CN113352301B - Parallel robot capable of dragging teaching within small range - Google Patents
Parallel robot capable of dragging teaching within small range Download PDFInfo
- Publication number
- CN113352301B CN113352301B CN202110748869.4A CN202110748869A CN113352301B CN 113352301 B CN113352301 B CN 113352301B CN 202110748869 A CN202110748869 A CN 202110748869A CN 113352301 B CN113352301 B CN 113352301B
- Authority
- CN
- China
- Prior art keywords
- dragging
- robot
- rod
- adjusting
- parallel robot
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The invention discloses a parallel robot capable of dragging teaching in a small range, relates to the technical field of parallel robots, and solves the problems that the parallel robot can only move in a specified direction during operation, actual teaching is inconvenient to carry out and the degree of freedom is low. The utility model provides a but small range drags parallel robot of teaching, includes the direction slide rail, the bottom surface activity of direction slide rail is provided with robot movable top cap, the below of robot movable top cap is provided with the robot and connects the casing, the tip inboard that the casing was connected to the robot is provided with the power rod, the equal movable mounting in bottom both sides of power rod has the adjusting link, the bottom surface intermediate position department that the casing was connected to the robot is provided with flexible guide bar. The invention can drag the working part of the parallel robot in a small range by arranging the dragging mechanism and the adjusting mechanism, is convenient for practical teaching, can improve the local degree of freedom of the parallel robot, and leads the work and the teaching to be more convenient and faster.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a parallel robot capable of dragging teaching within a small range.
Background
With the rapid development of social economy, a parallel robot is called PM for short, and can be defined as a closed-loop mechanism which is formed by connecting a movable platform and a fixed platform through at least two independent kinematic chains, has two or more degrees of freedom and is driven in a parallel mode, and the parallel robot is characterized by no accumulated error and high precision; the driving device can be arranged on the fixed platform or close to the fixed platform, so that the moving part has light weight, high speed and good dynamic response.
However, the existing parallel robot can only move in a designated direction when in operation, so that the actual teaching is inconvenient to carry out, and the degree of freedom is low; therefore, the existing requirements are not met, and the parallel robot capable of dragging the teaching in a small range is provided for the requirements.
Disclosure of Invention
The invention aims to provide a parallel robot capable of dragging teaching in a small range, and aims to solve the problems that the existing parallel robot proposed in the background technology can only move in a designated direction when in operation, is inconvenient to actually teach, has low degree of freedom and the like.
In order to achieve the purpose, the invention provides the following technical scheme: a parallel robot capable of dragging teaching within a small range comprises a guide slide rail, wherein a movable robot top cover is movably arranged on the bottom surface of the guide slide rail, a robot connecting shell is arranged below the movable robot top cover, a power rod is arranged on the inner side of the end part of the robot connecting shell, first adjusting connecting rods are movably arranged on two sides of the bottom end of the power rod, a telescopic guide rod is arranged in the middle position of the bottom surface of the robot connecting shell, a connecting chassis is arranged at the bottom end of the telescopic guide rod, the end part of the connecting chassis is connected with the first adjusting connecting rods, a dragging guide rail is arranged on the bottom surface of the connecting chassis, and a dragging mechanism is movably arranged below the dragging guide rail;
the dragging mechanism comprises a guide sliding block, the guide sliding block is movably arranged inside the bottom surface of the dragging guide rail, the bottom end of the guide sliding block penetrates through the bottom surface of the dragging guide rail, a dragging hand lever is arranged on one side of the bottom surface of the dragging hand lever, an operating button is arranged on the surface of one side of the dragging hand lever, an electromagnet is arranged inside the guide sliding block, limiting inner plates are movably arranged on two sides of the electromagnet, permanent magnets are embedded on the sides, facing the electromagnet, of the limiting inner plates, a reset rod is arranged on the other side of the limiting inner plates, the reset rod penetrates through the inner wall of the guide sliding block, a reset spring is sleeved on the outer side of one end of the reset rod, a telescopic limiting block is arranged on the end face of the outer end of the reset rod, one side of the telescopic limiting block penetrates through the side of the guide sliding block, and a limiting protrusion is arranged on the surface of the outer side of the guide sliding block;
the bottom surface fixed mounting of direction slider has the spliced pole, the inside activity in bottom surface of spliced pole is provided with the support pivot, the bottom that supports the pivot runs through the bottom surface of spliced pole and the bottom terminal surface is provided with rotatory piece.
