CN113319821A - Delta parallel robot - Google Patents
Delta parallel robot Download PDFInfo
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- CN113319821A CN113319821A CN202110513589.5A CN202110513589A CN113319821A CN 113319821 A CN113319821 A CN 113319821A CN 202110513589 A CN202110513589 A CN 202110513589A CN 113319821 A CN113319821 A CN 113319821A
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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
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
Abstract
The application relates to a Delta parallel robot, which comprises a rack, a static platform arranged on the rack, a movable platform arranged below the static platform, and a plurality of driving modules arranged on the rack; the driving module comprises a mounting seat connected with the static platform, a crank rotationally connected to the mounting seat and a driving motor arranged on the mounting seat and used for driving the crank to rotate; one end of the crank, which is far away from the driving motor, is connected with a connecting rod module, and one end of the connecting rod module, which is far away from the crank, is connected with the movable platform; still be equipped with the orientation module on the quiet platform, orientation module is used for fixing a position each crank pivoted tip when drive module installs on quiet platform. Through the modularization of the components in the Delta connector robot, the driving module and the connecting rod module are assembled in sequence during assembly, the assembly steps can be reduced, the relative position of the driving module is positioned by utilizing the positioning module, the assembly precision is improved, and the assembly efficiency is improved on the premise of ensuring the assembly precision.
Description
Technical Field
The application relates to the field of parallel robots, in particular to a Delta parallel robot.
Background
Delta parallel robot is a comparatively common industrial robot at present, and it is mainly connected through three group's kinematic chains and forms, has two or more degrees of freedom, cooperates machine vision and snatchs the action such as the work piece snatchs, sorts, and the wide application is in each trade.
Because the Delta parallel robot has more parts, the parts need to be sequentially installed in the assembling process, and the more the parts are, the more operation steps are needed to ensure the assembling precision, so that the assembling efficiency of the whole Delta parallel robot is lower.
Disclosure of Invention
In order to improve the assembly efficiency of the Delta parallel robot on the premise of ensuring the assembly precision, the Delta parallel robot is provided.
The Delta parallel robot provided by the application adopts the following technical scheme:
a Delta parallel robot comprises a frame, a static platform arranged on the frame, a movable platform arranged below the static platform, and a plurality of driving modules arranged on the frame; the driving module comprises a mounting seat connected with the static platform, a crank rotationally connected to the mounting seat and a driving motor arranged on the mounting seat and used for driving the crank to rotate; one end of the crank, which is far away from the driving motor, is connected with a connecting rod module, and one end of the connecting rod module, which is far away from the crank, is connected with the movable platform; the static platform is further provided with a positioning module, and the positioning module is used for positioning the rotating end part of each crank when the driving module is installed on the static platform.
By adopting the technical scheme, when the parallel robot is assembled, the driving modules, the connecting rod modules and the positioning modules are firstly spliced in advance, then the static platform is fixed on the rack, all the driving modules are installed on the static platform, then the connecting rod modules are connected to each crank, and finally the movable platform is connected among all the connecting rod modules, so that the assembling work of the Delta parallel robot can be completed, and partial assembling steps are reduced; before the driving modules are installed, the positioning modules are connected with the static platform, the crank end parts in each driving module are positioned to the designed positions under the action of the positioning modules, and the whole movable platform is driven to move by the rotation of the cranks, so that the moving precision of the movable platform is determined by the rotating axis precision of the cranks, the installation precision of the driving modules on the static platform is improved under the action of the positioning modules, and the purposes of ensuring the assembly precision and improving the assembly efficiency are achieved.
Optionally, the positioning module includes a fixed disk mounted on the stationary platform, and a plurality of positioning cylinders fixedly mounted on the fixed disk, the number of the positioning cylinders is consistent with that of the cranks, each crank is fixedly provided with a positioning shaft, the axis of the positioning shaft coincides with the rotation axis of the crank, and the positioning shaft is inserted in the positioning cylinder and is rotatably connected with the positioning shaft.
By adopting the technical scheme, when each driving module is installed, the positioning shaft on the crank is sleeved into the positioning cylinder, the axis of the positioning shaft is determined by the positioning cylinder, the purpose of positioning the rotating axis of the crank is realized, and the installation precision of the crank can be ensured by fixing the installation seat on the static platform after the crank position is determined.
