CN206748414U - A kind of portable parallel robot - Google Patents
A kind of portable parallel robot Download PDFInfo
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- CN206748414U CN206748414U CN201720521180.7U CN201720521180U CN206748414U CN 206748414 U CN206748414 U CN 206748414U CN 201720521180 U CN201720521180 U CN 201720521180U CN 206748414 U CN206748414 U CN 206748414U
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Abstract
The utility model discloses a kind of portable parallel robot, belong to robotic technology field, including moving platform, first long-armed, second long-armed, the first galianconism, the second galianconism and silent flatform, the first actuator and the second actuator are fixed with silent flatform, it is characterised in that：The cross section of the silent flatform is in inverted " u "-shaped, and first actuator is fixed in a side wall of silent flatform, and the second actuator is fixed in another side wall of silent flatform, and the reciprocating device for making front-rear reciprocation movement is fixed with the silent flatform.The utility model is in the case where capturing equal object weights so that whole robot space hold is smaller, and moving platform reciprocating stroke shortens, and effectively raises the pick-and-place efficiency of object, enhances applicability；And it in the state of held stationary, can realize that dynamic grab of object is put, and greatly improves operating efficiency.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of portable parallel robot.
Background technology
Parallel robot, i.e. moving platform are connected with silent flatform by least two independent kinematic chains, have two or
The two or more free degree, and a kind of close loop mechanism driven with parallel way.
For parallel robot is compared with traditional industry serial manipulator, parallel robot has many advantages, such as：
It is higher without accumulated error, precision；Drive device can be placed in the position on silent flatform or close to silent flatform, so move
Moiety by weight is light, and speed is high, and dynamic response is good；Compact-sized, rigidity is high, large carrying capacity；Full symmetric parallel institution tool
There is preferable isotropism；Working space is smaller.
According to these features, parallel robot need high rigidity, high accuracy or big load and need not very big work it is empty
Between field in be widely applied.
Parallel robot, classify by forms of motion, plane mechanism and space mechanism can be divided into；Subdivision can be divided into planar movement
Mechanism, planar movement rotating mechanism, the pure travel mechanism in space, the pure rotating mechanism in space and spatial mixing motion etc..
Classify by the free degree, two degrees of freedom, Three Degree Of Freedom, four-degree-of-freedom, five degree of freedom and 6DOF etc. can be divided into.Often
What is seen is：Two degrees of freedom and 3-dof parallel robot.Wherein, 3-dof parallel robot, species form are more；Mainly
For planar three freedom parallel robot and the major class of spherical three-degree-of-freedom parallel robot two；Planar three freedom parallel robot
With two mobile and rotations；And the axis junction space of all kinematic pairs of spherical three-degree-of-freedom parallel robot is a bit,
This point is referred to as the center of mechanism, in mechanism motion a little be all around the rotational motion.Three compared to complexity are free
Spend for parallel robot, two-degree-of-freedoparallel parallel robot, i.e. two axle parallel robots, because space hold is smaller, and pick up
Weight is more much larger than 3-dof parallel robot, and up to 30 kilograms, two axle parallel robots are more widely applied.
Publication No. CN1589191, publication date disclose one kind two freely for the Chinese patent literature on March 2nd, 2005
Plane parallel robot mechanism is spent, at one comprising in the mechanism of pedestal and moving platform, moving platform can cross base relative to pedestal
The move in plane of seat and moving platform；Pedestal has two rotatable drive members, and they are respectively through corresponding linkage
It is connected to moving platform, each linkage includes that an one end is affixed with drive member and the driving lever rotated with it and one one
The follower lever group that end is hinged with moving platform；The other end of driving lever and the other end of follower lever are hinged；Described connecting rod
One of mechanism, which is additionally included in motion, keeps positioning element of the moving platform relative to pedestal direction；Positioning element also include one by
The crank that hinge between driving lever and follower lever provides；One arm of first positioning linkage rod one end and crank is hinged, another
End is hinged with pedestal；Second positioning linkage rod one end is hinged with crank another arm, and the other end is hinged with moving platform.