Preferably, the below of rotatory piece is provided with adjustment mechanism, adjustment mechanism includes two shower nozzle installation poles, the shower nozzle installation pole is located rotatory piece and obtains both ends and pass through the reference column with rotatory piece and be connected, the bottom surface activity of shower nozzle installation pole is provided with two connection balls, the bottom surface fixed mounting who connects the ball has the shower nozzle, the bottom surface of rotatory piece is provided with accommodate the lead screw, accommodate the lead screw's surface activity is provided with adjust the slider, adjust the slider and be provided with the second adjusting connecting rod with the centre of shower nozzle.
Preferably, the surface of the robot connecting shell is provided with three positioning blocks, the bottom surface of the robot movable top cover is provided with positioning holes, the positioning holes correspond to the positioning blocks, and the robot movable top cover is connected with the positioning blocks through screws.
Preferably, the bottom outside of supporting the pivot is provided with the support ring, the support ring passes through integrated casting with the support pivot, the surface of support ring is inlayed and is provided with the ball.
Preferably, a shaft pin penetrates through the end part of the power rod connected with the first adjusting connecting rod, and two ends of the shaft pin are inserted into the end part of the first adjusting connecting rod.
Preferably, the two sides of the limiting bulge are both provided with positioning clamping blocks, and the positioning clamping blocks are uniformly distributed on the inner wall of the dragging guide rail and positioned on the side face of the guide sliding block.
Preferably, the operation button is electrically connected with the electromagnet, and the electromagnet is magnetically connected with the permanent magnet.
Preferably, a connection hose penetrates through the middle of the connection ball, the upper end of the connection hose penetrates through the surface of the nozzle mounting rod, and the bottom end of the connection hose is inserted into the upper end of the nozzle.
Preferably, the end parts of the two ends of the second adjusting connecting rod are provided with connecting pins in a penetrating mode, the outer sides of the two ends of each connecting pin are provided with connecting blocks, and the connecting blocks are fixedly connected with the adjusting sliding blocks and the spray heads.
Preferably, the bottom end face of the adjusting screw rod is provided with a limiting piece, and the limiting piece is connected with the adjusting screw rod through a screw.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, an operator holds the dragging hand lever by hand and then presses the operation button by using the inner side of a finger, so that after the operation button is pressed, the power supply of the electromagnet is switched on and strong magnetism is added, at the moment, the electromagnet can generate attraction force on the permanent magnet, the permanent magnet is attached to the side surface of the electromagnet, the limiting inner plate is pulled to the side surface of the electromagnet, the limiting inner plate drives the reset rod to move, so that the telescopic limiting block synchronously moves to the inner side of the guide sliding block to contract, at the moment, the limiting bulge on the outer surface of the guide sliding block or the limiting bulge is separated from a clamping groove between the positioning clamping block and the positioning clamping block on the inner wall of the dragging guide rail until the permanent magnet is attached to the electromagnet, at the moment, the limiting bulge can be completely separated from the positioning clamping block, at the moment, the operator can drive the guide sliding block to slide in the bottom surface of the dragging guide rail by dragging the hand lever, so that the guide sliding block drives the connecting column, The rotating block moves, so that the rotating block drives the two spray head mounting rods and the spray heads below the spray head mounting rods to synchronously move, the working part of the parallel robot can be dragged in a small range, actual teaching is facilitated, the local degree of freedom of the parallel robot can be improved, and the working and the teaching are more convenient and faster;
