CN206317095U - The parallel articulation structure of robot - Google Patents
The parallel articulation structure of robot Download PDFInfo
- Publication number
- CN206317095U CN206317095U CN201621408127.8U CN201621408127U CN206317095U CN 206317095 U CN206317095 U CN 206317095U CN 201621408127 U CN201621408127 U CN 201621408127U CN 206317095 U CN206317095 U CN 206317095U
- Authority
- CN
- China
- Prior art keywords
- rashly
- acting
- arm
- acting rashly
- motor
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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.)
- Withdrawn - After Issue
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Abstract
The utility model provides a kind of parallel articulation structure of robot, including base plate, again connecting bolt, act motor, again act shaft coupling, again act power transmission shaft, again act arm, arm of acting rashly, fixing end of acting rashly, power transmission shaft of acting rashly, act rashly shaft coupling and motor of acting rashly.According to the parallel articulation structure of robot described in the utility model, with two kinds of load-carrying abilities of weight, with parallel organization, replaceable different arm of acting rashly realizes more application powers.
Description
Technical field
The utility model is related to robot field, the parallel articulation structure of more particularly to a kind of robot.
Background technology
Industrial robot is widely used in the actual productions such as application, material transfer, clamping, and common robot is using more
Free degree structure, each mechanical arm isolated operation.But it is different in some occasions, it is necessary to which two even more than mechanical arm parallel work-flow
The function of mechanical arm differ, be for example divided into and lift again and act rashly, to meet different operation needs.
In view of this, it is necessary to be improved to prior art, to meet use requirement at present to parallel work-flow robot.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies in the prior art there is provided a kind of the parallel of robot
Articulation structure, simple structure, can parallel work-flow, cost is relatively low.
To achieve the above object, utility model provides following technical scheme：
A kind of parallel articulation structure of robot, including：Base plate, connecting bolt, again lift motor, again lift shaft coupling,
Power transmission shaft is lifted again, lift arm, arm of acting rashly, fixing end of acting rashly, power transmission shaft of acting rashly, act rashly shaft coupling and motor of acting rashly again.
Further, two sets of mechanical arm mechanisms are fixed by connecting bolt on base plate, attach most importance to respectively the mechanical arm configuration of act and
Act rashly mechanical arm mechanism, Liang Tao mechanisms are set parallel.
Further, mechanical arm mechanism is lifted again to be included the motor of act again of coaxial setting, shaft coupling is lifted again, transmission is lifted again
Axle and arm is lifted again, motor is lifted again is driven by lifting shaft coupling again and lift power transmission shaft again, power transmission shaft is lifted again drive and lift again arm to rotate,
The operation of act again for lifting arm again is realized, power transmission shaft is lifted again and is supported on by roller bearing on structural member.
Further, mechanical arm mechanism of acting rashly includes the motor of acting rashly, shaft coupling of acting rashly, transmission of acting rashly of coaxial setting
Axle, fixing end of acting rashly and arm of acting rashly, motor of acting rashly drive power transmission shaft of acting rashly by shaft coupling of acting rashly, and power transmission shaft of acting rashly drives
Act rashly fixing end, fixed act rashly and drives arm rotation of acting rashly at arm in fixing end of acting rashly, and realizes the operation of acting rashly for arm of acting rashly, biography of acting rashly
Moving axis is supported on structural member by roller bearing.
Brief description of the drawings
Fig. 1 is the parallel articulation structure schematic diagram of robot of the present utility model.
(note：Shown structure in accompanying drawing is simply to illustrate that the signal of utility model feature, is not intended to according to accompanying drawing
Shown structure.)
Embodiment
As shown in figure 1, according to the parallel articulation structure of robot described in the utility model, including：Base plate 1, connection spiral shell
Bolt 2, again act motor 3, again act shaft coupling 4, again act power transmission shaft 5, again act arm 6, arm 7 of acting rashly, fixing end of acting rashly 8, biography of acting rashly
Moving axis 9, act rashly shaft coupling 10 and motor 11 of acting rashly.
Wherein, two sets of mechanical arm mechanisms are fixed by connecting bolt 2 on base plate 1, attaches most importance to lift mechanical arm configuration and light respectively
Mechanical arm mechanism is lifted, Liang Tao mechanisms are set parallel, driven using the motor 3,11 of different power, realize the behaviour of different capacity
Make.
The motor of act again 3 of mechanical arm mechanism including coaxial setting is lifted again, and shaft coupling 4 is lifted again, power transmission shaft 5 is lifted again and again
Lift arm 6.Motor 3 is lifted again and drives act power transmission shaft 5 again by lifting shaft coupling 4 again, and power transmission shaft 5 is lifted again and drives again act arm 6 to rotate,
Realize the operation of act again for lifting arm 6 again.Wherein, power transmission shaft 5 is lifted again to be supported on structural member by roller bearing.
