CN211992980U

CN211992980U - Novel four-degree-of-freedom parallel robot mechanism

Info

Publication number: CN211992980U
Application number: CN202020649533.3U
Authority: CN
Inventors: 温如凤
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2020-11-24
Anticipated expiration: 2030-04-26

Abstract

The utility model discloses a novel four degree of freedom parallel robot mechanism, including the triangle-shaped base, the fixed disk of the upper surface difference fixedly connected with slide bar and fixed processing article of triangle-shaped base, the top fixedly connected with triangle-shaped support of slide bar, the outer fixed surface of slide bar is connected with the fixed block, the lower fixed surface of fixed block is connected with servo motor, servo motor's output fixedly connected with accommodate the lead screw, the outer surface sliding connection of slide bar has the slider, the first pivot of positive fixedly connected with of slider. This neotype four degree of freedom parallel robot mechanism through setting up three servo motor, controls three accommodate the lead screw respectively and rotates to control three slider and reciprocate, at the in-process that the three slider of control removed, the angle regulation and the height that the adjustment disk can be free through first pivot, connecting rod and second pivot, thereby make whole robot have fine sensitivity.

Description

Novel four-degree-of-freedom parallel robot mechanism

Technical Field

The utility model relates to the technical field of robots, specifically be a novel four degree of freedom parallel robot mechanism.

Background

A parallel robot, PM for short, may be defined as a closed loop mechanism in which a moving platform and a fixed platform are connected by at least two independent kinematic chains, and the mechanism has two or more degrees of freedom and is driven in a parallel manner.

The tandem robot has the advantages of simple structure, low cost and the like, but due to the improvement of science and technology, the defects of the tandem robot are more and more obvious, and particularly in the aspect of space freedom, the sensitivity of the tandem robot is directly limited.

The utility model provides a novel four degree of freedom parallel robot mechanism.

Disclosure of Invention

An object of the utility model is to provide a novel four degree of freedom parallel robot mechanism to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a novel four degree of freedom parallel robot mechanism, includes the triangle-shaped base, the upper surface of triangle-shaped base is the fixed disk of fixedly connected with slide bar and fixed processing article respectively, the top fixedly connected with triangle-shaped support of slide bar, the outer fixed surface of slide bar is connected with the fixed block, the lower fixed surface of fixed block is connected with servo motor, servo motor's output fixedly connected with accommodate the lead screw, the surface sliding connection of slide bar has the slider, the first pivot of the positive fixedly connected with of slider, the inside of first pivot is rotated and is connected with the connecting rod, the one end that first pivot was kept away from to the connecting rod is rotated and is connected with the second pivot, the side fixedly connected with of second pivot is used for placing the adjustment disk with the.

Preferably, the number of the slide bars is six, every two slide bars are in one group, and the three groups of slide bars are respectively arranged on the triangle on the upper surface of the triangular base.

Preferably, the number of the fixed blocks, the servo motors and the adjusting screw rods is three, and the three fixed blocks are respectively and fixedly connected to the outer surfaces of the three groups of sliding rods.

Preferably, the upper surface of the sliding block is provided with a thread through hole matched with the adjusting screw rod, and the top end of the adjusting screw rod penetrates through the sliding block and is rotatably connected to the lower surface of the triangular support.

Preferably, the number of the first rotating shaft and the second rotating shaft is three, and the three second rotating shafts are fixedly connected to the side surface of the adjusting disc at equal intervals in the circumferential direction.

Preferably, the spout has been seted up to the upper surface of fixed disk, and the inner wall sliding connection of this spout has the chucking board of chucking processing article, the side fixedly connected with chucking pole of chucking board, the surface cover of chucking pole is equipped with chucking spring, chucking board, chucking pole and chucking spring's quantity are three.

Advantageous effects

The utility model provides a novel four degree of freedom parallel robot mechanism possesses following beneficial effect:

1. this neotype four degree of freedom parallel robot mechanism through setting up three servo motor, controls three accommodate the lead screw respectively and rotates to control three slider and reciprocate, at the in-process that the three slider of control removed, the angle regulation and the height that the adjustment disk can be free through first pivot, connecting rod and second pivot, thereby make whole robot have fine sensitivity.

2. This neotype four degrees of freedom parallel robot mechanism through setting up the fixed disk, can place the article that need process on its upper surface to through chucking board, chucking pole and the fixed processing article of chucking spring, make the processing article conveniently process.

Drawings

FIG. 1 is a schematic view of a front cross-sectional structure of the present invention;

FIG. 2 is a schematic view of the top-down structure of the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 1;

fig. 4 is a schematic view of the top view structure of the fixing plate of the present invention.

In the figure: the device comprises a triangular base 1, a sliding rod 2, a fixed disk 3, a triangular support 4, a fixed block 5, a servo motor 6, an adjusting screw 7, a sliding block 8, a first rotating shaft 9, a connecting rod 10, a second rotating shaft 11, an adjusting disk 12, a clamping plate 13, a clamping rod 14 and a clamping spring 15.

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 work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides a novel four degree of freedom parallel robot mechanism, includes triangle-shaped base 1, and the upper surface of triangle-shaped base 1 is fixedly connected with slide bar 2 and fixed disk 3 of fixed processing article respectively, and the quantity of slide bar 2 is six, and per two slide bars 2 are a set of, and three slide bars 2 of group set up the triangle at triangle-shaped base 1 upper surface respectively.