Optionally, the stationary platform is provided with at least two positioning pins, the fixed disk is provided with positioning holes with the same number as the positioning pins, and the positioning pins are inserted into the corresponding positioning holes.
Through adopting above-mentioned technical scheme, the locating pin is fixed a position when being connected to quiet platform to the fixed disk, improves the position accuracy of fixed disk for quiet platform.
Optionally, the connecting rod module comprises two carbon fiber tubes arranged in parallel at intervals, an upper connecting shaft detachably connected to the end of the crank, and a lower connecting shaft detachably connected to the movable platform; the end parts of the two carbon fiber tubes are respectively connected with the two ends of the upper connecting shaft in a spherical hinge mode, and the end parts, far away from the upper connecting shaft, of the two carbon fiber tubes are respectively connected with the two ends of the lower connecting shaft in a spherical hinge mode.
Through adopting above-mentioned technical scheme, in advance with two carbon fiber tube ball joints between last connecting axle and lower connecting axle, when installation connecting rod module, will be fixed to the crank earlier on, will be fixed down the connecting axle again on moving the platform, can be connected to two carbon fiber tube to the crank and move between the platform, the connected mode is simple convenient, and assembly efficiency is higher.
Optionally, an embedding groove is formed in the end of the crank, and the middle of the upper connecting shaft along the axial direction of the upper connecting shaft is embedded in the embedding groove; the inner side wall of the caulking groove is provided with a positioning plane, the peripheral surface of the upper connecting shaft is provided with a flat tangent plane, and the flat tangent plane of the upper connecting shaft is attached to the positioning plane of the caulking groove.
Through adopting above-mentioned technical scheme, when will go up the connecting axle and fix to the crank, make and go up the connecting axle and inlay inside the caulking groove, the tangent plane face of connecting epaxial and the location plane laminating on the caulking groove inside wall are in the same place in the order to go up the connecting axle and fix a position for articulate position, under the effect of tangent plane and location plane, make and go up the connecting axle and can't rotate around self axis in the caulking groove simultaneously, improve the connection stability of crank and last connecting axle.
Optionally, the upper connecting shaft is connected with two fastening lantern rings in a threaded manner, one end of the crank connected with the upper connecting shaft is located between the two fastening lantern rings, and the two fastening lantern rings are abutted to the crank.
Through adopting above-mentioned technical scheme, utilize two fastening lantern rings to the clamp force of crank, will go up the connecting axle and fix on the crank to can adjust the position of going up the connecting axle for the crank through adjusting two fastening lantern rings and connecting epaxial positions, be convenient for adjust the position of going up the connecting axle when the assembly.
Optionally, the crank and two side walls abutted against the two fastening lantern rings are provided with sunk grooves, and the end parts of the fastening lantern rings are arranged in the sunk grooves, so that the fastening lantern rings can only move in the sunk grooves along the axial direction of the upper connecting shaft.
Through adopting above-mentioned technical scheme, under the effect of heavy groove, the displacement of restriction fastening lantern ring to because the screw-thread fit of fastening lantern ring and last connecting axle makes it also unable self-propelled axial displacement after receiving the axial force, consequently guaranteed the unable removal in position of last connecting axle, further improved parallel robot motion in-process upper connecting axle and articulate connection stability.
Optionally, an insertion block is fixedly arranged on one side, close to the movable platform, of the lower connecting shaft, a slot is formed in a side wall, used for being matched with the lower connecting shaft, of the movable platform, and the insertion block is inserted into the corresponding slot; the movable platform is provided with a pin hole, the pin hole penetrates through the slot, a pin shaft penetrates through the pin hole, and the pin shaft penetrates through the insertion block at the position of the slot.
Through adopting above-mentioned technical scheme, when will descend the connecting axle to assemble on moving the platform, insert the slot earlier with the inserted block in, carry out preliminary location to lower connecting axle and moving the platform, then align the pinhole department with the hole that is used for the round pin axle to pass on the jack, pass pinhole and inserted block with this again with the round pin axle, with the inserted block restriction on moving the platform, realize connecting axle and the assembly work who moves the platform down, the assembly methods is simple convenient.
