CN112025690B - Delta parallel four-shaft type manipulator - Google Patents
Delta parallel four-shaft type manipulator Download PDFInfo
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- CN112025690B CN112025690B CN202011027505.9A CN202011027505A CN112025690B CN 112025690 B CN112025690 B CN 112025690B CN 202011027505 A CN202011027505 A CN 202011027505A CN 112025690 B CN112025690 B CN 112025690B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of four-axis manipulator equipment, in particular to a Delta parallel four-axis manipulator which comprises a support frame and a manipulator main body and is characterized in that: manipulator main part movable mounting has the fixed block at the bottom surface center of support frame, the inside fixed mounting of support frame, the even welding of upper portion surface of fixed block has the threaded bush, threaded bush's bottom face threaded connection has the threaded rod, the marginal outer surface welding in bottom of threaded rod has the handle, the bottom face welding of threaded rod has first lock joint plate, the movable lock joint of surface of first lock joint plate has the support base, the lock joint groove has been seted up at the top surface center of supporting the base, the even welding of bottom edge surface of fixed block has spacing cutting ferrule. The invention can effectively change the working range of the mechanical arm by adjusting the height of the mechanical arm, thereby improving the practicability of the mechanical arm and meeting the use requirements of people.
Description
Technical Field
The invention relates to the technical field of four-axis manipulator equipment, in particular to a Delta parallel four-axis manipulator.
Background
The Delta parallel four-shaft mechanical hand drives four sets of link mechanisms through four sets of servo motors respectively, and the four sets of link mechanisms are connected into a whole at a moving end to jointly realize the same moving mode, namely four sets of servo moving systems jointly execute the same action through joint action, and the action can complete a three-dimensional space track in a certain range.
However, the existing Delta parallel four-axis manipulator still has some defects, and because the height of the Delta parallel four-axis manipulator is fixed, and the length of a connecting rod of the manipulator is fixed and cannot be adjusted, the working range of the manipulator is fixed, the working range from the bottom end of the Delta parallel four-axis manipulator to a working table top cannot be adjusted, the practicability of the manipulator is reduced, the working range of the manipulator is fixed, and the use requirements of people cannot be met, so that the Delta parallel four-axis manipulator is required to solve the problems.
Disclosure of Invention
The invention aims to provide a Delta parallel four-axis manipulator to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a Delta parallel connection four-axis formula manipulator, includes support frame and manipulator main part, its characterized in that: manipulator main part movable mounting has the fixed block at the bottom surface center of support frame, the inside fixed mounting of support frame has the threaded sleeve pipe, the even welding of upper portion surface of fixed block has the threaded rod, threaded sleeve pipe's bottom face threaded connection has the threaded rod, the bottom edge skin weld of threaded rod has the handle, the bottom face weld of threaded rod has first lock joint board, the surface activity lock joint of first lock joint board has the support base, the lock joint groove has been seted up at the top surface center of support base, the even welding of bottom edge surface of fixed block has spacing cutting ferrule, the even spiral connection of bottom edge surface of fixed block has the third fastening screw.
Specifically, the inside fixed mounting of manipulator main part has the piece of snatching, the surface edge activity joint of snatching the piece has mechanical connecting rod, the upper portion center activity joint of mechanical connecting rod has the connecting plate, the connecting axle has all been welded to the both ends face of connecting plate, towards the fixed block a terminal surface welding of connecting axle has the second to detain the board, towards the fixed block another terminal surface fixedly connected with gear motor of connecting axle, gear motor's a terminal surface fixed mounting has driving motor.
Specifically, a first connecting rod is fixedly installed inside the mechanical connecting rod, a second connecting rod is movably connected to the bottom end face of the first connecting rod, and a limiting sleeve rod is movably sleeved on the outer surface of the first connecting rod.
