CN201833370U

CN201833370U - Reconfigurable parallel robot

Info

Publication number: CN201833370U
Application number: CN2010205092473U
Authority: CN
Inventors: 王振华; 孙立宁; 王晓强
Original assignee: SUZHOU BOSHI ROBOTICS TECHNOLOGY Co Ltd
Current assignee: Jiangsu Huibo Robotics Technology Co ltd
Priority date: 2010-08-30
Filing date: 2010-08-30
Publication date: 2011-05-18
Anticipated expiration: 2020-08-30

Abstract

The utility model relates to a reconfigurable parallel robot, which comprises a base frame and connecting rod assemblies. A base and a main frame are mounted on the base frame; a robot substrate is mounted on the main frame; the connecting rod assemblies are connected with a tail end movement platform and sliders on driving modules; the driving modules are connected with the robot substrate; the driving modules are mounted in magnetic steel vertical columns by the aid of an upper support, a bearing fixing seat and a motor fixing seat to form a vertical column assembly and then connected with the robot substrate; and each vertical column assembly is provided with the two driving modules for driving two connecting rod assemblies. The robot with the structure has the advantages of high rigidity, stable structure, high bearing capacity, high precision, small movement inertia and reconfigurability, thereby being wider and wider in application.

Description

The restructural parallel robot

Technical field

The utility model relates to a kind of robot construction, especially relates to a kind of robot of reconfigurable parallel connection.

Background technology

Under the economic model that market economy is taken as the leading factor, in order to adapt to fast-changing market demands, new requirement has been proposed modular fabrication tool, be that the flexible manufacturing system (FMS) of representative is developed just fast with the Reconfigurable Manufacturing System.And based on the strategy of sustainable development, be reconfigurable into to inevitable the efficient utilization of resource is also feasible.The product that parallel connection equipment combines as machine tool technology and Robotics, traditional structure lathe and robot architecture's instability, a little less than the bearing capacity, shortcoming such as the little motional inertia of precision is big, and the characteristics of the easy reconstruct of parallel connection equipment itself have determined the critical role of parallel connection equipment in reconfigurable system.The research of parallel robot reconfigurability brings good start for the feasibility of parallel connection equipment reconstruct and the diversity of reconstruct.

Summary of the invention

Technical problem to be solved in the utility model provides that a kind of rigidity is big, Stability Analysis of Structures, bearing capacity is strong, precision is high, motional inertia is little and the restructural parallel robot that can be reconstructed.

The technical scheme in the invention for solving the technical problem is: a kind of restructural parallel robot, comprise bedframe and link assembly, base and main body frame are installed on the bedframe, robotic substrate is installed on the main body frame, link assembly is connected with terminal motion platform, described link assembly is connected with slide block on the driver module, and driver module is connected with robotic substrate.

For make terminal motion platform can be better, more stable motion, per two of described link assembly is divided into 1 group, an end evenly distributes and is connected on the terminal motion platform.

Driver module can have multiple mode to be installed on the robotic substrate, and described driver module is installed in the robotic substrate bottom, is emitting shape uniformly; Described driver module is installed in the channel-section steel column by upper bracket, bearing fixed seat and motor fixing seat, forms columns assemblies, is connected with robotic substrate again.

Also multiple type of drive can be arranged in columns assemblies, each columns assemblies is provided with two driver modules, drives two link assemblies; Described columns assemblies is provided with a driver module, drives two link assemblies.

The slip and the rotation of link assembly for convenience, described link assembly two ends are provided with Hooke's hinge, be connected with cross axle on the Hooke's hinge, the cross axle of link assembly one end is connected with fixedly Hooke's hinge, the cross axle of the other end is connected with the rotation Hooke's hinge, fixedly is being provided with connecting rod between Hooke's hinge and the rotation Hooke's hinge.

Draw through test of many times, described link assembly is preferably 6, and corresponding described driver module also is preferably 6.

The beneficial effects of the utility model are: it is big that the robot of this kind structure has rigidity, and Stability Analysis of Structures, bearing capacity is strong, precision is high, motional inertia is little and the characteristics that can be reconstructed, so the application meeting of the robot of this kind structure more and more widely.

Description of drawings

Fig. 1 is a slide block type general structure schematic diagram of the present utility model;

Fig. 2 is the structural representation that the columns assemblies of driver module is installed of the present utility model;

Fig. 3 is a link assembly structural representation of the present utility model;

Fig. 4 is the utility model three-translational parallel connection mechanism schematic diagram;

Fig. 5 is the utility model scissors six-degree-of-freedom parallel connection mechanism schematic diagram;

Fig. 6 is a telescopically driven six-degree-of-freedom parallel connection mechanism schematic diagram.

1, main body frame 2, connector 3, robotic substrate 4, columns assemblies

5, link assembly 6, terminal motion platform 7, base 8, bedframe

4-1, channel-section steel column 4-2, drive motors 4-3, motor fixing seat 4-4, shaft coupling

4-5, bearing fixed seat 4-6, ball screw 4-7, ball screw screw 4-8, slide block

4-9, upper bracket 5-1, Hooke's hinge 5-2, cross axle 5-3, fixing Hooke's hinge

5-4, connecting rod 5-5, rotation Hooke's hinge

The specific embodiment

Form main body frame 1 by connector 2 as shown in Figure 1; Robotic substrate 3 is fixed on the main body frame 1 by connector 2, has various configurations to need installing hole above the robotic substrate 3, and the relative position of each each parts of reconstruct parallel robot guarantees by robotic substrate 3; Per 2 side chain driver modules are installed in channel-section steel column 4-1 the inside and form columns assemblies 4, totally 3 columns assemblies 4 are installed on the robotic substrate 3 by attachment bolt, be installed in bedframe 8 below, form rigidity and kinematic accuracy that an integral body guarantees reconstruction robot.6 link assembly 5 upper ends are connected on the slide block 4-8 of driver module, and the lower end is by screw and terminal motion platform 6 one, and the slide block 4-8 position that any position that guarantees terminal motion platform 6 corresponds to driver module all is unique group and separates; The pliers of clamping work pieces is housed above the workpiece mounting seat 7, is used for clamping work pieces and makes things convenient for parallel robot processing; Cable by the driver module inside the shaped steel of main body frame 1 all is pooled to bedframe 8, bedframe 8 is welded by channel-section steel, the air plug box of restructural parallel robot is housed above, outside cable links up restructural parallel manipulator human agent and electrical control cubicles by the air plug box, guarantees that robot finishes corresponding action by control instruction.

Driver module is made up of parts such as drive motors 4-2 and ball screw 4-6 as shown in Figure 2, and drive motors 4-2 couples together by shaft coupling 4-4 and ball screw 4-6, and rotatablely moving of drive motors 4-2 is converted to rectilinear motion by ball screw 4-6; Ball screw screw 4-7 and slide block 4-8 are fixed together, and drive ball screw screw 4-7 and slide block 4-8 moving linearly by ball screw 4-6.Driver module is installed in the channel-section steel column 4-1 by upper bracket 4-9, bearing fixed seat 4-5 and motor fixing seat 4-3, forms columns assemblies 4.

Link assembly 5 is by Hooke's hinge 5-1, cross axle 5-2, fixedly Hooke's hinge 5-3, connecting rod 5-4 and rotate part such as Hooke's hinge 5-5 and form as shown in Figure 3; Wherein Hooke's hinge 5-1, fixedly Hooke's hinge 5-3, rotate Hooke's hinge 5-5 and can relatively rotate around cross axle 5-2, rotate Hooke's hinge 5-5 and can also rotate around connecting rod 5-4 axis; This composition structure of link assembly 5 has guaranteed the unique of smooth and easy and motion that restructural parallel manipulator manpower transmits.

Several reconstruct patterns of other of restructural parallel robot are as follows:

Delta type three-translational parallel connection mechanism: the parallel robot of this structure has only three driver modules as shown in Figure 4, each driver module drives two link assemblies 5 (two link assembly 5 usefulness gusset pieces are linked together, and guarantee that two link assemblies 5 are parallel to each other).

The scissors six-degree-of-freedom parallel connection mechanism: the parallel robot of this structure mounting groove steel column 4-1 not as shown in Figure 5, six driver modules are directly installed on the robotic substrate 3, and each driver module drives a link assembly 5.

The telescopically driven six-degree-of-freedom parallel connection mechanism: the parallel robot of this structure mounting groove steel column 4-1 not as shown in Figure 6, each driver module is directly installed on the robotic substrate 3 with base plate and gusset piece, and each driver module drives a link assembly 5.

Claims

1. restructural parallel robot, comprise bedframe (8) and link assembly (5), base (7) and main body frame (1) are installed on the bedframe (8), robotic substrate (3) is installed on the main body frame (1), link assembly (5) is connected with terminal motion platform (6), it is characterized in that: described link assembly (5) is connected with slide block (4-8) on the driver module, and driver module is connected with robotic substrate (3).

2. restructural parallel robot according to claim 1 is characterized in that: per two of described link assembly (5) is divided into 1 group, and an end evenly distributes and is connected on the terminal motion platform (6).

3. restructural parallel robot according to claim 1 and 2 is characterized in that: described driver module is installed in robotic substrate (3) bottom, is emitting shape uniformly.

4. restructural parallel robot according to claim 1, it is characterized in that: described driver module is installed in channel-section steel column (4-1) lining by upper bracket (4-9), bearing fixed seat (4-5) and motor fixing seat (4-3), form columns assemblies (4), be connected with robotic substrate (3) again.

5. restructural parallel robot according to claim 4 is characterized in that: each columns assemblies (4) is provided with two driver modules, drives two link assemblies (5).

6. restructural parallel robot according to claim 4 is characterized in that: described columns assemblies (4) is provided with a driver module, drives two link assemblies (5).

7. restructural parallel robot according to claim 1, it is characterized in that: described link assembly (5) two ends are provided with Hooke's hinge (5-1), be connected with cross axle (5-2) on the Hooke's hinge (5-1), the cross axle (5-2) of link assembly (5) one ends is connected with fixedly Hooke's hinge (5-3), the cross axle of the other end (5-2) is connected with and rotates Hooke's hinge (5-5), fixedly is being provided with connecting rod (5-4) between Hooke's hinge (5-3) and the rotation Hooke's hinge (5-5).

8. restructural parallel robot according to claim 1 is characterized in that: described link assembly (5) is 6, and described driver module is 6.