Optionally, a dovetail block is fixedly arranged at one end of the insertion block, which is far away from the lower connecting shaft, and the dovetail block is arranged along the axial direction of the lower connecting shaft; the dovetail groove is formed in the groove bottom of the insertion groove, the dovetail block is embedded in the dovetail groove, and an opening through which the dovetail block can penetrate is formed in one side of the dovetail groove in the axial direction of the connecting shaft.
Through adopting above-mentioned technical scheme, when removing the inserted block to the slot in, the dovetail piece also can get into the dovetail thereupon, the cooperation of dovetail piece and dovetail is comparatively inseparable to spacing effect is better, makes the inserted block be difficult for deviating from in the slot, improves connecting axle and the joint strength who moves the platform down.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the components in the Delta connector robot are modularized, the driving module and the connecting rod module are assembled in sequence during assembly, the assembly steps are reduced, and the relative position of the driving module is positioned by utilizing the positioning module, so that the assembly precision is improved;
2. the positioning module is matched with the positioning shaft of the crank in the driving module through the positioning cylinder, so that the purpose of positioning the crank position in each driving module is realized, the positioning mode is simple and practical, the assembling precision is met, and the assembling efficiency is improved;
3. through last connecting axle and articulate connection, lower connecting axle and the connection that moves the platform, make two carbon fiber tube coupling at the crank with move the mode between the platform more convenient to, go up the connecting axle through two fastening lantern rings and crank go up heavy groove cooperation, down the connecting axle and use the cooperation of jack and dovetail, make carbon fiber tube both ends all higher with crank and the joint strength who moves the platform, stability is better.
Drawings
FIG. 1 is a schematic diagram showing the structure of a Delta parallel robot in the embodiment of the application.
Fig. 2 is a partial view showing a drive module.
Fig. 3 is a partial exploded view showing the fitting relationship between the drive module and the positioning module.
Fig. 4 is a partial exploded view showing the connection relationship between the positioning module and the stationary platform.
Fig. 5 is a partial view showing a link module.
Fig. 6 is a partial exploded view showing the connection relationship between the upper connecting shaft and the crank.
Fig. 7 is a partial sectional view showing a connection relationship between the upper connection shaft and the caulking groove.
Fig. 8 is a partial exploded view showing a connection relationship between the lower connecting shaft and the movable platform.
Description of reference numerals: 1. a frame; 2. a static platform; 21. positioning pins; 3. a movable platform; 31. mounting holes; 32. a slot; 33. a dovetail groove; 34. a pin hole; 35. a pin shaft; 4. a drive module; 41. a mounting seat; 42. a crank; 421. lightening holes; 422. caulking grooves; 423. sinking a groove; 424. positioning a plane; 43. a drive motor; 44. a drive shaft; 5. a connecting rod module; 51. a carbon fiber tube; 52. an upper connecting shaft; 521. fastening a collar; 522. cutting into a plain noodles; 53. a lower connecting shaft; 531. inserting a block; 532. a dovetail block; 54. a ball hinge; 6. a positioning module; 61. fixing the disc; 611. positioning holes; 62. a positioning cylinder; 63. a support bar; 64. and (5) positioning the shaft.
Detailed Description
The present application is described in further detail below with reference to figures 1-8.
The embodiment of the application discloses a Delta parallel robot.
Referring to fig. 1, the Delta parallel robot comprises a rack 1, a static platform 2, a movable platform 3 and three driving modules 4, wherein the static platform 2 is installed on the rack 1, the three driving modules 4 are all installed on the static platform 2, each driving module 4 is connected with a connecting rod module 5, the movable platform 3 is suspended below the static platform 2 through the three connecting rod modules 5, and the driving modules 4 can drive the movable platform 3 to move below the static platform 2 through the connecting rod modules 5. The whole Delta parallel robot is divided into a plurality of modules to be manufactured independently, and the modules are assembled and connected during splicing, so that the assembly steps are reduced, and the assembly efficiency is improved.
