CN210256111U - Mobile parallel robot - Google Patents
Mobile parallel robot Download PDFInfo
- Publication number
- CN210256111U CN210256111U CN201921201912.XU CN201921201912U CN210256111U CN 210256111 U CN210256111 U CN 210256111U CN 201921201912 U CN201921201912 U CN 201921201912U CN 210256111 U CN210256111 U CN 210256111U
- Authority
- CN
- China
- Prior art keywords
- parallel robot
- frame
- arm
- driven
- driving arm
- Prior art date
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a parallel robot technical field discloses a portable parallel robot, including frame and parallel robot body, parallel robot body detachable sets up in the upper end of the inside cavity of frame, the bottom of frame is equipped with but height-adjusting's footing and universal wheel, parallel robot body includes the base, servo motor, the driving arm, driven arm and moving platform, servo motor, driving arm and driven arm all are equipped with threely, the setting of three servo motor symmetry is at the lower terminal surface of base, servo motor's axis of rotation is connected with the one end of driving arm respectively, the other end of driving arm rotates with the upper end of driven arm respectively and is connected, the lower tip of driven arm rotates with moving platform respectively and is connected. The technical scheme of the utility model improve efficiency greatly, the transport of being convenient for is removed, adjusts the footing and can suitably adjust the level, can adapt to different ground, and the practicality is strong, and is light firm, is fit for high-speed motion, bears the weight, reliable and stable.
Description
Technical Field
The utility model relates to a parallel robot technical field, in particular to portable parallel robot.
Background
The parallel robot can be defined as a closed-loop mechanism which is formed by connecting a movable platform and a fixed platform through at least two independent kinematic chains, has two or more degrees of freedom and is driven in a parallel mode.
However, the existing sorting and packaging of small materials mostly depends on manual work, which is high in labor intensity, low in efficiency and not beneficial to automatic production.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a portable parallel robot, the letter sorting packing that aims at solving current small-size material mostly leans on the manual work to sort, and intensity of labour is big, and is inefficient, is unfavorable for automated production's technical problem.
In order to achieve the above purpose, the utility model provides a mobile parallel robot, including frame and parallel robot body, the frame is cuboid frame structure, parallel robot body detachable set up in the upper end of the cavity in the frame, the bottom of frame is equipped with but height-adjusting's footing and universal wheel, parallel robot body includes base, servo motor, master arm, slave arm and moving platform, servo motor, master arm and slave arm all are equipped with threely, three the servo motor symmetry sets up the lower terminal surface at the base, the axis of rotation of servo motor is connected with one end of master arm respectively, the other end of master arm is connected with the upper end rotation of slave arm respectively, the lower tip of slave arm is connected with moving platform rotation respectively, the lower tip of moving platform is equipped with executive component, the servo motor drives the movable platform to do three-dimensional high-speed translation motion through the driving arm and the driven arm.
Optionally, the driven arm includes two driven rods, the two driven rods are parallel to each other, and two ends of the two driven rods are respectively connected with the driving arm and the movable platform in a rotating manner.
Optionally, one end of the driving arm is provided with a first cross shaft, three sides of the movable platform are respectively provided with a second cross shaft, the second cross shafts are connected at intervals to form a regular triangle, two ends of the driven rod are respectively connected with the first cross shaft and the second cross shaft in a rotating manner, and the two driven rods are sequentially connected end to form a parallelogram rod-shaped structure.
Optionally, the base is concavely provided with three grooves corresponding to the active arm, and the active arm is arranged along the grooves in a swinging manner.
Optionally, the outer peripheral edge of base up end is equipped with a plurality of installation departments, and is a plurality of the installation department respectively with fixed connection can be dismantled to the up end of frame.
Optionally, a plurality of the mounting portions are respectively provided with a hanging ring.
Optionally, the top corners of the four side surfaces of the frame are respectively provided with a reinforcing rib which is obliquely arranged.
Optionally, the height-adjustable feet are respectively arranged at the bottoms of the four upright posts of the frame, and the universal wheels are respectively arranged at the bottoms of the four cross beams at the bottom of the frame.