Specifically, the center of the top end face of the limit sleeve rod is provided with a through-connection hole in a penetrating mode, the outer surface of the edge of the upper portion of the limit sleeve rod is welded with a sleeve, a buckling hole is formed in the center of one end face of the sleeve, a clamping block is movably sleeved outside the limit sleeve rod, the outer surface of the upper portion of the limit sleeve rod is connected with a first fastening screw in a spiral mode, and one end face of the first fastening screw is movably buckled with a tooth-shaped clamping block.
Specifically, the outer surfaces of the edges of the two ends of the first connecting rod are provided with clamping grooves, the outer surface of the first connecting rod is provided with tooth-shaped clamping grooves, the centers of the two end surfaces of the first connecting rod are movably hinged with hinge plates, the outer surfaces of the hinge plates are provided with threaded holes, the outer surfaces of the clamping grooves are clamped with limiting clamping blocks, and the outer surfaces of the limiting clamping blocks are connected with second fastening screws in a penetrating and spiral mode.
Specifically, the connecting shaft towards the fixed block is movably fastened with one end face of the limiting clamping sleeve through a second fastening plate at one end.
Specifically, the limiting sleeve rod is movably buckled with a second buckling plate far away from one end of the connecting shaft facing the fixed block through a buckling hole in one end face of the sleeve.
Specifically, threaded hole is seted up to driving motor's surface, just the third fastening screw spiral runs through the bottom edge surface of fixed block and the threaded hole looks spiro union of driving motor surface is connected fixedly.
Specifically, the tooth-shaped fixture block is communicated and connected with an inserting hole in the inner surface of the limiting sleeve rod at one end of the first fastening screw, the first connecting rod is clamped and connected with the clamping block through the hinge plate in a turnover mode, and the second fastening screw penetrates through the side face of the limiting fixture block in a spiral mode and is fixedly connected with a threaded hole in the outer surface of the hinge plate in a screwed mode.
Compared with the prior art, the invention has the following beneficial effects:
the grabbing block is fixedly arranged in the manipulator main body, a processing tool at the bottom end can be driven to move, so that corresponding operation is performed on a product, the mechanical connecting rod is movably clamped at the edge of the outer surface of the grabbing block, the moving position and the moving range of the grabbing block can be controlled, the connecting plate is movably clamped at the center of the upper portion of the mechanical connecting rod, the four groups of mechanical connecting rods can be connected and controlled, the second buckling plate welded to one end face of the connecting shaft can be buckled with the side face of the limiting clamping sleeve, and therefore the side edge of one end of the connecting plate can be supported.
The inside fixed mounting's of mechanical connecting rod head rod to and the bottom face swing joint of head rod has the second connecting rod, can change the total length of mechanical connecting rod, thereby be convenient for adjust the working range of manipulator, the spacing loop bar that the surface activity of head rod cup jointed can be fixed and the restriction to the length of head rod, guarantees that mechanical connecting rod carries out stable connection to snatching the piece.
The plug-in hole of seting up is link up at the top face center of spacing loop bar, can slide from top to bottom the head rod and play the restriction, the lock joint hole of seting up at the edge surface sleeve terminal surface center in upper portion of spacing loop bar, can with the second lock joint looks activity lock joint of connecting plate bottom connecting axle one end, thereby can control the rotation of mechanical connecting rod, the joint piece that the outside activity of spacing loop bar cup jointed, can slide from top to bottom at the surface of spacing loop bar, thereby with the head rod looks joint after turning over a book, the first fastening screw of the upper portion surface screw connection of spacing loop bar, the profile of tooth fixture block that can drive a terminal surface and the profile of tooth draw-in groove looks joint of head rod surface, thereby can fix a position the surface of the inside head rod of spacing loop bar.
The hinge plate with the hinged centers of the two end faces of the first connecting rods can play a role in connecting the first connecting rods, so that the unused first connecting rods can be conveniently overturned, the situation that the top ends of the first connecting rods are too long to influence the normal operation of a manipulator is avoided, the threaded holes formed in the outer surfaces of the hinge plates can be conveniently screwed and fixedly connected with threaded holes formed in the outer surfaces of the hinge plates through the limiting clamping blocks by the second fastening screws, and the joints between the first connecting rods are fixed.
The threaded hole that driving motor's surface was seted up can be convenient for the third fastening screw spiral run through the bottom edge surface of fixed block and the threaded hole looks spiro union of driving motor surface and link firmly to can fix driving motor in the position of fixed block surface.
The tooth-shaped clamping block is communicated with the inserting hole in the inner surface of the limiting sleeve rod at one end of the first fastening screw, the tooth-shaped clamping block can be conveniently meshed and clamped with the tooth-shaped clamping groove in the outer surface of the first connecting rod in the inserting hole, the first connecting rod is clamped with the clamping block through the hinge plate in a turned mode, the first connecting rod can be fixed, and the turned first connecting rod is prevented from shaking randomly.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic view of the supporting frame of the present invention;
FIG. 3 is a schematic structural diagram of a robot body according to the present invention;
FIG. 4 is a schematic view of a mechanical linkage of the present invention;
FIG. 5 is a cutaway schematic view of a stop collar lever of the present invention;
fig. 6 is a schematic view illustrating the folding and detaching of the first connecting rod according to the present invention.
In the figure: 1-support frame, 11-support base, 12-first fastening plate, 13-fastening groove, 14-limit cutting sleeve, 15-handle, 16-threaded rod, 17-threaded sleeve, 18-third fastening screw, 19-fixed block, 2-manipulator main body, 21-connecting plate, 22-connecting shaft, 23-second fastening plate, 24-driving motor, 25-reducing motor, 26-mechanical connecting rod, 27-grabbing block, 28-limit sleeve rod, 29-first connecting rod, 210-second connecting rod, 211-fastening hole, 212-sleeve, 213-inserting hole, 214-first fastening screw, 215-clamping block tooth form, 216-clamping block, 217-hinge plate, 218-threaded hole, 219-limit clamping block, 220-second fastening screw, 221-clamping groove and 222-tooth-shaped clamping groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, an embodiment of the present invention is shown: the utility model provides a Delta parallel connection four-shaft type manipulator, including support frame 1 and manipulator main part 2, manipulator main part 2 movable mounting is at the bottom surface center of support frame 1, the inside fixed mounting of support frame 1 has fixed block 19, the even welding of upper portion surface of fixed block 19 has threaded sleeve 17, threaded sleeve 17's bottom face threaded connection has threaded rod 16, the bottom edge skin weld of threaded rod 16 has handle 15, the bottom face weld of threaded rod 16 has first withholding plate 12, the surface activity of first withholding plate 12 has been withheld and has been supported base 11, the top surface center of supporting base 11 has been seted up and has been withheld groove 13, the bottom edge skin weld of fixed block 19 has spacing cutting ferrule 14, the even spiral connection of bottom edge skin of fixed block 19 has third fastening screw 18.
Specifically, the inside fixed mounting of manipulator main part 2 snatchs piece 27, the machining tool that can drive the bottom removes, thereby carry out corresponding operation to the product, snatch the mechanical connecting rod 26 of the outer surface edge activity joint of piece 27, can control the shift position and the scope of snatching piece 27, the connecting plate 21 of the upper portion center activity joint of mechanical connecting rod 26, can play connection and control action to four groups of mechanical connecting rod 26, connecting axle 22's a terminal surface welded second buckle board 23, can lock joint mutually with the side of spacing cutting ferrule 14, thereby can play the supporting role to the one end side of connecting plate 21.
Specifically, the inside fixed mounting's of mechanical connecting rod 26 head rod 29 to and the bottom face swing joint of head rod 29 has second connecting rod 210, can change the total length of mechanical connecting rod 26, thereby be convenient for adjust the working range of manipulator, the spacing loop bar 28 that the surface activity of head rod 29 cup jointed can be fixed and the restriction to the length of head rod 29, guarantees that mechanical connecting rod 26 carries out stable connection to snatching piece 27.
Specifically, the center of the top end surface of the position-limiting sleeve rod 28 is provided with a through hole 213 which can limit the up-and-down sliding of the first connecting rod 29, the center of one end surface of the upper edge outer surface sleeve 212 of the position-limiting sleeve rod 28 is provided with a buckling hole 211 which can be movably buckled with the second buckling plate 23 at one end of the connecting shaft 22 at the bottom end of the connecting plate 21, so as to control the rotation of the mechanical connecting rod 26, the clamping block 216 movably sleeved outside the limit sleeve rod 28 can slide up and down on the outer surface of the limit sleeve rod 28, therefore, the first fastening screw 214 screwed with the upper outer surface of the position-limiting sleeve rod 28 can drive the tooth-shaped fixture block 215 of one end surface to be clamped with the tooth-shaped fixture groove 222 of the outer surface of the first connecting rod 29, so that the outer surface of the first connecting rod 29 in the position-limiting sleeve rod 28 can be positioned.
Specifically, the hinge plate 217 movably hinged to the centers of the two end faces of the first connecting rod 29 can connect the first connecting rods 29, so that the unused first connecting rod 29 can be turned conveniently, the situation that the top end of the first connecting rod 29 is too long and the normal operation of the manipulator is affected is avoided, the threaded hole 218 formed in the outer surface of the hinge plate 217 can facilitate the second fastening screw 220 to penetrate through the threaded hole 218 of the outer surface of the hinge plate 217 and the limiting fixture block 219 to be in threaded fastening connection with each other, and the joint between the first connecting rods 29 is fixed.
Specifically, the threaded hole that driving motor 24's surface was seted up can be convenient for third fastening screw 18 spiral run through the bottom edge surface of fixed block 19 and the threaded hole looks spiro union of driving motor 24 surface and be connected to can fix driving motor 24 in the position of fixed block 19 surface.
Specifically, the tooth-shaped fixture block 215 is communicated with the insertion hole 213 on the inner surface of the limiting sleeve rod 28 at one end of the first fastening screw 214, so that the tooth-shaped fixture block 215 can be conveniently engaged and clamped with the tooth-shaped fixture groove 222 on the outer surface of the first connecting rod 29 in the insertion hole 213, the first connecting rod 29 is turned over through the hinge plate 217 and clamped with the clamping block 216, the first connecting rod 29 can be fixed, and the turned first connecting rod 29 is prevented from shaking randomly.
The mechanical arm main body 2 is internally and fixedly provided with a grabbing block 27, the outer surface edge of the grabbing block 27 is movably clamped with a mechanical connecting rod 26, the upper center of the mechanical connecting rod 26 is movably clamped with a connecting plate 21, two end faces of the connecting plate 21 are both welded with connecting shafts 22, one end face of the connecting shaft 22 facing the fixed block 19 is welded with a second buckling plate 23, the other end face of the connecting shaft 22 facing the fixed block 19 is fixedly connected with a speed reducing motor 25, one end center face of the speed reducing motor 25 is fixedly provided with a driving motor 24, the inner part of the mechanical connecting rod 26 is fixedly provided with a first connecting rod 29, the bottom end face of the first connecting rod 29 is movably connected with a second connecting rod 210, the outer surface of the first connecting rod 29 is movably sleeved with a limit sleeve rod 28, the center of the top end face of the limit sleeve rod 28 is provided with an inserting hole 213 in a penetrating way, the outer surface of the upper edge of the limit sleeve rod 28 is welded with a sleeve 212, and the center of one end face of the sleeve 212 is provided with a buckling hole 211, a clamping block 216 is movably sleeved outside the limiting sleeve rod 28, a first fastening screw 214 is spirally connected to the outer surface of the upper portion of the limiting sleeve rod 28, a tooth-shaped clamping block 215 is movably buckled on one end surface of the first fastening screw 214, clamping grooves 221 are respectively formed in the outer surfaces of the two end edges of the first connecting rod 29, a tooth-shaped clamping groove 222 is formed in the outer surface of the first connecting rod 29, a hinge plate 217 is movably hinged to the center of the two end surfaces of the first connecting rod 29, a threaded hole 218 is formed in the outer surface of the hinge plate 217, a limiting clamping block 219 is clamped on the outer surface of the clamping groove 221, a second fastening screw 220 is spirally connected to the outer surface of the limiting clamping block 219 in a penetrating mode, a connecting shaft 22 facing the fixing block 19 is movably buckled with one end surface of the limiting clamping sleeve 14 through a second buckling plate 23 at one end, the limiting sleeve rod 28 is movably buckled with the second buckling plate 23 at one end of the connecting shaft 22 through a buckling hole 211 at one end surface of the sleeve 212, the outer surface of the driving motor 24 is provided with a threaded hole, a third fastening screw 18 penetrates through the outer surface of the bottom edge of the fixing block 19 in a spiral manner and is fixedly connected with the threaded hole on the outer surface of the driving motor 24 in a screwed manner, a tooth-shaped fixture block 215 is connected with an inserting hole 213 on the inner surface of the limiting sleeve rod 28 at one end of the first fastening screw 214 in a penetrating manner, the first connecting rod 29 is turned over through a hinge plate 217 and is clamped with a clamping block 216, and a second fastening screw 220 penetrates through the side surface of a limiting fixture block 219 in a spiral manner and is fixedly connected with a threaded hole 218 on the outer surface of the hinge plate 217 in a spiral manner.
The working principle is as follows: when the working range of the manipulator is expanded, the height of the support frame 1 is adjusted, the handle 15 is held and rotated reversely to drive the threaded rod 16 to rotate in the threaded sleeve 17, so that the threaded sleeve 17 rises on the outer surface of the threaded rod 16 until the top surface of the fixed block 19 reaches the required height, the first buckling plate 12 at the bottom end rotates in the buckling groove 13 when the threaded rod 16 rotates, the threaded rod 16 is prevented from driving the buckling groove 13 to rotate together, the manipulator main body 2 at the bottom surface is driven to rise together when the fixed block 19 rises, after the height of the support frame 1 is adjusted, the manipulator main body 2 needs to be adjusted to enable the manipulator main body 2 to be matched with the adjusted support frame 1, the first fastening screw 214 is rotated reversely by using a tool to drive the tooth-shaped fixture block 215 at one end to move transversely, and the side surface of the tooth-shaped fixture block 215 is separated from the tooth-shaped fixture groove 222 on the outer surface of the first connecting rod 29, then the first connecting rod 29 folded at the top end of the mechanical connecting rod 26 is pulled to separate the first connecting rod 29 at the top end of the mechanical connecting rod 26 from the clamping block 216, meanwhile, the first connecting rod 29 separated from the clamping block 216 rotates around the axis of the hinge plate 217 until the folded first connecting rod 29 is consistent with the mechanical connecting rod 26, then the limiting fixture block 219 is clamped inside the clamping groove 221 at the joint of the first connecting rod 29, then the second fastening screw 220 is rotated to penetrate through the limiting fixture block 219 and be spirally fastened with the threaded hole 218 on the outer surface of the hinge plate 217, so that the folded first connecting rod 29 is fixed, then the first connecting rod 29 is pulled to slide downwards inside the inserting hole 213, so that the overall length of the first connecting rod 29 is increased, and after the first connecting rod 29 is increased to a proper length, the first fastening screw 214 is rotated forwards to push the tooth-shaped fixture block 215 at one end to be engaged and clamped with the tooth-shaped fixture block 222 on the outer surface of the first connecting rod 29, therefore, the position of the first connecting rod 29 changed in the inserting hole 213 is fixed, then the same operation is installed to perform the same adjustment on the other three groups of mechanical connecting rods 26, after the overall length of the four groups of mechanical connecting rods 26 is increased, the working range of the grabbing block 27 at the bottom end of the mechanical connecting rod 26 is expanded, when the working range of the manipulator needs to be reduced, the threaded rod 16 can be rotated forward, so that the height position of the fixed block 19 is lowered until the fixed block 19 is lowered to a proper position, then the manipulator main body 2 is correspondingly adjusted, so that the first connecting rod 29 slides upwards in the inserting hole 213, the grabbing block 27 at the bottom end is driven to be lifted, the distance between the grabbing block 27 and the fixed block 19 is reduced until the height of the manipulator main body 2 is matched with the height of the support frame 1, and then the redundant first connecting rods 29 are turned over to be clamped with the clamping blocks 216, through highly adjusting the manipulator, can effectively change the working range of manipulator to improve the practicality of manipulator, satisfy people's user demand.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a Delta parallel connection four shaft type manipulator, includes support frame (1) and manipulator main part (2), its characterized in that: the manipulator main body (2) is movably arranged at the center of the bottom surface of the support frame (1), a fixed block (19) is fixedly arranged in the support frame (1), a threaded sleeve (17) is uniformly welded on the outer surface of the upper part of the fixed block (19), the bottom end surface of the threaded sleeve (17) is spirally connected with a threaded rod (16), the outer surface of the bottom edge of the threaded rod (16) is welded with a handle (15), a first buckling plate (12) is welded on the bottom end face of the threaded rod (16), a supporting base (11) is movably buckled on the outer surface of the first buckling plate (12), a buckling groove (13) is formed in the center of the top surface of the supporting base (11), a limiting clamping sleeve (14) is uniformly welded on the outer surface of the bottom edge of the fixing block (19), the outer surface of the bottom edge of the fixed block (19) is uniformly and spirally connected with third fastening screws (18);
the manipulator is characterized in that a grabbing block (27) is fixedly installed inside the manipulator main body (2), a mechanical connecting rod (26) is movably clamped at the edge of the outer surface of the grabbing block (27), a connecting plate (21) is movably clamped at the center of the upper portion of the mechanical connecting rod (26), connecting shafts (22) are welded on two end faces of the connecting plate (21), a second buckling plate (23) is welded on one end face, facing the fixing block (19), of each connecting shaft (22), a speed reducing motor (25) is fixedly connected on the other end face, facing the fixing block (19), of each connecting shaft (22), and a driving motor (24) is fixedly installed on the center face of one end of each speed reducing motor (25);
a first connecting rod (29) is fixedly installed inside the mechanical connecting rod (26), a second connecting rod (210) is movably connected to the bottom end face of the first connecting rod (29), and a limiting sleeve rod (28) is movably sleeved on the outer surface of the first connecting rod (29);
the center of the top end face of the limiting sleeve rod (28) is provided with a plug hole (213) in a penetrating mode, the outer surface of the edge of the upper portion of the limiting sleeve rod (28) is welded with a sleeve (212), the center of one end face of the sleeve (212) is provided with a buckling hole (211), a clamping block (216) is movably sleeved on the outer portion of the limiting sleeve rod (28), the outer surface of the upper portion of the limiting sleeve rod (28) is spirally connected with a first fastening screw (214), and one end face of the first fastening screw (214) is movably buckled with a tooth-shaped clamping block (215).
2. The Delta parallel four-axis robot of claim 1, wherein: the clamping groove (221) is formed in the outer surface of the edge of each of the two ends of the first connecting rod (29), the tooth-shaped clamping groove (222) is formed in the outer surface of the first connecting rod (29), the hinge plate (217) is movably hinged to the center of each of the two end faces of the first connecting rod (29), the threaded hole (218) is formed in the outer surface of the hinge plate (217), the limiting clamping block (219) is clamped to the outer surface of the clamping groove (221), and the outer surface of the limiting clamping block (219) is connected with a second fastening screw (220) in a penetrating and spiral mode.
3. The Delta parallel four-axis robot of claim 1, wherein: the connecting shaft (22) faces the fixed block (19) and is movably buckled with one end face of the limiting clamping sleeve (14) through a second buckling plate (23) at one end.
4. The Delta parallel four-axis robot of claim 1, wherein: the limiting sleeve rod (28) is movably buckled with a second buckling plate (23) which is far away from one end of the connecting shaft (22) of the fixed block (19) through a buckling hole (211) on one end face of the sleeve (212).
5. The Delta parallel four-axis robot of claim 1, wherein: the outer surface of the driving motor (24) is provided with a threaded hole, and the third fastening screw (18) penetrates through the outer surface of the edge of the bottom of the fixing block (19) in a spiral mode and is fixedly connected with the threaded hole in the outer surface of the driving motor (24) in a screwed mode.
6. The Delta parallel four-axis robot of claim 2, wherein: one end of the tooth-shaped fixture block (215) is communicated with the insertion hole (213) on the inner surface of the limiting sleeve rod (28) at one end of the first fastening screw (214), the first connecting rod (29) is turned over through the hinge plate (217) and clamped with the clamping block (216), and the second fastening screw (220) spirally penetrates through the side surface of the limiting fixture block (219) and is spirally fastened and connected with the threaded hole (218) on the outer surface of the hinge plate (217).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027505.9A CN112025690B (en) | 2020-09-25 | 2020-09-25 | Delta parallel four-shaft type manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027505.9A CN112025690B (en) | 2020-09-25 | 2020-09-25 | Delta parallel four-shaft type manipulator |
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| CN112025690A CN112025690A (en) | 2020-12-04 |
| CN112025690B true CN112025690B (en) | 2021-11-09 |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975201A (en) * | 2012-11-12 | 2013-03-20 | 天津理工大学 | Three degree-of-freedom parallel mechanism with symmetrical space surfaces |
| CN103029122B (en) * | 2012-12-11 | 2015-03-11 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
| CN104139388A (en) * | 2014-07-30 | 2014-11-12 | 华南理工大学 | Delta parallel-connection mechanical hand for teaching |
| MX2016016187A (en) * | 2016-12-07 | 2018-06-06 | Automatische Technik Mexico S A De C V | Reconfigurable modular industrial delta robot, system and tool for same. |
| CN206419639U (en) * | 2016-12-14 | 2017-08-18 | 广州市神虎网络科技有限公司 | A kind of hand-held camera cradle head |
| CN206501135U (en) * | 2017-01-13 | 2017-09-19 | 华南智能机器人创新研究院 | A kind of Delta robots most preferably load the device of measure |
| WO2020098944A1 (en) * | 2018-11-15 | 2020-05-22 | Siemens Aktiengesellschaft | Robot unit, in particular delta robot, having rotatable arms |
| CN210144290U (en) * | 2019-01-30 | 2020-03-17 | 绍兴上虞日星五金制品有限公司 | Baby bed |
| CN209566045U (en) * | 2019-02-28 | 2019-11-01 | 日照钢铁控股集团有限公司 | A kind of turnover folding becomes the spanner of brachium |
| CN210265275U (en) * | 2019-05-05 | 2020-04-07 | 天津市金佳源五金制品有限公司 | Fan shell |
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2020
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Effective date of registration: 20211019 Address after: 529000 workshop 1 and 2, No. 5, SANHENG Road, Jinxi, Jianghai District, Jiangmen City, Guangdong Province Applicant after: JIANGMEN DONGXUAN PLASTIC INDUSTRY Co.,Ltd. Address before: Building 6, student dormitory building, Tongling College, 1335 Cuihu 4th Road, Tongling City, Anhui Province 244000 Applicant before: Li Jinghui |
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