The top fixedly connected with triangle-shaped support 4 of slide bar 2, the external fixed surface of slide bar 2 is connected with fixed block 5, the lower fixed surface of fixed block 5 is connected with servo motor 6, servo motor 6's output fixedly connected with accommodate the lead screw 7, the quantity of fixed block 5, servo motor 6 and accommodate the lead screw 7 is three, and three fixed block 5 is fixed connection respectively at the surface of three groups of slide bars 2.

The outer surface of the slide rod 2 is connected with a slide block 8 in a sliding manner, the upper surface of the slide block 8 is provided with a threaded through hole matched with an adjusting screw rod 7, three servo motors 6 are arranged to respectively control the three adjusting screw rods 7 to rotate, so that the three slide blocks 8 are controlled to move up and down, the top ends of the adjusting screw rods 7 penetrate through the slide blocks 8 and are rotatably connected to the lower surface of the triangular support 4, a first rotating shaft 9 is fixedly connected to the front surface of the slide block 8, a connecting rod 10 is rotatably connected to the inside of the first rotating shaft 9, one end, far away from the first rotating shaft 9, of the connecting rod 10 is rotatably connected with a second rotating shaft 11, the first rotating shaft 9 and the second rotating shaft 11 are three in number, three second rotating shafts 11 are fixedly connected to the side surface of an adjusting disc 12 in a circumferential equidistant mode, an adjusting disc 12 for placing a tool is fixedly connected to the, The connecting rod 10 and the second rotating shaft 11 can freely adjust the angle and the height, so that the whole robot has good sensitivity.

The spout has been seted up to the upper surface of fixed disk 3, and the inner wall sliding connection of this spout has the chucking board 13 of chucking processing article, the side fixedly connected with chucking pole 14 of chucking board 13, chucking pole 14's surface cover is equipped with chucking spring 15, chucking board 13, chucking pole 14 and chucking spring 15's quantity is three, through setting up fixed disk 3, can place the article that need process on its upper surface, and through chucking board 13, chucking pole 14 and the fixed processing article of chucking spring 15, make the processing article conveniently process.

The working principle is as follows: when the four-degree-of-freedom parallel robot needs to be used for processing objects, the objects needing to be processed are placed on the upper surface of the fixed disc 3, the clamping plate 13 is utilized, the clamping rod 14 and the clamping spring 15 are used for fixing the processed objects, after the fixing is finished, the three servo motors 6 are controlled, the three adjusting screw rods 7 are controlled to rotate respectively, the three sliding blocks 8 are controlled to move up and down, in the process of controlling the three sliding blocks 8 to move, the adjusting disc 12 utilizes the first rotating shaft 9, the connecting rod 10 and the second rotating shaft 11 can freely adjust the angle and the height, the processing tools can process the processed objects in all directions, and therefore the whole robot has good sensitivity.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a novel four degree of freedom parallel robot mechanism, includes triangle-shaped base (1), its characterized in that: the upper surface of the triangular base (1) is respectively fixedly connected with a sliding rod (2) and a fixed disc (3) for fixing a processing object, the top end of the slide bar (2) is fixedly connected with a triangular bracket (4), the outer surface of the slide bar (2) is fixedly connected with a fixed block (5), the lower surface of the fixed block (5) is fixedly connected with a servo motor (6), the output end of the servo motor (6) is fixedly connected with an adjusting screw rod (7), the outer surface of the slide bar (2) is connected with a slide block (8) in a sliding way, the front surface of the slide block (8) is fixedly connected with a first rotating shaft (9), a connecting rod (10) is rotatably connected inside the first rotating shaft (9), one end of the connecting rod (10) far away from the first rotating shaft (9) is rotatably connected with a second rotating shaft (11), and the side surface of the second rotating shaft (11) is fixedly connected with an adjusting disc (12) for placing a tool.

2. The novel four-degree-of-freedom parallel robot mechanism of claim 1, wherein: the number of the sliding rods (2) is six, every two sliding rods (2) form a group, and the three groups of sliding rods (2) are respectively arranged on the triangle on the upper surface of the triangular base (1).

3. The novel four-degree-of-freedom parallel robot mechanism of claim 1, wherein: the number of the fixing blocks (5), the number of the servo motors (6) and the number of the adjusting screw rods (7) are three, and the three fixing blocks (5) are respectively and fixedly connected to the outer surfaces of the three groups of sliding rods (2).

4. The novel four-degree-of-freedom parallel robot mechanism of claim 1, wherein: the upper surface of the sliding block (8) is provided with a thread through hole matched with the adjusting screw rod (7), and the top end of the adjusting screw rod (7) penetrates through the sliding block (8) and is rotatably connected to the lower surface of the triangular support (4).

5. The novel four-degree-of-freedom parallel robot mechanism of claim 1, wherein: the number of the first rotating shafts (9) and the number of the second rotating shafts (11) are three, and the three second rotating shafts (11) are fixedly connected to the side face of the adjusting disc (12) in a circumferential equidistant mode.

6. The novel four-degree-of-freedom parallel robot mechanism of claim 1, wherein: the upper surface of fixed disk (3) has seted up the spout, and the inner wall sliding connection of this spout has chucking board (13) of chucking processing article, the side fixedly connected with chucking pole (14) of chucking board (13), the surface cover of chucking pole (14) is equipped with chucking spring (15), the quantity of chucking board (13), chucking pole (14) and chucking spring (15) is three.