2. the invention can switch on the power supply of the power component connected with the adjusting screw rod and start the power component when the teaching or parallel robot works actually, the adjusting screw rod is driven by the power assembly to rotate, the adjusting screw rod drives the adjusting slide block to move along the outer side surface of the adjusting screw rod, the adjusting slide block drives one end of a second adjusting connecting rod connected with the adjusting slide block through a connecting block to move, the other end of the adjusting connecting rod moves along with the movement, the other end of the adjusting connecting rod drives the connecting block at the outer side of the spray head to move, so that the spray head moves synchronously, thereby leading the spray head to drive the connecting ball to move on the bottom surface of the spray head mounting rod, adjusting the inclination angle of the spray head, can adjust according to teaching needs or actual processing situation for parallel robot coating is concentrated more or is dispersed when the spraying, effectual improvement teaching and work efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention as a whole;
FIG. 2 is an enlarged view of a portion of the present invention;
FIG. 3 is a schematic structural diagram of the dragging mechanism according to the present invention;
FIG. 4 is an enlarged view of the structure of FIG. 3 at A according to the present invention;
FIG. 5 is a schematic view of the structure of the guide slider according to the present invention;
FIG. 6 is a schematic partial cross-sectional view of a rotating block of the present invention.
In the figure: 1. a guide slide rail; 2. a robot movable top cover; 3. the robot is connected with the shell; 4. dragging the guide rail; 5. a dragging mechanism; 501. dragging the hand lever; 502. an operation button; 503. a guide slider; 504. a telescopic limiting block; 505. an electromagnet; 506. a reset lever; 507. a limiting inner plate; 508. a permanent magnet; 509. a return spring; 510. a limiting bulge; 6. connecting columns; 7. an adjustment mechanism; 701. a nozzle mounting rod; 702. a spray head; 703. a connecting ball; 704. a second adjusting link; 705. connecting blocks; 706. adjusting the slide block; 707. adjusting the screw rod; 8. rotating the block; 9. connecting a chassis; 10. a telescopic guide rod; 11. a power rod; 12. a first adjusting link; 13. positioning a block; 14. a support ring; 15. a support shaft; 16. and positioning the clamping block.
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.
Referring to fig. 1 to 6, an embodiment of the present invention includes: a parallel robot capable of dragging teaching within a small range comprises a guide slide rail 1, a robot movable top cover 2 is movably arranged on the bottom surface of the guide slide rail 1, a robot connecting shell 3 is arranged below the robot movable top cover 2, a power rod 11 is arranged on the inner side of the end part of the robot connecting shell 3, first adjusting connecting rods 12 are movably arranged on two sides of the bottom end of the power rod 11, a telescopic guide rod 10 is arranged at the middle position of the bottom surface of the robot connecting shell 3, a connecting chassis 9 is arranged at the bottom end of the telescopic guide rod 10, the end part of the connecting chassis 9 is connected with the first adjusting connecting rods 12, a dragging guide rail 4 is arranged on the bottom surface of the connecting chassis 9, and a dragging mechanism 5 is movably arranged below the dragging guide rail 4;
the dragging mechanism 5 comprises a guide sliding block 503, the guide sliding block 503 is movably arranged inside the bottom surface of the dragging guide rail 4, the bottom end of the guide sliding block 503 penetrates through the bottom surface of the dragging guide rail 4, a dragging hand lever 501 is arranged on one side of the bottom surface of the dragging hand lever 501, an operating button 502 is arranged on the surface of one side of the dragging hand lever 501, an electromagnet 505 is arranged inside the guide sliding block 503, two sides of the electromagnet 505 are respectively and movably provided with a limiting inner plate 507, a permanent magnet 508 is embedded on the side surface, facing the electromagnet 505, of the limiting inner plate 507, a reset rod 506 is arranged on the other side of the limiting inner plate 507, the reset rod 506 penetrates through the inner wall of the guide sliding block 503, a reset spring 509 is sleeved on the outer side of one end of the reset rod 506, a telescopic limiting block 504 is arranged on the end face of the outer end of the telescopic limiting block 504, and a limiting protrusion 510 is arranged on the surface of one side of the guide sliding block 503;
the bottom surface of the guide sliding block 503 is fixedly provided with a connecting column 6, a supporting rotating shaft 15 is movably arranged inside the bottom surface of the connecting column 6, and the bottom end of the supporting rotating shaft 15 penetrates through the bottom surface of the connecting column 6 and the end surface of the bottom end is provided with a rotating block 8.