Referring to fig. 1, the frame 1 is a frame structure formed by splicing aluminum profiles, and provides a stable supporting effect for the installation of the static platform 2, the dynamic platform 3, the driving module 4 and the connecting rod module 5. Quiet platform 2 is the flat board of level setting, and quiet platform 2 fixes at the top of frame 1, and quiet platform 2 can adopt the mode of bolt spare to fix, also can adopt modes such as riveting, welding to fix. The movable platform 3 is also a flat plate horizontally arranged, a mounting hole 31 is formed in the center of the movable platform 3, and the mounting hole 31 is used for fixedly mounting a required grabbing component or a required sorting component on the movable platform 3 so as to realize the function of grabbing or sorting workpieces by the Delta parallel robot.
Referring to fig. 2, the driving module 4 includes a mounting base 41, a crank 42 and a driving motor 43, the mounting base 41 is fixedly connected to the top surface of the stationary platform 2, a driving shaft 44 is rotatably connected to the mounting base 41, and an axis of the driving shaft 44 is arranged along a horizontal direction and is perpendicular to an axis of the central hole. The crank 42 is disposed along the radial direction of the driving shaft 44, and one end of the crank 42 is fixedly connected to the end of the driving shaft 44, so that the crank 42 can rotate on the mounting base 41 around the axis of the driving shaft 44. The driving motor 43 is fixedly connected to one side of the mounting base 41 far away from the crank 42, and an output shaft of the driving motor 43 is fixedly connected with the driving shaft 44, so that the driving motor 43 can drive the crank 42 to rotate through the driving shaft 44.
Referring to fig. 2, the crank 42 is provided with a plurality of lightening holes 421, and the lightening holes 421 can reduce the overall weight of the crank 42, reduce the load borne by the stationary platform 2 and the frame 1, and improve the stability of the crank 42 during rotation.
When the mounting seat 41 is fixed to the stationary platform 2, due to the existence of machining errors, in the process of assembling the three driving modules 4, it cannot be ensured that the position of the rotation axis of each crank 42 is consistent with the design dimension, and the precision of the rotation axis of the crank 42 determines the assembling precision of the subsequent connecting rod module 5 and the movable platform 3, and if the positioning precision of the crank 42 is poor, the normal operation of the whole parallel robot is affected. Therefore, a positioning module 6 is also arranged on the static platform 2, and the positioning module 6 is used for positioning the three cranks 42 to the designed size.
Referring to fig. 1 and 3, the positioning module 6 includes a fixed disk 61, three positioning cylinders 62 and two positioning pins 21, the fixed disk 61 is in a horizontally placed circular disk structure, the fixed disk 61 abuts against the top surface of the stationary platform 2 and is fixed on the stationary platform 2 through a plurality of bolts, and the axis of the fixed disk 61 coincides with the axis of the central hole. The three positioning cylinders 62 are uniformly distributed around the circumference of the fixed disc 61, and a support rod 63 is welded and fixed between each positioning cylinder 62 and the fixed disc 61, so that the three positioning cylinders 62 are fixed on the fixed disc 61. The three positioning cylinders 62 correspond to the three cranks 42 one by one, a positioning shaft 64 is fixedly arranged on the side wall of one side of each crank 42, which is far away from the driving shaft 44, the axis of the positioning shaft 64 is overlapped with the axis of the driving shaft 44, and one end of the positioning shaft 64, which is far away from the crank 42, is arranged in the corresponding positioning cylinder 62 in a penetrating manner and is connected with the positioning cylinder in a rotating manner.
When each driving module 4 is installed, the positioning shaft 64 on the crank 42 is firstly sleeved into the positioning cylinder 62, the axis of the positioning shaft 64 is determined by the positioning cylinder 62, the purpose of positioning the rotation axis of the crank 42 is realized, and the installation precision of the crank 42 can be ensured by fixing the installation base 41 on the static platform 2 after the position of the crank 42 is determined.
Referring to fig. 4, the two positioning pins 21 are both fixedly connected to the stationary platform 2, the positioning pins 21 are perpendicular to the stationary platform 2, two positioning holes 611 with corresponding number are formed in the fixed disk 61, and the positioning pins 21 are inserted into the corresponding positioning holes 611, so that the two positioning pins 21 position the fixed disk 61 on the stationary platform 2, and the matching precision of the fixed disk 61 is improved.
