of-rotation-freedom parallel robot
CN101947785A (en) * 2010-08-30 2011-01-19 苏州博实机器人技术有限公司 Reconfigurable in-parallel robot
CN203282475U (en) * 2013-04-27 2013-11-13 张家港诺信自动化设备有限公司 Operation-type parallel robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107486867A (en) * 2017-10-12 2017-12-19 长沙展朔轩兴信息科技有限公司 Robot tool exchanging device driven by air pressure
CN113084782A (en) * 2021-04-12 2021-07-09 哈尔滨工业大学 Parallel platform based on quick-release kinematic pair

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Application publication date: 20140312

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