Optionally, the height-adjustable footing comprises a foot cup and an adjusting screw rod, the lower end of the adjusting screw rod is fixedly connected with the upper end of the foot cup, and the upper end of the adjusting screw rod is in threaded connection with the bottom of the frame.
Optionally, the lower end surface of the foot cup is provided with an anti-slip gasket.
Optionally, the driving arm and the driven arm are made of carbon fiber.
Adopt the technical scheme of the utility model, following beneficial effect has: the technical scheme of the utility model, make three-dimensional high-speed translation motion through driving motor through master arm and driven slave arm drive moving platform, executive component follow-up platform makes high-speed three-dimensional translation motion, parallel robot body is under the vision sensor guide, carry out quick snatching to the material of conveying belt process, sort the packing, realize high-efficient letter sorting, the accurate alignment, the automated production of work such as location vanning, a large amount of repetitive labor that has replaced the site worker, the efficiency is greatly improved, master arm and slave arm all adopt the carbon fiber material, it is light firm, be fit for high-speed motion, it is great to bear, and is reliable and stable, footing and the universal wheel of height-adjustable have been installed to the bottom of frame, be convenient for carry and remove, it can suitably adjust the level to adjust the footing, adapt to different ground.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of a mobile parallel robot according to an embodiment of the present invention;
fig. 2 is a schematic view of an overall structure of a frame of a mobile parallel robot according to an embodiment of the present invention;
fig. 3 is a schematic view of an overall structure of a parallel robot body of a mobile parallel robot according to an embodiment of the present invention;
fig. 4 is a schematic view of an overall structure of a parallel robot body of a mobile parallel robot according to another view angle in the present invention;
fig. 5 is a schematic structural diagram of a height-adjustable footing of a mobile parallel robot according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a portable parallel robot.
As shown in fig. 1 to 5, in an embodiment of the present invention, the mobile parallel robot includes a frame 100 and a parallel robot body 200, the frame 100 is a rectangular parallelepiped frame structure, the parallel robot body 200 is detachably disposed at an upper end of a cavity inside the frame 100, a bottom of the frame 100 is provided with a height-adjustable footing 102 and a universal wheel 101, the parallel robot body 200 includes a base 201, a servo motor 202, a driving arm 203, a driven arm 204, and a movable platform 205, the number of the servo motor 202, the number of the driving arm 203, and the number of the driven arm 204 are three, the three servo motors 202 are symmetrically disposed on a lower end surface of the base 201, rotation axes of the servo motors 202 are respectively connected with one end of the driving arm 203, the other end of the driving arm 203 is respectively rotatably connected with an upper end of the driven arm 204, a lower end of the driven arm 204 is respectively rotatably connected with the movable platform 205, an actuating element is arranged at the lower end of the movable platform 205, and the servo motor 202 drives the movable platform 205 to make three-dimensional high-speed translational motion through the driving arm 203 and the driven arm 204.
Specifically, the driven arm 204 includes two driven rods 2041, the two driven rods 2041 are parallel to each other, and two ends of the two driven rods 2041 are respectively connected to the driving arm 203 and the movable platform 205 in a rotating manner.
Specifically, one end of the driving arm 203 is provided with a first cross shaft 2031, three sides of the movable platform 205 are respectively provided with a second cross shaft 2051, the second cross shafts 2051 are connected at intervals to form a regular triangle, two ends of the driven rod 2031 are respectively rotatably connected with the first cross shaft 2031 and the second cross shaft 2051, and the two driven rods 2041, the first cross shaft 2031 and the second cross shaft 2051 are sequentially connected end to form a parallelogram rod-shaped structure.
Specifically, the base 201 is concavely provided with three grooves 2011 corresponding to the active arm 203, and the active arm 203 is arranged along the grooves 2011 in a swinging manner.
Specifically, the outer periphery of the upper end face of the base 201 is provided with a plurality of mounting portions 2012 in a protruding manner, and the mounting portions 2012 are respectively connected with the upper end face of the frame in a detachable and fixed manner.