Referring to fig. 5, the link module 5 includes two carbon fiber tubes 51, an upper connecting shaft 52 and a lower connecting shaft 53, the two carbon fiber tubes 51 are parallel to each other and are arranged at intervals, the upper connecting shaft 52 and the lower connecting shaft 53 are both located between the two carbon fiber tubes 51, the axes of the upper connecting shaft 52 and the lower connecting shaft 53 are both parallel to the axis of the driving shaft 44, ball hinges 54 are mounted at both ends of each carbon fiber tube 51, and each carbon fiber tube 51 is ball-hinged to the shaft end of the upper connecting shaft 52 and the axis of the lower connecting shaft 53 by using the two ball hinges 54. The upper connecting shaft 52 is fixed at one end of the crank 42 far away from the driving shaft 44, and the lower connecting shaft 53 is fixedly connected to the movable platform 3, so that two carbon fiber tubes are connected between the crank 42 and the movable platform 3. When the driving motor 43 drives the crank 42 to rotate, the crank 42 drives the upper connecting shaft 52 to move, and the upper connecting shaft 52 drives the lower connecting shaft 53 to move through the two carbon fiber tubes, so as to drive the movable platform 3 to move.
Referring to fig. 5 and 6, a caulking groove 422 is formed at one end of the crank 42 away from the driving shaft 44, and the caulking groove 422 is formed by recessing the end of the crank 42 toward the driving shaft 44, so that one side of the caulking groove 422 is opened. The middle part of the upper connecting shaft 52 along the self axial direction is embedded in the embedded groove 422, and the opening size of the embedded groove 422 is matched with the diameter of the upper connecting shaft 52, so that the connecting shaft can enter or separate from the embedded groove 422 through the opening of the embedded groove 422.
Referring to fig. 5 and 6, the upper connecting shaft 52 is further provided with two fastening collars 521, the two fastening collars 521 are respectively located on two axial sides of the upper connecting shaft 52, and each fastening collar 521 is in threaded connection with the upper connecting shaft 52. The crank 42 is positioned between the two fastening lantern rings 521, the two fastening lantern rings 521 are simultaneously abutted against two sides of the crank 42 along the axial direction of the upper connecting shaft 52, and the upper connecting shaft 52 is fixed on the crank 42 through the clamping force and the friction force of the two fastening lantern rings 521 on the crank 42; the position of the upper connecting shaft 52 relative to the crank 42 can also be adjusted by adjusting the position of the two fastening collars 521 on the upper connecting shaft 52, facilitating the adjustment of the position of the upper connecting shaft 52 during assembly.
Referring to fig. 6, the two side walls of the crank 42 abutting against the two fastening rings 521 are both provided with a sinking groove 423, the sinking groove 423 is formed by inward sinking of the side wall of the crank 42, and the sinking groove 423 is communicated with the caulking groove 422. The end of the fastening collar 521 along the axial direction is arranged in the sunken groove 423, and the opening space of the sunken groove 423 divided by the embedding groove 422 is smaller than the outer diameter of the fastening collar 521, so that the fastening collar 521 can only move in the sunken groove 423 along the axial direction of the upper connecting shaft 52. And the fastening collar 521 and the upper connecting shaft 52 cannot automatically and axially move after being subjected to axial force due to the threaded fit of the fastening collar 521 and the upper connecting shaft 52, so that the position of the upper connecting shaft 52 cannot move, and the connection stability of the upper connecting shaft 52 and the crank 42 in the motion process of the parallel robot is further improved.
Referring to fig. 6 and 7, one side of the upper connecting shaft 52 close to the driving shaft 44 is further provided with two tangent planes 522, the tangent planes 522 extend along the axial direction of the upper connecting shaft 52, and the two tangent planes 522 are distributed at intervals around the circumference of the upper connecting shaft 52. Two corresponding positioning planes 424 are arranged on the bottom of the caulking groove 422, and two flat tangent planes 522 are respectively attached to the two positioning planes 424.
The matching of the positioning plane 424 and the tangent plane 522 positions the position of the upper connecting shaft 52 inside the caulking groove 422, so that the assembly precision of the upper connecting shaft 52 and the crankshaft is improved, meanwhile, the upper connecting shaft 52 cannot rotate around the axis of the upper connecting shaft 52 in the caulking groove 422, and the connection stability of the crank 42 and the upper connecting shaft 52 is improved.