And for example Publication No. CN103802094A, publication date disclose one for the Chinese patent literature on May 21st, 2014
Kind portable parallel robot, including central motor, robot bottom plate, motor reducer assembly, upper arm, underarm, low bottom-disc, in
Heart expansion link, it is characterised in that described motor reducer assembly is arranged on the lower section of robot bottom plate, with robot bottom plate
Center connects one arm of composition, motor reducer assembly in 120 degree of distributions, described upper arm and underarm by spherical joint head
Connected with low bottom-disc by three arms, the center steering axle of described center expansion link connection central motor and low bottom-disc.
Prior art using above-mentioned patent document as representative, because structure design is unreasonable, is primarily present problems with：
1st, it is constant in the length of driving lever because two drive members are arranged side by side, crawl equivalent weight object
In the case of, it is big that two driving levers cause horizontal space to take, and moving platform reciprocating stroke is longer, influences the pick-and-place efficiency of object；And
And be not suitable for some places narrow and small to space requirement and use, applicability is poor.
2nd, capture object track to be relatively fixed, object is generally in inactive state, and the manipulator of parallel robot can not be real
Now move to grab and put, i.e., when object is kept in motion, the manipulator of parallel robot cannot fast and accurately capture object
And object is accurately put into specified location, strong influence operating efficiency.
Utility model content
The defects of the utility model is in order to overcome above-mentioned prior art, there is provided a kind of portable parallel robot, this practicality
It is new in the case where capturing equal object weights so that whole robot space hold is smaller, and moving platform reciprocating stroke shortens, and has
The pick-and-place efficiency for improving object of effect, enhances applicability；And it can realize that the dynamic of object grabs in the state of held stationary
It is dynamic to put, greatly improve operating efficiency.
The utility model is achieved through the following technical solutions：
A kind of portable parallel robot, including moving platform, first long-armed, second long-armed, the first galianconism, the second galianconism and
Silent flatform, the first actuator and the second actuator is fixed with silent flatform, one end of the first galianconism is connected with the first actuator, separately
One end is long-armed be hinged with first；One end of second galianconism is connected with the second actuator, the other end and second long-armed be hinged；First length
Arm and second long-armed is hinged with moving platform respectively, it is characterised in that：The cross section of the silent flatform is in inverted " u "-shaped, and described first
Actuator is fixed in a side wall of silent flatform, and the second actuator is fixed in another side wall of silent flatform, on the silent flatform
It is fixed with the reciprocating device for making front-rear reciprocation movement.
The reciprocating device includes the driving part that sliding block, slide rail and driving sliding block slide, and sliding block is fixed on quiet flat
On the roof of platform, sliding block is slidably matched with slide rail.
The driving part is pneumatic cylinder, hydraulic cylinder or servomotor.
First actuator is the first motor, and the second actuator is the second motor.
First motor and the second motor are arranged in inside silent flatform in " one " font.
The first short positioning linkage rod and the second short positioning linkage rod, the first short positioning linkage rod and first are hinged with the silent flatform
Motor homonymy, the second short positioning linkage rod and the second motor homonymy, the first crank, the first short positioning linkage rod are hinged with the first galianconism
It is hinged with the first crank, the second crank is hinged with the second galianconism, the second short positioning linkage rod is hinged with the second crank, on moving platform
The first long positioning linkage rod and the second long positioning linkage rod are hinged with, the first long positioning linkage rod is hinged with the first crank, the second length positioning
Connecting rod is hinged with the second crank.
Described first it is long-armed and second it is long-armed be two, two first it is long-armed between to be fixedly connected with cross section be in " H "
First steady rest of shape, two second it is long-armed between be fixedly connected with cross section be in " H " shape the second steady rest.
The side wall vertical connection of substrate, substrate and silent flatform is provided with below the silent flatform.
Reinforcement is fixedly connected between the side wall and roof of the silent flatform, reinforcement is located inside silent flatform.
Limited impression is provided with the roof of the silent flatform, the size of limited impression is adapted with the size of sliding block, sliding block
It is fixed on by clamping screw in limited impression.
Reciprocating device described in the utility model makees front-rear reciprocation movement, refer to the moving direction of reciprocating device with
The axial direction of motor is identical.
Reciprocating device described in the utility model can also be Rack and pinion mechanism, ball screw framework, crank block
Mechanism or cam mechanism.
Operation principle of the present utility model is as follows：
In use, moving platform will be fixed on for capturing the manipulator of object, the first actuator is fixed on silent flatform
In one side wall, the second actuator is fixed in another side wall of silent flatform, in the feelings that the first galianconism and the second galianconism length are constant
Under condition, the horizontal space that the first galianconism and the second galianconism take is effectively shortened so that moving platform reciprocating stroke shortens；Pass through
One actuator and the second actuator drive the first galianconism and the second galianconism to rotate respectively, and so as to drive, first is long-armed and second is long-armed
Motion, and then make moving platform make movement in a curve on the face that the first galianconism and the second galianconism are formed, by manipulator by object from
Crawl is placed into another place at one, because stroke shortens, therefore improves pick-and-place efficiency；Pass through the reciprocal shifting set on silent flatform
Motivation structure, can make whole silent flatform under the drive of reciprocating device perpendicular to the first galianconism and the second galianconism formation
On the direction in face, i.e., make straight reciprocating motion on the axial direction of motor, when object is in the enterprising Mobile state transmission of transmission belt, energy
Whole manipulator is enough set to follow object to move, so as to realize that dynamic grab of object is put.
The beneficial effects of the utility model are mainly manifested in following aspect：
First, the utility model, " including moving platform, first long-armed, second long-armed, the first galianconism, the second galianconism and quiet flat
Platform, the first actuator and the second actuator is fixed with silent flatform, one end of the first galianconism is connected with the first actuator, the other end
It is long-armed be hinged with first；One end of second galianconism is connected with the second actuator, the other end and second long-armed be hinged；First it is long-armed and
Second it is long-armed be hinged respectively with moving platform, the cross section of silent flatform is in inverted " u "-shaped, and the first actuator is fixed on the side of silent flatform
On wall, the second actuator is fixed in another side wall of silent flatform, and the reciprocal shifting for making front-rear reciprocation movement is fixed with silent flatform
Motivation structure ", as a complete technical scheme, for actuator is arranged side by side compared with prior art, by by the first actuator
The side of silent flatform is arranged on, the second actuator is arranged on the opposite side of silent flatform, in the first galianconism and the second galianconism length not
In the case of change, the horizontal space that the first galianconism and the second galianconism take is effectively shortened so that moving platform reciprocating stroke shortens,
The pick-and-place efficiency of object is not only increased, and is used suitable for small space place, greatly enhances applicability；By
Reciprocating device is set on silent flatform, and when object is in the enterprising Mobile state transmission of transmission belt, reciprocating device can drive
Silent flatform makees front-rear reciprocation movement, and then whole manipulator can be made to follow object to move, and realizes that dynamic grab of object is put, greatly
Improve operating efficiency.
2nd, the utility model, reciprocating device include the driving part that sliding block, slide rail and driving sliding block slide, sliding block
It is fixed on the roof of silent flatform, sliding block is slidably matched with slide rail, using this sliding block, the reciprocating device of slide rail, has
It is simple in construction, it is easy for installation the characteristics of, and the straight reciprocating motion that sliding block and slide rail cooperatively form, stability is higher, beneficial to carrying
High whole parallel robot is dynamic to grab the job stability put.
3rd, the utility model, driving part are pneumatic cylinder, hydraulic cylinder or servomotor, using the teaching of the invention it is possible to provide good driving force,
And it is simple in construction, installation cost is low.
4th, the utility model, the first actuator are the first motor, and the second actuator is the second motor, and space hold is small, easily
It is relatively low in installation, installation and replacement cost.
5th, the utility model, the first motor and the second motor are arranged in inside silent flatform in " one " font so that the first electricity
The motor of machine and the second motor is axially coincident, further reduces horizontal space occupancy, flexible beneficial to the movement for improving moving platform
Property.
6th, the utility model, the first short positioning linkage rod and the second short positioning linkage rod, the first short positioning are hinged with silent flatform
Connecting rod and the first motor homonymy, the second short positioning linkage rod and the second motor homonymy, are hinged with the first crank on the first galianconism, and first
Short positioning linkage rod is hinged with the first crank, and the second crank is hinged with the second galianconism, and the second short positioning linkage rod and the second crank are cut with scissors
Connecing, the first long positioning linkage rod and the second long positioning linkage rod are hinged with moving platform, the first long positioning linkage rod is hinged with the first crank,
Second long positioning linkage rod is hinged with the second crank, by the cooperation of crank, positioning linkage rod, can keep moving platform all the time first
Make movement in a curve on the face that galianconism and the second galianconism are formed, so as to effectively improve the precision and stability of pick-and-place object.
7th, the utility model, first it is long-armed and second it is long-armed be two, two first it is long-armed between be fixedly connected with horizontal stroke
Section be in " H " shape the first steady rest, two second it is long-armed between be fixedly connected with cross section be in " H " shape the second steady rest,
The bearing capacity of whole parallel robot can be improved, heavier object can be captured；By setting the steady rest of " H " shape, improve
Bulk strength, beneficial to the stability for ensureing to capture after object in the whole moving process.
8th, the utility model, the side wall vertical connection of substrate, substrate and silent flatform is provided with below silent flatform, by
Substrate is set below silent flatform, certain dustproof effect can be played, avoid accumulating dust on actuator, beneficial to guarantee actuator
Long-term use of stability.
9th, the utility model, is fixedly connected with reinforcement between the side wall and roof of silent flatform, reinforcement is located at silent flatform
Inside, by setting reinforcement, the structural strength of whole silent flatform is enhanced, extends the service life of silent flatform.
Tenth, the utility model, limited impression, the size of limited impression and the size phase of sliding block are provided with the roof of silent flatform
Adaptation, sliding block are fixed in limited impression by clamping screw, can more be firmly fixed on silent flatform sliding block, enter one
Step enhances stability in use.
Brief description of the drawings
The utility model is described in further detail below in conjunction with specification drawings and specific embodiments, its
In：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is that reciprocating device is arranged on the structural representation on silent flatform in the utility model embodiment 2；
Fig. 3 is the structural representation of the utility model embodiment 3；
Fig. 4 is the structural representation of the utility model embodiment 4；
Fig. 5 is that reciprocating device is arranged on the structural representation on silent flatform in the utility model embodiment 5；
Marked in figure：1st, moving platform, 2, first is long-armed, and 3, second is long-armed, the 4, first galianconism, the 5, second galianconism, and 6, quiet flat
Platform, the 7, first actuator, the 8, second actuator, 9, reciprocating device, 10, sliding block, 11, slide rail, 12, driving part, 13,
One short positioning linkage rod, the 14, second short positioning linkage rod, the 15, first crank, the 16, second crank, the 17, first long positioning linkage rod, 18,
Second long positioning linkage rod, the 19, first steady rest, the 20, second steady rest, 21, substrate, 22, reinforcement, 23, limited impression.
Embodiment
Embodiment 1
Referring to Fig. 1, a kind of portable parallel robot, including moving platform 1, first long-armed 2, second long-armed 3, the first galianconism
4th, the second galianconism 5 and silent flatform 6, the first actuator 7 and the second actuator 8, one end of the first galianconism 4 are fixed with silent flatform 6
It is connected with the first actuator 7, the other end and first long-armed 2 is hinged；One end of second galianconism 5 is connected with the second actuator 8, another
End is be hinged with second long-armed 3；First long-armed 2 and second long-armed 3 is be hinged with moving platform 1 respectively, and the cross section of the silent flatform 6 is in
Inverted " u "-shaped, first actuator 7 are fixed in a side wall of silent flatform 6, and the second actuator 8 is fixed on the another of silent flatform 6
In side wall, the reciprocating device 9 for making front-rear reciprocation movement is fixed with the silent flatform 6.
The present embodiment is most basic embodiment, and the reciprocating device of prior art is complete as one
Technical scheme, for actuator is arranged side by side compared with prior art, by the way that the first actuator to be arranged on to the side of silent flatform, second
Actuator is arranged on the opposite side of silent flatform, in the case where the first galianconism and the second galianconism length are constant, effectively shortens
The horizontal space that one galianconism and the second galianconism take so that moving platform reciprocating stroke shortens, and not only increases the pick-and-place effect of object
Rate, and used suitable for small space place, greatly enhance applicability；Machine is moved back and forth by being set on silent flatform
Structure, when object is in the enterprising Mobile state transmission of transmission belt, reciprocating device can drive silent flatform to make front-rear reciprocation movement, enter
And whole manipulator can be made to follow object to move, realize that dynamic grab of object is put, greatly improve operating efficiency.
Embodiment 2
Referring to Fig. 2 and Fig. 3, a kind of portable parallel robot, including moving platform 1, first long-armed 2, second long-armed 3,
One galianconism 4, the second galianconism 5 and silent flatform 6, the first actuator 7 and the second actuator 8, the first galianconism 4 are fixed with silent flatform 6
One end be connected with the first actuator 7, the other end and first long-armed 2 be hinged；One end of second galianconism 5 connects with the second actuator 8
Connect, the other end and second long-armed 3 is hinged；First long-armed 2 and second long-armed 3 is be hinged with moving platform 1 respectively, the silent flatform 6
Cross section is in inverted " u "-shaped, and first actuator 7 is fixed in a side wall of silent flatform 6, and the second actuator 8 is fixed on quiet flat
In another side wall of platform 6, the reciprocating device 9 for making front-rear reciprocation movement is fixed with the silent flatform 6.
The reciprocating device 9 includes the driving part 12 that sliding block 10, slide rail 11 and driving sliding block 10 slide, sliding block 10
It is fixed on the roof of silent flatform 6, sliding block 10 is slidably matched with slide rail 11.
The driving part 12 is pneumatic cylinder.
First actuator 7 is the first motor, and the second actuator 8 is the second motor.
First motor and the second motor are arranged in inside silent flatform 6 in " one " font.
The present embodiment is a better embodiment, and reciprocating device includes the drive that sliding block, slide rail and driving sliding block slide
Dynamic component, sliding block are fixed on the roof of silent flatform, and sliding block is slidably matched with slide rail, using the reciprocal shifting of this sliding block, slide rail
Motivation structure, there is the characteristics of simple in construction, easy for installation, and the straight reciprocating motion that sliding block cooperatively forms with slide rail, stability
It is higher, the job stability grabbed and put is moved beneficial to the whole parallel robot of raising.
First actuator is the first motor, and the second actuator is the second motor, and space hold is small, is easily installed, installation and
Replacement cost is relatively low.
Embodiment 3
Referring to Fig. 2 and Fig. 3, a kind of portable parallel robot, including moving platform 1, first long-armed 2, second long-armed 3,
One galianconism 4, the second galianconism 5 and silent flatform 6, the first actuator 7 and the second actuator 8, the first galianconism 4 are fixed with silent flatform 6
One end be connected with the first actuator 7, the other end and first long-armed 2 be hinged；One end of second galianconism 5 connects with the second actuator 8
Connect, the other end and second long-armed 3 is hinged；First long-armed 2 and second long-armed 3 is be hinged with moving platform 1 respectively, the silent flatform 6
Cross section is in inverted " u "-shaped, and first actuator 7 is fixed in a side wall of silent flatform 6, and the second actuator 8 is fixed on quiet flat
In another side wall of platform 6, the reciprocating device 9 for making front-rear reciprocation movement is fixed with the silent flatform 6.
The reciprocating device 9 includes the driving part 12 that sliding block 10, slide rail 11 and driving sliding block 10 slide, sliding block 10
It is fixed on the roof of silent flatform 6, sliding block 10 is slidably matched with slide rail 11.
The driving part 12 is hydraulic cylinder.
First actuator 7 is the first motor, and the second actuator 8 is the second motor.
First motor and the second motor are arranged in inside silent flatform 6 in " one " font.
The first short 13 and second short positioning linkage rod 14 of positioning linkage rod, the first short positioning linkage rod are hinged with the silent flatform 6
13 and the first motor homonymy, the second short motor homonymy of positioning linkage rod 14 and second, the first crank 15 is hinged with the first galianconism 4,
The first short crank 15 of positioning linkage rod 13 and first is be hinged, and the second crank 16, the second short positioning linkage rod 14 are hinged with the second galianconism 5
It is be hinged with the second crank 16, the first long 17 and second long positioning linkage rod 18 of positioning linkage rod, the first length positioning are hinged with moving platform 1
The crank 15 of connecting rod 17 and first is be hinged, and the second long crank 16 of positioning linkage rod 18 and second is be hinged.
The present embodiment is another better embodiment, and the first motor and the second motor are arranged in silent flatform in " one " font
Portion so that the motor of the first motor and the second motor is axially coincident, further reduces horizontal space occupancy, dynamic flat beneficial to improving
The mobile flexibility of platform.
The first short positioning linkage rod and the second short positioning linkage rod, the first short positioning linkage rod and the first motor are hinged with silent flatform
Homonymy, the second short positioning linkage rod and the second motor homonymy, the first crank, the first short positioning linkage rod and are hinged with the first galianconism
One crank is hinged, and the second crank is hinged with the second galianconism, and the second short positioning linkage rod is hinged with the second crank, is hinged on moving platform
There are the first long positioning linkage rod and the second long positioning linkage rod, the first long positioning linkage rod is hinged with the first crank, the second long positioning linkage rod
It is hinged with the second crank, by the cooperation of crank, positioning linkage rod, can keeps moving platform all the time in the first galianconism and the second galianconism
Make movement in a curve on the face of formation, so as to effectively improve the precision and stability of pick-and-place object.
Embodiment 4
Referring to Fig. 2 and Fig. 4, a kind of portable parallel robot, including moving platform 1, first long-armed 2, second long-armed 3,
One galianconism 4, the second galianconism 5 and silent flatform 6, the first actuator 7 and the second actuator 8, the first galianconism 4 are fixed with silent flatform 6
One end be connected with the first actuator 7, the other end and first long-armed 2 be hinged；One end of second galianconism 5 connects with the second actuator 8
Connect, the other end and second long-armed 3 is hinged；First long-armed 2 and second long-armed 3 is be hinged with moving platform 1 respectively, the silent flatform 6
Cross section is in inverted " u "-shaped, and first actuator 7 is fixed in a side wall of silent flatform 6, and the second actuator 8 is fixed on quiet flat
In another side wall of platform 6, the reciprocating device 9 for making front-rear reciprocation movement is fixed with the silent flatform 6.
The reciprocating device 9 includes the driving part 12 that sliding block 10, slide rail 11 and driving sliding block 10 slide, sliding block 10
It is fixed on the roof of silent flatform 6, sliding block 10 is slidably matched with slide rail 11.
The driving part 12 is servomotor.
First actuator 7 is the first motor, and the second actuator 8 is the second motor.
First motor and the second motor are arranged in inside silent flatform 6 in " one " font.
The first short 13 and second short positioning linkage rod 14 of positioning linkage rod, the first short positioning linkage rod are hinged with the silent flatform 6
13 and the first motor homonymy, the second short motor homonymy of positioning linkage rod 14 and second, the first crank 15 is hinged with the first galianconism 4,
The first short crank 15 of positioning linkage rod 13 and first is be hinged, and the second crank 16, the second short positioning linkage rod 14 are hinged with the second galianconism 5
It is be hinged with the second crank 16, the first long 17 and second long positioning linkage rod 18 of positioning linkage rod, the first length positioning are hinged with moving platform 1
The crank 15 of connecting rod 17 and first is be hinged, and the second long crank 16 of positioning linkage rod 18 and second is be hinged.
Described first long-armed 2 and second long-armed 3 is two, and being fixedly connected with cross section between two first long-armed 2 is in
First steady rest 19 of " H " shape, the second steady rest 20 that cross section is in " H " shape is fixedly connected between two second long-armed 3.
The present embodiment is another better embodiment, first it is long-armed and second it is long-armed be two, two first it is long-armed it
Between be fixedly connected with the first steady rest that cross section is in " H " shape, two second it is long-armed between to be fixedly connected with cross section be in " H " shape
The second steady rest, it is possible to increase the bearing capacity of whole parallel robot, heavier object can be captured；By setting " H " shape
Steady rest, bulk strength is improved, beneficial to ensureing to capture stability in whole moving process after object.
Embodiment 5
Referring to Fig. 4 and Fig. 5, a kind of portable parallel robot, including moving platform 1, first long-armed 2, second long-armed 3,
One galianconism 4, the second galianconism 5 and silent flatform 6, the first actuator 7 and the second actuator 8, the first galianconism 4 are fixed with silent flatform 6
One end be connected with the first actuator 7, the other end and first long-armed 2 be hinged；One end of second galianconism 5 connects with the second actuator 8
Connect, the other end and second long-armed 3 is hinged；First long-armed 2 and second long-armed 3 is be hinged with moving platform 1 respectively, the silent flatform 6
Cross section is in inverted " u "-shaped, and first actuator 7 is fixed in a side wall of silent flatform 6, and the second actuator 8 is fixed on quiet flat
In another side wall of platform 6, the reciprocating device 9 for making front-rear reciprocation movement is fixed with the silent flatform 6.
The reciprocating device 9 includes the driving part 12 that sliding block 10, slide rail 11 and driving sliding block 10 slide, sliding block 10
It is fixed on the roof of silent flatform 6, sliding block 10 is slidably matched with slide rail 11.
The driving part 12 is servomotor.
First actuator 7 is the first motor, and the second actuator 8 is the second motor.
First motor and the second motor are arranged in inside silent flatform 6 in " one " font.
The first short 13 and second short positioning linkage rod 14 of positioning linkage rod, the first short positioning linkage rod are hinged with the silent flatform 6
13 and the first motor homonymy, the second short motor homonymy of positioning linkage rod 14 and second, the first crank 15 is hinged with the first galianconism 4,
The first short crank 15 of positioning linkage rod 13 and first is be hinged, and the second crank 16, the second short positioning linkage rod 14 are hinged with the second galianconism 5
It is be hinged with the second crank 16, the first long 17 and second long positioning linkage rod 18 of positioning linkage rod, the first length positioning are hinged with moving platform 1
The crank 15 of connecting rod 17 and first is be hinged, and the second long crank 16 of positioning linkage rod 18 and second is be hinged.
Described first long-armed 2 and second long-armed 3 is two, and being fixedly connected with cross section between two first long-armed 2 is in
First steady rest 19 of " H " shape, the second steady rest 20 that cross section is in " H " shape is fixedly connected between two second long-armed 3.
The lower section of silent flatform 6 is provided with substrate 21, the side wall vertical connection of substrate 21 and silent flatform 6.
Reinforcement 22 is fixedly connected between the side wall and roof of the silent flatform 6, reinforcement 22 is located in silent flatform 6
Portion.
Limited impression 23 is provided with the roof of the silent flatform 6, the size of limited impression 23 is mutually fitted with the size of sliding block 10
Match somebody with somebody, sliding block 10 is fixed in limited impression 23 by clamping screw.
The present embodiment is preferred forms, for actuator is arranged side by side compared with prior art, by by the first actuator
The side of silent flatform is arranged on, the second actuator is arranged on the opposite side of silent flatform, in the first galianconism and the second galianconism length not
In the case of change, the horizontal space that the first galianconism and the second galianconism take is effectively shortened so that moving platform reciprocating stroke shortens,
The pick-and-place efficiency of object is not only increased, and is used suitable for small space place, greatly enhances applicability；By
Reciprocating device is set on silent flatform, and when object is in the enterprising Mobile state transmission of transmission belt, reciprocating device can drive
Silent flatform makees front-rear reciprocation movement, and then whole manipulator can be made to follow object to move, and realizes that dynamic grab of object is put, greatly
Improve operating efficiency.
The side wall vertical connection of substrate, substrate and silent flatform is provided with below silent flatform, by being set below silent flatform
Substrate, certain dustproof effect can be played, avoid accumulating dust on actuator, it is stable beneficial to the long-term use for ensureing actuator
Property.
Reinforcement is fixedly connected between the side wall and roof of silent flatform, reinforcement is located inside silent flatform, passes through setting
Reinforcement, the structural strength of whole silent flatform is enhanced, extend the service life of silent flatform.
Limited impression is provided with the roof of silent flatform, the size of limited impression is adapted with the size of sliding block, and sliding block passes through
Clamping screw is fixed in limited impression, can be more firmly fixed on silent flatform sliding block, be further enhancing use
Stability.
Claims (9)
1. a kind of portable parallel robot, including moving platform（1）, it is first long-armed（2）, it is second long-armed（3）, the first galianconism（4）、
Second galianconism（5）And silent flatform（6）, silent flatform（6）On be fixed with the first actuator（7）With the second actuator（8）, the first galianconism
（4）One end and the first actuator（7）Connection, the other end are long-armed with first（2）It is be hinged；Second galianconism（5）One end and second
Actuator（8）Connection, the other end are long-armed with second（3）It is be hinged；First is long-armed（2）It is long-armed with second（3）Respectively with moving platform（1）
It is be hinged, it is characterised in that：The silent flatform（6）Cross section be in inverted " u "-shaped, first actuator（7）It is fixed on silent flatform
（6）A side wall on, the second actuator（8）It is fixed on silent flatform（6）Another side wall on, the silent flatform（6）On be fixed with
Make the reciprocating device of front-rear reciprocation movement（9）.
A kind of 2. portable parallel robot according to claim 1, it is characterised in that：The reciprocating device（9）
Including sliding block（10）, slide rail（11）With driving sliding block（10）The driving part of slip（12）, sliding block（10）It is fixed on silent flatform（6）
Roof on, sliding block（10）With slide rail（11）It is slidably matched.
A kind of 3. portable parallel robot according to claim 2, it is characterised in that：The driving part（12）For gas
Cylinder pressure, hydraulic cylinder or servomotor.
A kind of 4. portable parallel robot according to claim 1, it is characterised in that：First actuator（7）For
First motor, the second actuator（8）For the second motor.
A kind of 5. portable parallel robot according to claim 4, it is characterised in that：First motor and the second electricity
Machine is arranged in silent flatform in " one " font（6）It is internal.
A kind of 6. portable parallel robot according to claim 4, it is characterised in that：The silent flatform（6）It is upper be hinged
There is the first short positioning linkage rod（13）With the second short positioning linkage rod（14）, the first short positioning linkage rod（13）With the first motor homonymy,
Two short positioning linkage rods（14）With the second motor homonymy, the first galianconism（4）On be hinged with the first crank（15）, the first short positioning linkage rod
（13）With the first crank（15）It is be hinged, the second galianconism（5）On be hinged with the second crank（16）, the second short positioning linkage rod（14）With
Two cranks（16）It is be hinged, moving platform（1）On be hinged with the first long positioning linkage rod（17）With the second long positioning linkage rod（18）, the first length
Positioning linkage rod（17）With the first crank（15）It is be hinged, the second long positioning linkage rod（18）With the second crank（16）It is be hinged.
A kind of 7. portable parallel robot according to claim 1, it is characterised in that：Described first is long-armed（2）With
Two is long-armed（3）It it is two, two first long-armed（2）Between be fixedly connected with cross section be in " H " shape the first steady rest（19）,
Two second long-armed（3）Between be fixedly connected with cross section be in " H " shape the second steady rest（20）.
A kind of 8. portable parallel robot according to claim 1, it is characterised in that：The silent flatform（6）Lower section is set
It is equipped with substrate（21）, substrate（21）With silent flatform（6）Side wall vertical connection.
A kind of 9. portable parallel robot according to claim 1, it is characterised in that：The silent flatform（6）Side wall
Reinforcement is fixedly connected between roof（22）, reinforcement（22）Positioned at silent flatform（6）It is internal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720521180.7U CN206748414U (en) | 2017-05-11 | 2017-05-11 | A kind of portable parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720521180.7U CN206748414U (en) | 2017-05-11 | 2017-05-11 | A kind of portable parallel robot |
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| CN206748414U true CN206748414U (en) | 2017-12-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243885A (en) * | 2017-05-11 | 2017-10-13 | 上海松川远亿机械设备有限公司 | A kind of portable parallel robot |
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2017
- 2017-05-11 CN CN201720521180.7U patent/CN206748414U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243885A (en) * | 2017-05-11 | 2017-10-13 | 上海松川远亿机械设备有限公司 | A kind of portable parallel robot |
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