The motor 11 of acting rashly of mechanical arm mechanism of acting rashly including coaxial setting, shaft coupling 10 of acting rashly, power transmission shaft 9 of acting rashly,
Fixing end of acting rashly 8 and arm 6 of acting rashly.Motor 11 of acting rashly drives act rashly power transmission shaft 9, power transmission shaft of acting rashly by shaft coupling 10 of acting rashly
9 drive and act rashly fixing end 8, and fixed act rashly and drives arm 7 of acting rashly to rotate at arm 6 in fixing end of acting rashly 8, realizes acting rashly for arm 6 of acting rashly
Operation.Wherein, power transmission shaft 9 of acting rashly is supported on structural member by roller bearing.
Due to lifting again, mechanical arm mechanism is different with the function for mechanical arm mechanism of acting rashly, therefore lifts the motor of motor 3 again
Power is more than the power of motor for motor 11 of acting rashly.Meanwhile, the load larger due to undertaking of arm 6 is lifted again, with lifting power transmission shaft 5 again
It is directly connected to；And arm 7 of acting rashly is connected by fixing end 8 of acting rashly, in order to change different types of arm 7 of acting rashly.
According to the parallel articulation structure of robot described in the utility model, articulation structure parallel with traditional robot
Compare, have the characteristics that：
(1) there are two kinds of load-carrying abilities of weight；(2) there is parallel organization；(3) replaceable different arm of acting rashly, is realized more
Many application powers.
The above, the only preferred embodiment of utility model is not intended to limit the protection domain of utility model,
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in practical new
Within the protection domain of type.
Claims (3)
1. a kind of parallel articulation structure of robot, including：Base plate (1), connecting bolt (2), again lift motor (3), lift again
Shaft coupling (4), power transmission shaft (5) is lifted again, arm (6), arm of acting rashly (7) are lifted again, fixing end of acting rashly (8), power transmission shaft of acting rashly (9), is acted rashly
Shaft coupling (10) and motor of acting rashly (11), it is characterised in that：
Two sets of mechanical arm mechanisms are fixed by connecting bolt (2) on base plate (1), the mechanical arm configuration of act of attaching most importance to respectively and machinery of acting rashly
Arm mechanism, Liang Tao mechanisms are set parallel；
Lift again the motor of act again (3) of mechanical arm mechanism including coaxial setting, lift shaft coupling (4) again, lift power transmission shaft (5) again and
Arm (6) is lifted again, motor (3) is lifted again by lifting shaft coupling (4) again and drives act power transmission shaft (5) again, and power transmission shaft (5) is lifted again and is driven
Arm (6) is lifted again to rotate, the operation of act again for lifting arm (6) again is realized, power transmission shaft (5) is lifted again structural member is supported on by roller bearing
On；
Mechanical arm mechanism of acting rashly includes the motor of acting rashly (11), shaft coupling of acting rashly (10), power transmission shaft of acting rashly of coaxial setting
(9) fixing end of, acting rashly (8) and arm of acting rashly (6), motor of acting rashly (11) drive power transmission shaft of acting rashly by shaft coupling of acting rashly (10)
(9) power transmission shaft (9) of, acting rashly drives and acted rashly fixing end (8), and fixed act rashly and drives arm of acting rashly at arm (6) in fixing end of acting rashly (8)
(7) rotate, realize the operation of acting rashly for arm (6) of acting rashly, power transmission shaft of acting rashly (9) is supported on structural member by roller bearing.
2. the parallel articulation structure of robot according to claim 1, it is characterised in that：
The power of motor for lifting motor (3) again is more than the power of motor for motor (11) of acting rashly.
3. the parallel articulation structure of robot according to claim 2, it is characterised in that：
Arm (7) of acting rashly is connected by fixing end of acting rashly (8), in order to change different types of arm of acting rashly (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408127.8U CN206317095U (en) | 2016-12-21 | 2016-12-21 | The parallel articulation structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408127.8U CN206317095U (en) | 2016-12-21 | 2016-12-21 | The parallel articulation structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206317095U true CN206317095U (en) | 2017-07-11 |
Family
ID=59258449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621408127.8U Withdrawn - After Issue CN206317095U (en) | 2016-12-21 | 2016-12-21 | The parallel articulation structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206317095U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476034A (en) * | 2016-12-21 | 2017-03-08 | 扬州科文机器人有限公司 | The parallel articulation structure of robot |
-
2016
- 2016-12-21 CN CN201621408127.8U patent/CN206317095U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476034A (en) * | 2016-12-21 | 2017-03-08 | 扬州科文机器人有限公司 | The parallel articulation structure of robot |
| CN106476034B (en) * | 2016-12-21 | 2019-03-01 | 扬州科文机器人有限公司 | The parallel joint structure of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170711 Effective date of abandoning: 20190301 |
|
| AV01 | Patent right actively abandoned |