When the upper connecting shaft 52 and the crank 42 are assembled, the upper connecting shaft 52 is directly slid into the embedded groove 422 through the opening of the embedded groove 422, and the position of the upper connecting shaft 52 is rotated, so that the flat tangent plane 522 on the upper connecting shaft 52 is attached to the positioning plane 424, and the upper connecting shaft 52 is preliminarily positioned; then, the two fastening collars 521 are rotated to enable the two fastening collars 521 to be screwed into the corresponding sunk grooves 423, and the position of the upper connecting shaft 52 is continuously adjusted in the screwing process, so that the axial middle part of the upper connecting shaft 52 is aligned with the embedded groove 422 on the crank 42, the assembling step is simple, and the assembling precision is high.
Referring to fig. 8, an insertion block 531 is fixedly disposed on a circumferential side wall of the lower connecting shaft 53, the insertion block 531 is disposed along an axial direction of the lower connecting shaft 53, and the insertion block 531 is located on a side of the lower connecting shaft 53 close to the movable platform 3. The movable platform 3 is used for all having seted up slot 32 on each lateral wall with lower connecting axle 53 complex, and slot 32 has the 3 lateral walls of movable platform to sunken formation in mounting hole 31 one side, and slot 32 also sets up along the axial of lower connecting axle 53, and slot 32 all is the opening form along the axial both sides of lower connecting axle 53, and the inserted block 531 is pegged graft in the slot 32 that corresponds.
Referring to fig. 8, a dovetail block 532 is integrally formed on one side of the insert block 531 close to the movable platform 3, and the dovetail block 532 is also arranged along the axial direction of the upper connecting shaft 52; the dovetail grooves 33 are formed in the groove bottoms of the slots 32, the dovetail grooves 33 are also arranged along the axial direction of the upper connecting shaft 52, two of the dovetail grooves 33 are also in an open shape, and the dovetail blocks 532 are embedded in the dovetail grooves 33 to limit the positions of the insertion blocks 531, so that the insertion blocks 531 can only slide in the slots 32 along the axial direction of the upper connecting shaft 52.
Referring to fig. 8, each slot 32 of the movable platform 3 is provided with a pin hole 34, and the pin hole 34 is provided at a position below the slot 32 of the movable platform 3 after penetrating through the insertion hole. A pin shaft 35 penetrates through the pin hole 34, the part of the pin shaft 35 located in the slot 32 penetrates through the insertion block 531, and the position of the insertion block 531 in the slot 32 is further positioned and connected.
When the lower connecting shaft 53 and the movable platform 3 are assembled, the inserting block 531 and the dovetail block 532 directly slide in from one side of the opening of the slot 32 and the opening of the dovetail groove 33 until the hole in the inserting block 531 is aligned with the pin hole 34 in the movable platform 3, then the pin shaft 35 penetrates into the pin hole 34, and under the common cooperation of the pin shaft 35 and the dovetail block 532, the lower connecting shaft 53 is connected with the movable platform 3 in a matched mode, so that the connecting strength is high, and the assembling efficiency is high.
The implementation principle of the Delta parallel robot in the embodiment of the application is as follows: part of components in the Delta connection robot are modularized into a driving module 4 and a connecting rod module 5, the modules are manufactured in advance, assembling steps in the assembling process are reduced, positioning is carried out in the assembling process by means of a positioning module 6, and assembling efficiency is improved on the premise of ensuring assembling accuracy.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A Delta parallel robot is characterized in that: comprises a frame (1), a static platform (2) arranged on the frame (1), a movable platform (3) arranged below the static platform (2), and a plurality of driving modules (4) arranged on the frame (1);
the driving module (4) comprises a mounting seat (41) connected with the static platform (2), a crank (42) rotationally connected to the mounting seat (41), and a driving motor (43) arranged on the mounting seat (41) and used for driving the crank (42) to rotate; one end, far away from the driving motor (43), of the crank (42) is connected with a connecting rod module (5), and one end, far away from the crank (42), of the connecting rod module (5) is connected with the movable platform (3);
still be equipped with orientation module (6) on quiet platform (2), orientation module (6) are used for when drive module (4) are installed on quiet platform (2) to the tip of every crank (42) pivoted and fix a position.
2. A Delta parallel robot as claimed in claim 1, wherein: the positioning module (6) comprises a fixed disc (61) arranged on the static platform (2) and a plurality of positioning cylinders (62) fixedly arranged on the fixed disc (61), the number of the positioning cylinders (62) is consistent with that of the cranks (42), each crank (42) is fixedly provided with a positioning shaft (64), the axis of each positioning shaft (64) is coincident with the rotation axis of the corresponding crank (42), and the positioning shafts (64) are inserted into the positioning cylinders (62) and are connected with the positioning shafts in a rotating mode.
3. A Delta parallel robot as claimed in claim 2, wherein: the fixed platform (2) is provided with at least two positioning pins (21), the fixed disc (61) is provided with positioning holes (611) with the same number as the positioning pins (21), and the positioning pins (21) are inserted into the corresponding positioning holes (611).
4. A Delta parallel robot as claimed in claim 1, wherein: the connecting rod module (5) comprises two carbon fiber tubes (51) which are arranged in parallel at intervals, an upper connecting shaft (52) detachably connected to the end part of the crank (42), and a lower connecting shaft (53) detachably connected to the movable platform (3); the end parts of the two carbon fiber pipes (51) are respectively connected with the two ends of the upper connecting shaft (52) in a spherical hinge mode, and the end parts, far away from the upper connecting shaft (52), of the two carbon fiber pipes (51) are respectively connected with the two ends of the lower connecting shaft (53) in a spherical hinge mode.
5. A Delta parallel robot as claimed in claim 4 wherein: an embedded groove (422) is formed in the end of the crank (42), and the middle part of the upper connecting shaft (52) along the axial direction of the upper connecting shaft is embedded in the embedded groove (422); the inner side wall of the caulking groove (422) is provided with a positioning plane (424), the peripheral surface of the upper connecting shaft (52) is provided with a plain end surface (522), and the plain end surface (522) of the upper connecting shaft (52) is attached to the positioning plane (424) of the caulking groove (422).
6. A Delta parallel robot as claimed in claim 5 wherein: the upper connecting shaft (52) is connected with two fastening lantern rings (521) in a threaded mode, one end, connected with the upper connecting shaft (52), of the crank (42) is located between the two fastening lantern rings (521), and the two fastening lantern rings (521) are abutted to the crank (42).
7. A Delta parallel robot as claimed in claim 6 wherein: heavy grooves (423) are formed in the two side walls, abutted to the two fastening lantern rings (521), of the crank (42), the end portions of the fastening lantern rings (521) are arranged in the heavy grooves (423), and the fastening lantern rings (521) can only move in the heavy grooves (423) along the axial direction of the upper connecting shaft (52).
8. A Delta parallel robot as claimed in claim 4 wherein: an inserting block (531) is fixedly arranged on one side, close to the movable platform (3), of the lower connecting shaft (53), a slot (32) is formed in the side wall, used for being matched with the lower connecting shaft (53), of the movable platform (3), and the inserting block (531) is inserted into the corresponding slot (32);
the movable platform (3) is provided with a pin hole (34), the pin hole (34) penetrates through the slot (32), a pin shaft (35) penetrates through the pin hole (34), and the pin shaft (35) penetrates through the insertion block (531) at the position of the slot (32).
9. A Delta parallel robot as claimed in claim 8 wherein: one end, far away from the lower connecting shaft (53), of the inserting block (531) is fixedly provided with a dovetail block (532), and the dovetail block (532) is arranged along the axial direction of the lower connecting shaft (53); a dovetail groove (33) is formed in the groove bottom of the slot (32), the dovetail block (532) is embedded in the dovetail groove (33), and an opening through which the dovetail block (532) can penetrate is formed in one side of the dovetail groove (33) in the axial direction of the connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110513589.5A CN113319821A (en) | 2021-05-11 | 2021-05-11 | Delta parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110513589.5A CN113319821A (en) | 2021-05-11 | 2021-05-11 | Delta parallel robot |
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| Publication Number | Publication Date |
|---|---|
| CN113319821A true CN113319821A (en) | 2021-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110513589.5A Pending CN113319821A (en) | 2021-05-11 | 2021-05-11 | Delta parallel robot |
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| CN (1) | CN113319821A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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