Specifically, a plurality of hanging rings 2013 are respectively arranged on the installation parts 2012, so that the installation, the disassembly and the transportation are convenient.
Specifically, the top corners of the four sides of the frame 100 are respectively provided with an obliquely arranged reinforcing rib 103, so that the bearing performance and stability are improved, and the frame is suitable for high-speed movement.
Specifically, the height-adjustable feet 102 are respectively arranged at the bottoms of four upright posts 104 of the frame 100, and the universal wheels 101 are respectively arranged at the bottoms of four cross beams 105 at the bottom of the frame 100.
Specifically, the height-adjustable footing 102 comprises a foot cup 1022 and an adjusting screw 1021, the lower end of the adjusting screw 1021 is fixedly connected with the upper end of the foot cup 1022, the upper end of the adjusting screw 1021 is in threaded connection with the bottom of the frame 100, the height is adjusted through the adjusting screw 2021, the adjustable foot is suitable for different installation bottom surfaces, a universal wheel is convenient to move, and the practicability is high.
Specifically, the lower end surface of the foot cup 1022 is provided with an anti-slip gasket 1023, which plays a role in anti-slip and shock absorption.
Specifically, the driving arm 203 and the driven arm 204 are made of carbon fiber, so that the driving arm is light in weight, high in strength, light and firm, and the stability is improved.
Specifically, the utility model discloses a theory of operation and process do: the driving motor drives the movable platform to do three-dimensional high-speed translational motion through the driving arm and the driven arm, the execution element follow-up platform does high-speed three-dimensional translational motion, the parallel robot body can quickly grab and sort and package materials passing through a conveying belt under the control and the guide of the vision sensor and the central control system, the automatic production of the work of high-efficiency sorting, accurate arrangement, positioning and boxing and the like is realized, the automatic production can replace a large amount of repetitive labor of field workers, the efficiency is greatly improved, the driving arm and the driven arm are made of carbon fiber materials, the automatic sorting machine is light and firm, suitable for high-speed motion, heavy in bearing, stable and reliable, the bottom of the frame is provided with the bottom foot and the universal wheel with adjustable height, the automatic sorting machine is convenient to carry and move, the adjustable bottom foot can be properly adjusted in level, is suitable for, The automatic flexible production of the links of boxing, arranging, carrying, loading and unloading, sorting, assembling and the like is realized in the industries of medicine, daily chemicals, electronics and the like.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (10)
1. A movable parallel robot is characterized by comprising a frame and a parallel robot body, wherein the frame is of a cuboid frame structure, the parallel robot body is detachably arranged at the upper end of a cavity inside the frame, height-adjustable feet and universal wheels are arranged at the bottom of the frame, the parallel robot body comprises a base, three servo motors, a driving arm, a driven arm and a movable platform, the number of the servo motors, the number of the driving arm and the number of the driven arm are three, the three servo motors are symmetrically arranged on the lower end face of the base, the rotating shaft of each servo motor is respectively connected with one end of the driving arm, the other end of the driving arm is respectively connected with the upper end of the driven arm in a rotating manner, the lower end of the driven arm is respectively connected with the movable platform in a rotating manner, and the lower end of the movable platform is provided with an executing element, the servo motor drives the movable platform to do three-dimensional high-speed translation motion through the driving arm and the driven arm.
2. The mobile parallel robot as claimed in claim 1, wherein the slave arm includes two slave links, the two slave links are disposed in parallel with each other, and both ends of the two slave links are rotatably connected to the master arm and the movable platform, respectively.
3. The mobile parallel robot as claimed in claim 2, wherein a first cross shaft is provided at one end of the driving arm, a second cross shaft is provided at each of three sides of the movable platform, the second cross shafts are connected at intervals to form a regular triangle, two ends of the driven rods are rotatably connected with the first cross shaft and the second cross shaft, and the two driven rods are sequentially connected with the first cross shaft and the second cross shaft end to form a parallelogram rod-shaped structure.
