CN203282475U - Operation-type parallel robot - Google Patents

Operation-type parallel robot Download PDF

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Publication number
CN203282475U
CN203282475U CN2013202282003U CN201320228200U CN203282475U CN 203282475 U CN203282475 U CN 203282475U CN 2013202282003 U CN2013202282003 U CN 2013202282003U CN 201320228200 U CN201320228200 U CN 201320228200U CN 203282475 U CN203282475 U CN 203282475U
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CN
China
Prior art keywords
robot
hinge
hooke
fixed
channel
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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.)
Expired - Fee Related
Application number
CN2013202282003U
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Chinese (zh)
Inventor
王振华
杨清义
刘立彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT Co Ltd
Original Assignee
ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT Co Ltd
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Priority to CN2013202282003U priority Critical patent/CN203282475U/en
Application granted granted Critical
Publication of CN203282475U publication Critical patent/CN203282475U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to an operation-type parallel robot. The operation-type parallel robot comprises a robot base and a robot body. The robot body is installed on the robot base, and comprises box iron stand columns, a box iron base and a top robot cover. The box iron base is fixed to the robot base; the box iron stand columns are fixed to the box iron base through screws, and are fixed to the top robot cover through screws. The robot body further comprises stand column assemblies, connecting rod assemblies, a tail end motion platform and a tail end executing mechanism. The stand column assemblies are installed inside the box iron stand columns, and are connected with the connecting rod assemblies; the connecting rod assemblies are connected with the tail end motion platform; the tail end executing mechanism is arranged at the tail end of the tail end motion platform. Driving modules are arranged on the stand column assemblies to drive the connecting rod assemblies to work. The operation-type parallel robot has the advantages of being high in rigidity, stable in structure, strong in bearing capability, high in precision, small in motion inertia and high in repeated positioning precision, and therefore the application of the operation-type parallel robot will be wider and wider.

Description

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

Claims (6)

1. an operation type parallel robot, comprise robot base and robot body, and robot body is arranged on robot base, and described robot body comprises channel steel upright post, channel-section steel base, robot top cover; Described channel-section steel base is fixed on robot base, described channel steel upright post is fixed by screw and channel-section steel base, described channel steel upright post and robot top cover are fixed by screw, and described channel steel upright post, channel-section steel base, robot top cover form the basic framework of described operation type parallel robot; It is characterized in that: described robot body also comprises columns assemblies, link assembly, end movement platform, end effector mechanism; Described columns assemblies is arranged in channel steel upright post, and described columns assemblies connects link assembly, and described link assembly connects the end movement platform, and described end movement platform is divided into set terminal executing agency; Driver module is set on described columns assemblies carrys out the work of drive link assembly.
2. a kind of operation type parallel robot according to claim 1, it is characterized in that: described driver module comprises drive motors, shaft coupling, ball screw, ball screw screw and slide block; Described drive motors is connected with ball screw by shaft coupling, and rotatablely moving of drive motors is converted to rectilinear motion by ball screw; Described ball screw screw and slide block are fixed together, and by ball screw, drive ball screw screw and slide block moving linearly; Described columns assemblies comprises upper bracket, bearing fixed seat and motor fixing seat; Described drive motors is fixed on channel steel upright post by motor fixing plate, and described ball screw is fixed on channel steel upright post by bearing fixed seat and upper bracket.
3. a kind of operation type parallel robot according to claim 1 is characterized in that: described link assembly comprises Hooke's hinge, cross axle, fixedly Hooke's hinge, connecting rod and rotation Hooke's hinge; Described Hooke's hinge is fixed on slide block, and described Hooke's hinge is connected with fixing Hooke's hinge by cross axle, and an end of described connecting rod is fixed on fixedly on Hooke's hinge, other end connection of rotating Hooke's hinge, and described rotation Hooke's hinge connects the end movement platform; Described Hooke's hinge, fixedly Hooke's hinge, rotate Hooke's hinge and can relatively rotate around cross axle, described rotation Hooke's hinge can be made axis around connecting rod and rotate.
4. a kind of operation type parallel robot according to claim 1, it is characterized in that: two of described link assemblies are one group, arrange altogether three groups, the corresponding correspondence of described channel steel upright post arranges three.
5. a kind of operation type parallel robot according to claim 4, it is characterized in that: described every group of link assembly arranges two driver modules, controls respectively two link assemblies.
6. a kind of operation type parallel robot according to claim 4, it is characterized in that: described channel steel upright post is equilateral triangle and is arranged on the channel-section steel base.
CN2013202282003U 2013-04-27 2013-04-27 Operation-type parallel robot Expired - Fee Related CN203282475U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2013202282003U CN203282475U (en) 2013-04-27 2013-04-27 Operation-type parallel robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2013202282003U CN203282475U (en) 2013-04-27 2013-04-27 Operation-type parallel robot

Publications (1)

Publication Number Publication Date
CN203282475U true CN203282475U (en) 2013-11-13

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103624767A (en) * 2013-04-27 2014-03-12 张家港诺信自动化设备有限公司 Operation type parallel robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103624767A (en) * 2013-04-27 2014-03-12 张家港诺信自动化设备有限公司 Operation type parallel robot

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Addressee: ZHANGJIAGANG NUOXIN AUTOMATION EQUIPMENT CO., LTD.

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CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20131113

Termination date: 20170427