Further, the below of rotatory piece 8 is provided with adjustment mechanism 7, adjustment mechanism 7 includes two shower nozzle installation poles 701, shower nozzle installation pole 701 is located the both ends of rotatory piece 8 and passes through the reference column with rotatory piece 8 and be connected, the bottom surface activity of shower nozzle installation pole 701 is provided with two connection balls 703, the bottom surface fixed mounting of connecting ball 703 has shower nozzle 702, the bottom surface of rotatory piece 8 is provided with accommodate the lead screw 707, accommodate the lead screw 707's surface activity is provided with adjust the slider 706, adjust the slider 706 and be provided with second adjusting connecting rod 704 with the centre of shower nozzle 702, the angle to shower nozzle 702 that can be quick is adjusted, make the coating of spraying concentrate more or disperse.
Further, the surface that the casing 3 is connected to the robot is provided with three locating piece 13, and the bottom surface of robot activity top cap 2 is provided with the locating hole, and the locating hole is corresponding with locating piece 13, and robot activity top cap 2 passes through screw connection with locating piece 13, makes things convenient for to carry out mutual correspondence between robot activity top cap 2 and the robot connection casing 3, and the robot of being convenient for assembles, and convenient the dismantlement is favorable to maintaining, overhauing.
Further, the bottom outside of supporting the pivot 15 is provided with support ring 14, and support ring 14 and supporting pivot 15 are through integration casting moulding, and the surface of support ring 14 is inlayed and is provided with the ball, and support ring 14 that inlays and have the ball is when supporting pivot 15, effectual reduction frictional resistance for supporting pivot 15 can be fine carry out the free rotation.
Further, the end portion of the power rod 11 connected with the first adjusting connecting rod 12 is provided with a shaft pin in a penetrating mode, two ends of the shaft pin are inserted into the end portion of the first adjusting connecting rod 12, the shaft pin is simple in structure, convenient to use and stable in connection, and free movement between the power rod 11 and the first adjusting connecting rod 12 cannot be influenced.
Further, the both sides of spacing arch 510 all are provided with location joint piece 16, and location joint piece 16 evenly distributed is located the side of direction slider 503 on dragging the inner wall of guide rail 4, and location joint piece 16 corresponds with spacing arch 510 each other, and it is spacing to carry out the position to the direction slider 503 after the removal fast to be convenient for, avoids the direction slider 503 to appear removing under unmanned operation's the condition.
Further, the operation button 502 is electrically connected with the electromagnet 505, the electromagnet 505 is magnetically connected with the permanent magnet 508, rapid reaction can be performed when an operator presses the operation button 502, the electromagnet 505 adsorbs the permanent magnet 508 for the telescopic limiting block 504 to contract towards the inside of the guide sliding block 503 in the first time, and the guide sliding block 503 can slide in the dragging guide rail 4.
Further, a connection hose penetrates through the middle of the connection ball 703, the upper end of the connection hose penetrates through the surface of the spray head installation rod 701, and the bottom end of the connection hose is inserted into the upper end of the spray head 702, so that the connection hose ensures that the coating of the spray head 702 can be smoothly transferred during operation, and the connection hose can adapt to the free movement of the connection ball 703.