4. The mobile parallel robot as claimed in claim 1, wherein the base is recessed with three grooves corresponding to the driving arms, and the driving arms are swung along the grooves.
5. The mobile parallel robot as claimed in claim 1, wherein a plurality of mounting portions are protruded from an outer peripheral edge of the upper end surface of the base, and the plurality of mounting portions are detachably and fixedly connected to the upper end surface of the frame, respectively.
6. The mobile parallel robot as claimed in claim 5, wherein a plurality of the mounting portions are respectively provided with a suspension ring.
7. The mobile parallel robot as claimed in claim 1, wherein a reinforcing rib is provided at a top corner of each of the four sides of the frame in an inclined manner.
8. The mobile parallel robot of claim 1, wherein the height adjustable feet are respectively disposed at the bottom of four uprights of the frame, and the universal wheels are respectively disposed at the bottom of four cross beams at the bottom of the frame.
9. The mobile parallel robot of claim 1, wherein the height-adjustable feet comprise a foot cup and an adjusting screw, a lower end of the adjusting screw is fixedly connected with an upper end of the foot cup, and an upper end of the adjusting screw is in threaded connection with a bottom of the frame.
10. The mobile parallel robot of claim 9, wherein the lower end surface of the foot cup is provided with an anti-slip washer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921201912.XU CN210256111U (en) | 2019-07-26 | 2019-07-26 | Mobile parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921201912.XU CN210256111U (en) | 2019-07-26 | 2019-07-26 | Mobile parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210256111U true CN210256111U (en) | 2020-04-07 |
Family
ID=70014680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921201912.XU Active CN210256111U (en) | 2019-07-26 | 2019-07-26 | Mobile parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210256111U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746819A (en) * | 2020-07-10 | 2020-10-09 | 中国航空制造技术研究院 | Automatic assembly equipment for helicopter hub |
-
2019
- 2019-07-26 CN CN201921201912.XU patent/CN210256111U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746819A (en) * | 2020-07-10 | 2020-10-09 | 中国航空制造技术研究院 | Automatic assembly equipment for helicopter hub |
| CN111746819B (en) * | 2020-07-10 | 2022-02-15 | 中国航空制造技术研究院 | Automatic assembly equipment for helicopter hub |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210256124U (en) | Parallel robot sorting platform | |
| CN205734985U (en) | A kind of assist transportation mechanical hand | |
| CN210256111U (en) | Mobile parallel robot | |
| CN103273984A (en) | Quadruped-imitating stair-climbing robot | |
| CN108974920A (en) | A kind of transfer robot | |
| CN106041900A (en) | Box carrying and stacking machine | |
| CN106041904A (en) | Mechanical claw type stacker | |
| CN208994665U (en) | The LCD feeder of high stable | |
| KR101480346B1 (en) | gravity compensation device of vertical articulated robot with a parallel link structure | |
| CN209222642U (en) | A kind of cross jacking rotary machine of registration | |
| CN208394335U (en) | A kind of feeding clamping tool of heavy type plate | |
| CN216272721U (en) | Axial positioning device for running wheel of hoisting machinery | |
| CN210585924U (en) | Three-axis quick sorting robot system | |
| CN207495497U (en) | A kind of Three Degree Of Freedom high speed conveying robot | |
| CN114394143A (en) | Industrial robot meets and draws delivery protective equipment | |
| CN110744586B (en) | Artificial intelligence arm protection device | |
| CN210361296U (en) | Slidable parallel robot | |
| CN211365094U (en) | Packing device for intelligent logistics | |
| CN209536274U (en) | A kind of storage loading mechanization suitable for different material | |
| CN210100053U (en) | Hexagonal lifting structure and automatic pallet fork folding structure of robot | |
| CN208218274U (en) | Half electrodynamic balance formula folding crane | |
| CN217731850U (en) | Jacking transplanter | |
| CN202321697U (en) | Support seat capable of adjusting height | |
| CN110548685A (en) | Three-axis quick sorting robot system | |
| CN213731729U (en) | Industrial handling robot with anti-collision protection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |