CN208468370U - A kind of four-degree-of-freedom high speed parallel robot - Google Patents
A kind of four-degree-of-freedom high speed parallel robot Download PDFInfo
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- CN208468370U CN208468370U CN201820877358.6U CN201820877358U CN208468370U CN 208468370 U CN208468370 U CN 208468370U CN 201820877358 U CN201820877358 U CN 201820877358U CN 208468370 U CN208468370 U CN 208468370U
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- high speed
- speed parallel
- sliding block
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Abstract
The utility model discloses a kind of four-degree-of-freedom high speed parallel robots, comprising: polyhedron frame, the track frame being packed in the polyhedron frame, it is multiple to be driven the sliding block moved along the track frame, multiple upper ends hinged connecting rod corresponding with the sliding block, the corresponding mobile platform hinged with the described connecting rod lower end and the robot hand being driven below the mobile platform described in being rotatably arranged in, the controlled completion crawl of the robot hand or release, it is realized by the control method of the four-degree-of-freedom high speed parallel robot and completes three one-movement-freedom-degrees and a rotary freedom in space, it is easy to use.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of four-degree-of-freedom high speed parallel robot.
Background technique
Traditional robot is serial manipulator, although serial manipulator has many advantages, such as that structure is simple, at low cost,
With the development of society, the shortcomings that serial manipulator is more and more obvious, especially occupied space is big, spatial degrees of freedom is few, precision
The disadvantages such as low, speed is slow are no longer able to meet development need of the robot in practical work process, moreover, existing cascade machine
Device people working efficiency in the Classification of materials and materials handling process in the industrial productions occasions such as present medical motor is relatively low, behaviour
Make inflexible.
The above-mentioned prior art has the disadvantage in that
1, traditional robot is serial manipulator, and occupied space is big, freedom degree is few, precision is low and inconvenient to use.
2, in industrial processes, working efficiency is relatively low for existing robot, malfunction.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of four-degree-of-freedom high speed parallel manipulator
People, which has the advantages that occupy little space, freedom degree is more and fine motion is highly accurate.
Another purpose of the utility model is to provide a kind of control method of four-degree-of-freedom high speed parallel robot.
The utility model is achieved through the following technical solutions:
A kind of four-degree-of-freedom high speed parallel robot, comprising: polyhedron frame (1) is packed in the polyhedron frame
(1) track frame in, multiple to be driven the sliding block (2) moved along the track frame, multiple upper ends and the sliding block (2) are right
It answers hinged connecting rod (3), the corresponding mobile platform (4) hinged with described connecting rod (3) lower end and being driven rotationally is set
The robot hand (5) below the mobile platform (4) is set, the controlled completion of the robot hand (5) is grabbed or released
It puts.
In the above-mentioned technical solutions, the robot hand (5) is arranged on lower chassis, and the lower chassis is rotatable
Ground is fixed at below the mobile platform (4), is provided with rotating electric machine (13) on the mobile platform (4), described
The output shaft of rotating electric machine (13) be vertically arranged and be fixedly mounted with the lower chassis to drive its rotation.
In the above-mentioned technical solutions, the robot hand (5) includes the crawl motor being arranged on lower chassis, upper end
With the lower chassis hinged clamping jaw arm (14) and one end and the hinged and other end in the middle part of the clamping jaw arm (14) with it is described
Crawl motor drive connection actuating arm.
In the above-mentioned technical solutions, the track frame includes multiple upper ends and the fixed company of the polyhedron frame (1)
It connects and lower end corresponds to the oblique arm (6) being fixedly connected, be provided with guiding mechanism between the sliding block (2) and the oblique arm (6),
The sliding block (2) is moved up and down by oblique arm (6) described in stepper motor (7) drives edge.
In the above-mentioned technical solutions, the guiding mechanism includes the linear guide that the oblique arm (6) two sides are arranged in
(11) and it is correspondingly arranged at the linear bearing (12) to match on the sliding block (2) with the linear guide (11).
In the above-mentioned technical solutions, the polyhedron frame (1) is prism-shaped frame structure, the track frame packet
Include three oblique arms (6).
In the above-mentioned technical solutions, each sliding block (2) is corresponding passes through connecting rod (3) described in two of two sides, institute
The upper and lower ends for the connecting rod (3) stated pass through flake bearing and connect respectively with the sliding block (2) and the mobile platform (4)
It connects, wherein the connecting rod (3) is made of carbon fibre material.
In the above-mentioned technical solutions, the clamping jaw arm (14) is two and in mirror settings to be used cooperatively, described
Two clamping jaw arms (14) are synchronous to be realized its crawl or release by the crawl motor control.
In the above-mentioned technical solutions, the stepper motor (7) is packed in the multi-panel below the oblique arm (6)
On body frame (1).
A kind of control method of four-degree-of-freedom high speed parallel robot, comprising the following steps:
1) sliding block (2) is driven moves along track frame, while mobile platform (4) being driven to be moved to predetermined position；
2) rotating electric machine (13) driving robot hand (5) turns to predetermined angular；
3) crawl motor control machine manpower pawl (5) is opened or is discharged.
It the advantages of the utility model and has the beneficial effect that
1, a kind of four-degree-of-freedom high speed parallel robot of the utility model can be realized three one-movement-freedom-degrees and one
Rotary freedom, it is easy to use.Three one-movement-freedom-degrees can realize movement and compound motion all around and up and down, realize not
It is mobile with the switching between station, effective support industry production, and by the cooperation of rotary freedom, it further expands it and answers
With.
2, a kind of four-degree-of-freedom high speed parallel robot of the utility model uses structure in parallel by fixed platform and shifting
Moving platform is attached, and greatly reduces work occupied space, not only full by being used cooperatively for fixed platform and mobile platform
The high-precision requirement of foot, but also flexibility ratio with higher, greatly improve working efficiency during the work time.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of four-degree-of-freedom high speed parallel robot of the utility model.
Wherein:
1: polyhedron frame, 2: sliding block, 3: connecting rod, 4: mobile platform, 5: robot hand, 6: oblique arm, 7: stepper motor,
8: synchronizing wheel, 9: idle pulley, 10: synchronous belt, 11: linear guide, 12: linear bearing, 13: rotating electric machine, 14: clamping jaw arm.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, with reference to the accompanying drawing 1 and specific real
It applies example and further illustrates the technical solution of the utility model.
Embodiment one
A kind of four-degree-of-freedom high speed parallel robot includes: polyhedron frame 1, the track being packed in polyhedron frame 1
Frame, multiple to be driven the sliding block 2 moved along track frame, multiple upper ends hinged connecting rod 3 corresponding with sliding block 2, it is corresponding under connecting rod 3
It holds hinged mobile platform 4 and is driven the robot hand 5 for being rotatably arranged in 4 lower section of mobile platform, robot
The controlled completion of pawl 5 crawl or release.
A kind of four-degree-of-freedom high speed parallel robot of the utility model is fixedly mounted with using polyhedron frame, and space hold is small,
The attachment rail frame in polyhedron frame, and drive sliding block to move along track frame and mobile platform is driven to move up and down, by multiple
Sliding block cooperating enables mobile platform to swing, and robot hand is equipped on mobile platform, for grabbing or discharging,
In, the robot hand can rotary motion, realize and complete three translational degree of freedom and a rotary freedom in space,
And structure is simple, and it is easy to use.
Embodiment two
Based on embodiment one, track frame includes that multiple upper ends are fixedly connected and lower end is corresponding solid with polyhedron frame 1
Surely the oblique arm 6 connected, multiple oblique arms 6 are made of aluminum alloy material and are symmetrically installed centered on the center of polyhedron frame 1,
Ensure that the stability of structure in the four-degree-of-freedom high speed parallel robot course of work, oblique arm 6 and sliding block 2 and between be provided with
Guiding mechanism, the guiding mechanism include that the linear guide 11 of 6 two sides of oblique arm is arranged in and is correspondingly arranged on sliding block 2 and straight line
The linear bearing 12 that guide rail 11 matches, linear bearing 12 are sleeved in linear guide 11, for band movable slider 2 along linear guide
11 is mobile, wherein sliding block 2 is driven by stepper motor 7, and stepper motor 7 is packed in the polyhedron frame of 6 lower section of oblique arm by motor cabinet
On the side of frame 1, synchronizing wheel 8 is installed on stepper motor 7, synchronizing wheel 8 drives sliding block 2 along about 6 oblique arm by synchronous belt 10
Mobile, each sliding block 2 is corresponding to be connect by two connecting rods 3 of two sides with mobile platform 4, wherein connecting rod 3 is carbon fibre material system
At the upper and lower ends of connecting rod 3 are provided with flake bearing and are connect respectively by screw with sliding block 2 and mobile platform 4, ensure that
The different distance and speed that multiple sliding blocks 2 are run along linear guide 11 enable connecting rod 3 flexibly mobile platform to be driven to swing, and lean on
Idle pulley 9 is mounted on the guiding mechanism of nearly 6 lower end of oblique arm, idle pulley 9 is turned by synchronous belt 10 and sliding block 2 and the cooperation of synchronizing wheel 8
Dynamic, 2 cooperating of multiple sliding blocks on multiple guiding mechanisms drives mobile platform 4 to change itself and cunning when all around swinging
Rotation direction between block 2 and synchronizing wheel 8.
Further, be mounted on mobile platform 4 robot hand 5 include the hinged clamping jaw arm 14 in crawl motor, upper end and
The actuating arm that one end is connect with the hinged and other end in the middle part of clamping jaw arm 14 with crawl motor drive, wherein the folder of robot hand 5
Pawl arm 14 is two and in mirror settings to be used cooperatively, and two clamping jaw arms 14 are synchronous to be realized it by the crawl motor control
Crawl or release, robot hand 5 are arranged on lower chassis, and lower chassis, which is rotatably fixed, to be arranged below mobile platform 4, move
Rotating electric machine 13 is provided on moving platform 4, the output shaft of rotating electric machine 13 is vertically arranged and is fixedly mounted with lower chassis to drive its turn
It is dynamic, for driving robot hand 5 to rotate.
A kind of four-degree-of-freedom high speed parallel robot of the utility model is cooperated using multiple connecting rods and multiple guiding mechanisms
Work can be realized mobile platform swing function, easy to operate, connecting rod is carbon fibre material, not only met it is light-weight, but also
The advantages of meeting good toughness is not only realized using being used cooperatively for robot hand and mobile platform, sliding block and track frame
Multiple degrees of freedom work, also improves precision and flexibility ratio, improves work efficiency.
Embodiment three
Based on embodiment two, which is prism-shaped frame structure, and track frame includes three oblique arms
6 ensure that the stability of framework, and a kind of specific embodiment of four-degree-of-freedom high speed parallel manipulator human body structure is as follows at this time: three
It is provided with track frame in prism frame structure and three are driven the sliding block 2 moved along track frame, track frame includes three oblique
Arm 6, and the two sides up and down of the upper end of each oblique arm 6 are packed on a side by upper corner bracket and lower corner bracket respectively, three
The lower end of oblique arm 6 is fixed on the center of tri-prismoid, is mounted on stepper motor on three sides of the lower section of three oblique arms 6
7, wherein stepper motor 7 is correspondingly, synchronizing wheel 8 to be equipped on stepper motor 7, synchronizing wheel 8 passes through synchronization with sliding block 2
Band 10 is moved with movable slider 2 along linear guide 11, and then mobile platform 4 is driven to move up and down, and the idle pulley 9 on guiding mechanism passes through
Synchronous belt 10 is connect with synchronizing wheel 8 and sliding block 2, when the speed and moving distance that three sliding blocks 2 of control are moved along linear guide 11
When different, the function that connecting rod 3 drives mobile platform 4 to swing can be realized, when mobile platform 4 is moved to scheduled position, behaviour
Make rotating electric machine 13, robot hand 5 is made to rotate to specified direction, control crawl motor makes clamping jaw arm 14 grab or discharge.
A kind of four-degree-of-freedom high speed parallel robot of the utility model uses trigone column framework, structural stability
By force, and the wasting of resources of frame structure is avoided.
Example IV
A kind of control method of four-degree-of-freedom high speed parallel robot, comprising the following steps:
1) sliding block 2 is driven moves along track frame, while about 4 mobile platform being driven to move vertically to predetermined altitude or logical
It crosses the movement velocity for controlling multiple sliding blocks 2 and makes its cooperating, drive mobile platform 4 to translate for realizing by connecting rod 3；
2) after rotating electric machine 13 drives robot hand 5 to turn to predetermined angular, crawl motor control machine manpower pawl 5 is opened
It opens or discharges.
A kind of control method of four-degree-of-freedom high speed parallel robot of the utility model passes through to the control parallel manipulator
People ensure that accurately to work in each freedom degree.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the utility model above, it should explanation, in the core for not departing from the utility model
In the case where the heart, it is any it is simple deformation, modification or other skilled in the art can not spend creative work etc.
The protection scope of the utility model is each fallen with replacement.
Claims (10)
1. a kind of four-degree-of-freedom high speed parallel robot characterized by comprising polyhedron frame (1) is packed in described more
Track frame in face body frame (1), multiple to be driven the sliding block (2) moved along the track frame, multiple upper ends and described
The corresponding hinged connecting rod (3) of sliding block (2), the corresponding mobile platform (4) hinged with described connecting rod (3) lower end and be driven can
The robot hand (5) being rotatably arranged at below the mobile platform (4), the robot hand (5) controlled completion
Crawl or release.
2. a kind of four-degree-of-freedom high speed parallel robot according to claim 1, which is characterized in that the robot
Pawl (5) is arranged on lower chassis, and the lower chassis, which is rotatably fixed, to be arranged in below the mobile platform (4), described
Mobile platform (4) on be provided with rotating electric machine (13), the output shaft of the rotating electric machine (13) be vertically arranged and with it is described
Lower chassis be fixedly mounted with to drive its rotation.
3. a kind of four-degree-of-freedom high speed parallel robot according to claim 2, which is characterized in that the robot
Pawl (5) include the crawl motor being arranged on lower chassis, upper end and the hinged clamping jaw arm (14) of the lower chassis and one end with
The actuating arm that the hinged and other end is connect with the crawl motor drive in the middle part of the clamping jaw arm (14).
4. a kind of four-degree-of-freedom high speed parallel robot according to claim 1, which is characterized in that the track frame packet
It includes multiple upper ends to be fixedly connected with the polyhedron frame (1) and the corresponding oblique arm (6) being fixedly connected in lower end, the sliding block
(2) guiding mechanism is provided between the oblique arm (6), the sliding block (2) is by oblique described in stepper motor (7) drives edge
Arm (6) moves up and down.
5. a kind of four-degree-of-freedom high speed parallel robot according to claim 4, which is characterized in that the guiding mechanism
Including the linear guide (11) of the oblique arm (6) two sides is set and be correspondingly arranged on the sliding block (2) with it is described
The linear bearing (12) that matches of linear guide (11).
6. a kind of four-degree-of-freedom high speed parallel robot according to claim 1, which is characterized in that the polyhedron frame
Frame (1) is prism-shaped frame structure, and the track frame includes three oblique arms (6).
7. a kind of four-degree-of-freedom high speed parallel robot according to claim 3, which is characterized in that each sliding block
(2) corresponding by connecting rod (3) described in two of two sides, the upper and lower ends of the connecting rod (3) pass through flake bearing and distinguish
It is connect with the sliding block (2) with the mobile platform (4).
8. a kind of four-degree-of-freedom high speed parallel robot according to claim 3, which is characterized in that the clamping jaw arm
(14) for two and in mirror settings to be used cooperatively, two clamping jaw arms (14) are synchronous by the crawl motor control
Realize its crawl or release.
9. a kind of four-degree-of-freedom high speed parallel robot according to claim 4, which is characterized in that the stepper motor
(7) it is packed on the polyhedron frame (1) below the oblique arm (6).
10. a kind of four-degree-of-freedom high speed parallel robot according to claim 1, which is characterized in that the connecting rod (3)
It is made of carbon fibre material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820877358.6U CN208468370U (en) | 2018-06-07 | 2018-06-07 | A kind of four-degree-of-freedom high speed parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820877358.6U CN208468370U (en) | 2018-06-07 | 2018-06-07 | A kind of four-degree-of-freedom high speed parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208468370U true CN208468370U (en) | 2019-02-05 |
Family
ID=65216595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820877358.6U Expired - Fee Related CN208468370U (en) | 2018-06-07 | 2018-06-07 | A kind of four-degree-of-freedom high speed parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208468370U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500962A (en) * | 2018-06-07 | 2018-09-07 | 天津科技大学 | A kind of four-degree-of-freedom high speed parallel robot and its control method |
| CN112061770A (en) * | 2020-09-21 | 2020-12-11 | 黄冬丽 | Annular contact structure for multi-angle transmission of product transmission |
-
2018
- 2018-06-07 CN CN201820877358.6U patent/CN208468370U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500962A (en) * | 2018-06-07 | 2018-09-07 | 天津科技大学 | A kind of four-degree-of-freedom high speed parallel robot and its control method |
| CN112061770A (en) * | 2020-09-21 | 2020-12-11 | 黄冬丽 | Annular contact structure for multi-angle transmission of product transmission |
| CN112061770B (en) * | 2020-09-21 | 2022-08-23 | 苏州市东挺河智能科技发展有限公司 | Annular contact structure for multi-angle transmission of product transmission |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20190205 Termination date: 20200607 |