Further, both ends of the second adjusting link 704 are provided with connecting pins, the outer sides of both ends of the connecting pins are provided with connecting blocks 705, the connecting blocks at both ends of the second adjusting link 704 are respectively fixedly connected with the adjusting slider 706 and the spray head 702, and the connecting pins and the connecting blocks 705 enable the adjusting slider 706 to be connected with the spray head 702, so that the adjusting slider 706 can drive the spray head 702 to perform corresponding actions when moving.
Furthermore, the bottom end face of the adjusting screw rod 707 is provided with a limiting piece, the limiting piece is connected with the adjusting screw rod 707 through a screw, the limiting piece limits the position of the stroke of the adjusting slide block 706, the adjusting slide block 706 is prevented from being separated from the outer side of the adjusting screw rod 707, and the adjusting slide block 706 and the adjusting screw rod 707 are conveniently assembled through the screw connection.
The working principle is as follows: when the parallel robot is used for practical teaching, an operator holds the dragging hand lever 501 and then presses the operation button 502 by using the inner side of a finger, so that after the operation button 502 is pressed down, the power of the electromagnet 505 is switched on and strong magnetism is added, at the moment, the electromagnet 505 generates attraction force on the permanent magnet 508, the permanent magnet 508 is attached to the side surface of the electromagnet 505, the limit inner plate 507 is pulled to the side surface of the electromagnet 505, the limit inner plate 507 drives the reset rod 506 to move, the telescopic limiting block 504 synchronously moves to contract towards the inner side of the guide slider 503, at the moment, the limiting bulge 510 on the outer surface of the guide slider 503 is separated from the clamping groove between the positioning clamping block 16 and the positioning clamping block 16 on the inner wall of the dragging guide rail 4 until the permanent magnet 508 is attached to the electromagnet 505, at the moment, the limiting bulge 510 is completely separated from the positioning clamping block 16, at this moment, an operator can drive the guide sliding block 503 to slide in the bottom surface of the dragging guide rail 4 by dragging the dragging hand lever 501, so that the guide sliding block 503 drives the connecting column 6 and the rotating block 8 to move, so that the rotating block 8 drives the two spray head mounting rods 701 and the spray heads 702 below the spray head mounting rods 701 to synchronously move, small-range dragging can be carried out on the working part of the parallel robot, actual teaching is convenient to carry out, the local freedom degree of the parallel robot can be improved, and the work and the teaching are more convenient and rapid.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a but small range drags parallel robot of teaching, includes direction slide rail (1), its characterized in that: a robot movable top cover (2) is movably arranged on the bottom surface of the guide sliding rail (1), a robot connecting shell (3) is arranged below the robot movable top cover (2), a power rod (11) is arranged on the inner side of the end portion of the robot connecting shell (3), first adjusting connecting rods (12) are movably arranged on two sides of the bottom end of the power rod (11), a telescopic guide rod (10) is arranged in the middle position of the bottom surface of the robot connecting shell (3), a connecting chassis (9) is arranged at the bottom end of the telescopic guide rod (10), the end portion of the connecting chassis (9) is connected with the first adjusting connecting rods (12), a dragging guide rail (4) is arranged on the bottom surface of the connecting chassis (9), and a dragging mechanism (5) is movably arranged below the dragging guide rail (4);
the dragging mechanism (5) comprises a guide sliding block (503), the guide sliding block (503) is movably arranged inside the bottom surface of the dragging guide rail (4), the bottom end of the guide sliding block (503) penetrates through the bottom surface of the dragging guide rail (4) and one side of the bottom surface is provided with a dragging hand lever (501), one side surface of the dragging hand lever (501) is provided with an operating button (502), the inside of the guide sliding block (503) is provided with an electromagnet (505), both sides of the electromagnet (505) are movably provided with a limiting inner plate (507), the side surface of the limiting inner plate (507) facing the electromagnet (505) is inlaid with a permanent magnet (508), the other side of the limiting inner plate (507) is provided with a reset rod (506), the reset rod (506) penetrates through the inner wall of the guide sliding block (503) and one end of the reset rod (506) is sleeved with a reset spring (509), and the end surface of the outer end of the reset rod (506) is provided with a telescopic limiting block (504), one side of the telescopic limiting block (504) penetrates through the side face of the guide sliding block (503), and the outer side surface of the telescopic limiting block is provided with a limiting protrusion (510);
a connecting column (6) is fixedly installed on the bottom surface of the guide sliding block (503), a supporting rotating shaft (15) is movably arranged inside the bottom surface of the connecting column (6), the bottom end of the supporting rotating shaft (15) penetrates through the bottom surface of the connecting column (6), and a rotating block (8) is arranged on the end surface of the bottom end;
the support ring (14) is arranged on the outer side of the bottom end of the support rotating shaft (15), the support ring (14) and the support rotating shaft (15) are integrally cast and molded, balls are embedded in the outer surface of the support ring (14), and friction resistance is effectively reduced while the support ring (14) embedded with the balls supports the support rotating shaft (15), so that the support rotating shaft (15) can freely rotate;
the utility model discloses a shower nozzle, including rotatory piece (8), bottom surface activity, connecting ball (703), bottom surface activity, regulating mechanism (7) and regulation slider (706), the below of rotatory piece (8) is provided with adjustment mechanism (7), adjustment mechanism (7) include two shower nozzle installation poles (701), shower nozzle installation pole (701) are located the both ends of rotatory piece (8) and pass through the reference column with rotatory piece (8) and are connected, the bottom surface activity of shower nozzle installation pole (701) is provided with two and connects ball (703), the bottom surface fixed mounting of connecting ball (703) has shower nozzle (702), the bottom surface of rotatory piece (8) is provided with accommodate the lead screw (707), the surface activity of accommodate the lead screw (707) is provided with adjusting block (706), adjusting block (706) and shower nozzle (702) the centre are provided with second adjusting connecting rod (704).
2. The parallel robot capable of small-range dragging teaching according to claim 1, wherein: the surface of the robot connecting shell (3) is provided with three positioning blocks (13), the bottom surface of the robot movable top cover (2) is provided with positioning holes, the positioning holes correspond to the positioning blocks (13), and the robot movable top cover (2) is connected with the positioning blocks (13) through screws.
3. The parallel robot capable of small-range dragging teaching according to claim 1, wherein: the end part of the power rod (11) connected with the first adjusting connecting rod (12) is provided with a shaft pin in a penetrating way, and two ends of the shaft pin are inserted into the end part of the first adjusting connecting rod (12).
4. The parallel robot capable of dragging teaching to a small extent according to claim 1, wherein: the both sides of spacing arch (510) all are provided with location joint piece (16), location joint piece (16) evenly distributed is located the side of direction slider (503) on dragging the inner wall of guide rail (4).
5. The parallel robot capable of dragging teaching to a small extent according to claim 1, wherein: the operation button (502) is electrically connected with the electromagnet (505), and the electromagnet (505) is magnetically connected with the permanent magnet (508).
6. The parallel robot capable of small-range dragging teaching according to claim 1, wherein: a connecting hose penetrates through the middle of the connecting ball (703), the upper end of the connecting hose penetrates through the surface of the spray head mounting rod (701), and the bottom end of the connecting hose is inserted into the upper end of the spray head (702).
7. The parallel robot capable of small-range dragging teaching according to claim 1, wherein: the end parts of two ends of the second adjusting connecting rod (704) are respectively provided with a connecting pin in a penetrating mode, the outer sides of two ends of the connecting pin are respectively provided with a connecting block (705), and the connecting blocks at two ends of the second adjusting connecting rod (704) are respectively fixedly connected with the adjusting sliding block (706) and the spray head (702).
8. The parallel robot capable of small-range dragging teaching according to claim 1, wherein: the bottom end face of the adjusting screw rod (707) is provided with a limiting piece, and the limiting piece is connected with the adjusting screw rod (707) through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110748869.4A CN113352301B (en) | 2021-07-02 | 2021-07-02 | Parallel robot capable of dragging teaching within small range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110748869.4A CN113352301B (en) | 2021-07-02 | 2021-07-02 | Parallel robot capable of dragging teaching within small range |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113352301A CN113352301A (en) | 2021-09-07 |
| CN113352301B true CN113352301B (en) | 2022-08-30 |
Family
ID=77537888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110748869.4A Active CN113352301B (en) | 2021-07-02 | 2021-07-02 | Parallel robot capable of dragging teaching within small range |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113352301B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114617114A (en) * | 2022-04-19 | 2022-06-14 | 浙江理工大学 | Solar weeding robot and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013059852A (en) * | 2011-08-23 | 2013-04-04 | Panasonic Corp | Parallel link robot and operation teaching method therefor |
| JP2014217913A (en) * | 2013-05-08 | 2014-11-20 | パナソニック株式会社 | Operation teaching method of parallel link robot and parallel link robot |
| CN107322571A (en) * | 2017-08-11 | 2017-11-07 | 广州亮点装备技术有限公司 | A kind of connection in series-parallel drags teaching robot |
| CN208773565U (en) * | 2018-07-30 | 2019-04-23 | 杭州指南车机器人科技有限公司 | A kind of parallel robot teaching application apparatus |
| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
| CN110743736A (en) * | 2019-11-13 | 2020-02-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
-
2021
- 2021-07-02 CN CN202110748869.4A patent/CN113352301B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013059852A (en) * | 2011-08-23 | 2013-04-04 | Panasonic Corp | Parallel link robot and operation teaching method therefor |
| JP2014217913A (en) * | 2013-05-08 | 2014-11-20 | パナソニック株式会社 | Operation teaching method of parallel link robot and parallel link robot |
| CN107322571A (en) * | 2017-08-11 | 2017-11-07 | 广州亮点装备技术有限公司 | A kind of connection in series-parallel drags teaching robot |
| CN208773565U (en) * | 2018-07-30 | 2019-04-23 | 杭州指南车机器人科技有限公司 | A kind of parallel robot teaching application apparatus |
| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
| CN110743736A (en) * | 2019-11-13 | 2020-02-04 | 合肥工业大学 | Suspension type six-degree-of-freedom series-parallel spraying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113352301A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113352301B (en) | Parallel robot capable of dragging teaching within small range | |
| CN210704910U (en) | A fixing device for industrial robot | |
| CN109899649A (en) | A kind of electric platform for teaching demonstration | |
| CN210910051U (en) | Robot arm fixture | |
| CN108096790B (en) | Finger rehabilitation training robot | |
| CN109775078A (en) | A kind of automation labelling machine easy to remove | |
| CN211561849U (en) | Marionette demonstration device | |
| CN213473653U (en) | Automatic change industrial robot for packing assembly line | |
| CN110548301B (en) | Marionette man demonstration device | |
| CN213225005U (en) | Camshaft bush press-fitting device | |
| CN210377146U (en) | Test tool for rudder servo controller | |
| CN204896800U (en) | Device is inhaled to hydraulic drive's magnetism | |
| CN208358222U (en) | A kind of on-line Full screw fixing machine | |
| CN108458150B (en) | Electric straight-travel valve actuator | |
| CN219440619U (en) | Five-degree-of-freedom table tennis robot | |
| CN110356838A (en) | A kind of automatic charging device of intelligence manufacture flexible production line | |
| CN219311062U (en) | Hull shot blasting machine | |
| CN214171252U (en) | Large-stroke multi-shaft transmission gantry module | |
| CN117400234B (en) | Special mechanical arm | |
| CN220637956U (en) | Three-dimensional transfer manipulator | |
| CN214202859U (en) | Inertia force demonstration experiment instrument | |
| CN211639902U (en) | Multi-axis manipulator mounting base with good stability | |
| CN218698968U (en) | Rotary joint | |
| CN217390874U (en) | Surgical robot and main manipulator thereof | |
| CN214202750U (en) | Helicopter simulation periodic pitch-variable rod control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |