CN214136047U

CN214136047U - High-precision parallel robot movement device

Info

Publication number: CN214136047U
Application number: CN202022794973.0U
Authority: CN
Inventors: 贾旭
Original assignee: Xi'an Santander Electromechanical Technology Co ltd
Current assignee: Xi'an Santander Electromechanical Technology Co ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-09-07
Anticipated expiration: 2030-11-27

Abstract

The utility model discloses a high-accuracy parallel robot's telecontrol equipment, including triangle base and motion platform, the equal fixedly connected with brace table in three top of triangle base, the equal fixedly connected with thread bush in one end middle part of bedplate is kept away from to brace table's below, and is three the equal screw-thread fit in inside of thread bush has the screw thread bracing piece, and is three the equal fixedly connected with supporting seat of one end that a brace table was kept away from to the screw thread bracing piece, and is three the equal fixedly connected with rubber buffer seat in bottom of supporting seat, it is three the top of brace table all rotates with the corresponding position department of screw thread bracing piece and is connected with the dwang. The utility model discloses in, be provided with threaded support pole and thread bush, cooperation dwang and flexible bull stick, usable spirit level directly carry out the level adjustment to the triangle base, need not to demolish the hookup location with ground, have improved the practicality of device.

Description

High-precision parallel robot movement device

Technical Field

The utility model relates to a parallel robot technical field specifically is a high-accuracy parallel robot's telecontrol equipment.

Background

The Parallel robot, known as Parallel mechanics, PM for short, can be defined as a closed-loop Mechanism in which a movable platform and a fixed platform are connected by at least two independent kinematic chains, the Mechanism has two or more degrees of freedom and is driven in a Parallel manner, a six-degree-of-freedom Parallel Mechanism is a large class of Parallel robot mechanisms, is a Parallel Mechanism which is researched most by scholars at home and abroad, and is widely applied to the fields of flight simulators, six-dimensional force and torque sensors, Parallel machine tools and the like. However, many key technologies of the mechanism are not or not completely solved, such as positive kinematics solution, establishment of a dynamic model, precision calibration of parallel machine tools and the like. From a purely parallel point of view, such a mechanism must have six kinematic chains. However, there are also known a six-degree-of-freedom parallel mechanism having three kinematic chains, such as 3-PRPS and 3-URS, and a six-degree-of-freedom parallel mechanism having a five-bar mechanism as a driving mechanism attached to each of three branches.

The lower platform of the existing high-precision parallel robot is generally directly fixedly connected with the ground, and although the connection is stable, the ground needs to be leveled in advance, the leveling work is troublesome, and the follow-up adjustment is difficult.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a high-precision parallel robot movement device.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a moving device of a high-precision parallel robot comprises a triangular base and a moving platform, wherein three top ends of the triangular base are fixedly connected with supporting tables, two sides of the three supporting tables are fixedly connected with connecting columns, one ends of the six connecting columns, far away from the supporting tables, are fixedly connected with universal hinges, one ends of the six universal hinges, far away from the connecting columns, are fixedly connected with high-precision electric cylinders, the bottom of the moving platform is fixedly connected with a triangular top seat, and connecting seats are fixedly connected at the triangular positions below the triangular top seat;

the middle part above the triangular base is fixedly connected with a seat board, one end above the seat board is fixedly connected with a controller, and the center above the seat board is fixedly connected with a level meter;

it is three the equal fixedly connected with thread bush in one end middle part that the bedplate was kept away from to brace table's below, it is three the equal screw-thread fit in inside of thread bush has the screw thread bracing piece, it is three the equal fixedly connected with supporting seat of one end that the brace table was kept away from to the screw thread bracing piece, it is three the equal fixedly connected with rubber buffer seat in bottom of supporting seat, it is three the corresponding position department of top and screw thread bracing piece of brace table all rotates and is connected with the dwang, it is three the brace table top all is provided with the fastening swivel nut in the outside of dwang the equal fixedly connected with in top of dwang rotates the cap, it is three the equal fixedly connected with telescopic rotary rod in both sides of rotating the cap, it is three the equal fixedly connected with universal wheel in one end middle part that the bedplate is close to the below of brace table.

As a further description of the above technical solution:

the triangular direction of the triangular base and the triangular direction of the triangular top seat have an angular difference of sixty degrees.

As a further description of the above technical solution:

and the output ends of the six high-precision electric cylinders are respectively and movably connected with two sides below the three connecting seats.

As a further description of the above technical solution:

and three ends of the rotating rods, which are far away from the rotating cap, penetrate through the supporting table to be in transmission connection with the corresponding threaded supporting rods.

As a further description of the above technical solution:

and the outer side of the upper part of the rotating rod is provided with threads, and one end of the rotating rod, which is close to the rotating cap, penetrates through the fastening screw sleeve to be in threaded fit with the fastening screw sleeve.

As a further description of the above technical solution:

six the inside of high-accuracy electric cylinder all is provided with displacement sensor, and is three the inside of connecting seat all is provided with angular velocity transducer.

As a further description of the above technical solution:

three the outside trisection department of supporting seat has all seted up fixed screw, and the corresponding through-hole has all been seted up with the corresponding position department of fixed screw to three rubber buffer seat.

As a further description of the above technical solution:

the controller is electrically connected with the six high-precision electric cylinders, the level gauge, the displacement sensor and the angular velocity sensor.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

1. the utility model discloses be provided with threaded support pole and thread bush, cooperation dwang and flexible dwang, usable spirit level directly carry out the level adjustment to the triangle base, need not to demolish the hookup location with ground, have improved the practicality of device.

2. The utility model discloses be provided with six high-accuracy electric cylinders, cooperation universal hinge and controller, the linkage of six usable high-accuracy electric cylinders makes motion platform can carry out the motion at six degrees of freedom in space (X, Y, Z, alpha, beta, gamma), can simulate the motion condition of aircraft under the various circumstances, has strengthened the practicality of device.

3. The utility model discloses be provided with rubber buffer seat, can cushion the impact of the junction to ground to the supporting bench, prevent that vibrations from leading to the condition emergence that the junction pine takes off, strengthened the practicality of device.

Drawings

Fig. 1 is a schematic view of the overall structure of a motion device of a high-precision parallel robot according to the present invention;

fig. 2 is a schematic front structural view of a motion device of a high-precision parallel robot according to the present invention;

fig. 3 is a bottom perspective view of a motion device of a high precision parallel robot of the present invention;

fig. 4 is a bottom view of the motion device of the high-precision parallel robot of the present invention.

Illustration of the drawings:

1. a triangular base; 2. a support table; 3. a seat plate; 4. connecting columns; 5. a universal hinge; 6. a high-precision electric cylinder; 7. a connecting seat; 8. a triangular top seat; 9. a motion platform; 10. a controller; 11. a level gauge; 12. a threaded sleeve; 13. a threaded support rod; 14. a supporting seat; 15. a rubber cushion seat; 16. rotating the rod; 17. fastening a threaded sleeve; 18. rotating the cap; 19. a telescopic rotating rod; 20. a universal wheel.

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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-4, the present invention provides an embodiment: a high-precision parallel robot movement device comprises a triangular base 1 and a movement platform 9, wherein three tops of the triangular base 1 are fixedly connected with a support table 2, two sides of the three support table 2 are fixedly connected with connecting columns 4, one ends of the six connecting columns 4 far away from the support table 2 are fixedly connected with universal hinges 5, one ends of the six universal hinges 5 far away from the connecting columns 4 are fixedly connected with high-precision electric cylinders 6, the bottom of the movement platform 9 is fixedly connected with a triangular top seat 8, the triangular directions of the triangular base 1 and the triangular top seat 8 have a sixty-degree angle difference, the three lower corners of the triangular top seat 8 are fixedly connected with connecting seats 7, the output ends of the six high-precision electric cylinders 6 are respectively movably connected with two lower sides of the three connecting seats 7, the six high-precision electric cylinders 6 are matched with the universal hinges 5 and a controller 10, the six high-precision electric cylinders 6 can be linked to enable the motion platform 9 to move in six degrees of freedom (X, Y, Z, alpha, beta and gamma) in space, the motion conditions of the aircraft under various conditions can be simulated, and the practicability of the device is enhanced;

the middle part above the triangular base 1 is fixedly connected with a seat plate 3, one end above the seat plate 3 is fixedly connected with a controller 10, the center above the seat plate 3 is fixedly connected with a level meter 11, displacement sensors are arranged inside the six high-precision electric cylinders 6, angular velocity sensors are arranged inside the three connecting seats 7, and the controller 10 is electrically connected with the six high-precision electric cylinders 6, the level meter 11, the displacement sensors and the angular velocity sensors and is used for realizing high-precision control;

the middle parts of the ends of the three supporting tables 2, which are far away from the seat plate 3, are fixedly connected with threaded sleeves 12, the inner parts of the three threaded sleeves 12 are all in threaded fit with threaded support rods 13, the ends of the three threaded support rods 13, which are far away from the supporting tables 2, are all fixedly connected with supporting seats 14, the bottoms of the three supporting seats 14 are all fixedly connected with rubber buffer seats 15, the impact on the connecting part of the supporting tables 2 to the ground can be buffered, the loosening of the connecting part caused by vibration can be prevented, the practicability of the device is enhanced, the three equant parts of the outer sides of the three supporting seats 14 are all provided with fixed screw holes, the positions of the three rubber buffer seats 15, which correspond to the fixed screw holes, the positions of the upper parts of the three supporting tables 2, which correspond to the threaded support rods 13, are all rotatably connected with rotating rods 16, and the ends of the three rotating rods 16, which are far away from the rotating caps 18, pass through the supporting tables 2 and are in transmission connection with the corresponding threaded support rods 13, all be provided with fastening swivel nut 17 in the outside of dwang 16 above three brace table 2, the top outside of three dwang 16 is threaded, and is close to the one end of rotating cap 18 and passes fastening swivel nut 17 screw-thread fit, and the equal fixedly connected with in top of three dwang 16 rotates cap 18, and the equal fixedly connected with telescopic rotating rod 19 in both sides of three rotation cap 18, the equal fixedly connected with universal wheel 20 in one end middle part that three brace table 2's below is close to bedplate 3, the utility model discloses the threaded support pole 13 and the thread bush 12 that set up, cooperation dwang 16 and telescopic rotating rod 19, usable spirit level 11 directly carry out leveling to triangle base 1, need not to demolish the hookup location with ground, have improved the practicality of device.

The working principle is as follows: the utility model discloses when the installation, need not to make level to ground, directly utilize bolt and fixed screw with three supporting seat 14 and ground fixed connection, recycle spirit level 11's suggestion, make dwang 16 drive threaded support pole 13 adjust corresponding brace table 2's height through rotating flexible bull stick 19, make triangle base horizontality through the adjustment to three brace table 2 height, it can to screw up fastening swivel nut 17 again and make dwang 16 unable rotation, during subsequent adjustment, directly unscrew fastening swivel nut 17, readjust threaded support pole 13 and can carry out horizontal adjustment.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. The utility model provides a high-accuracy parallel robot's telecontrol equipment, includes triangle base (1) and motion platform (9), its characterized in that: the three tops of the triangular base (1) are fixedly connected with supporting tables (2), connecting columns (4) are fixedly connected to two sides of the three supporting tables (2), six ends, away from the supporting tables (2), of the connecting columns (4) are fixedly connected with universal hinges (5), one ends, away from the connecting columns (4), of the six universal hinges (5) are fixedly connected with high-precision electric cylinders (6), the bottom of the moving platform (9) is fixedly connected with a triangular top seat (8), and connecting seats (7) are fixedly connected to the triangular positions below the triangular top seat (8);

the middle part of the upper part of the triangular base (1) is fixedly connected with a seat board (3), one end of the upper part of the seat board (3) is fixedly connected with a controller (10), and the center of the upper part of the seat board (3) is fixedly connected with a level gauge (11);

threaded sleeves (12) are fixedly connected in the middle of the ends, far away from the seat plate (3), below the three support tables (2), of the three threaded sleeves (12) are in threaded fit with threaded support rods (13), the ends, far away from the support tables (2), of the three threaded support rods (13) are fixedly connected with support seats (14), the bottoms of the three support seats (14) are fixedly connected with rubber buffer seats (15), the positions, corresponding to the threaded support rods (13), above the three support tables (2) are rotatably connected with rotating rods (16), fastening threaded sleeves (17) are arranged on the outer sides of the rotating rods (16) above the three support tables (2), rotating caps (18) are fixedly connected at the tops of the three rotating rods (16), and telescopic rotating rods (19) are fixedly connected on the two sides of the three rotating caps (18), the middle part of one end of the lower part of the three supporting tables (2) close to the seat plate (3) is fixedly connected with universal wheels (20).

2. The motion device of a high precision parallel robot according to claim 1, wherein: the triangular direction of the triangular base (1) and the triangular top seat (8) has an angular difference of sixty degrees.

3. The motion device of a high precision parallel robot according to claim 1, wherein: the output ends of the six high-precision electric cylinders (6) are respectively movably connected with two sides below the three connecting seats (7).

4. The motion device of a high precision parallel robot according to claim 1, wherein: and one end of each rotating rod (16) far away from the rotating cap (18) penetrates through the supporting platform (2) to be in transmission connection with the corresponding threaded supporting rod (13).

5. The motion device of a high precision parallel robot according to claim 1, wherein: the outer side of the upper part of the three rotating rods (16) is provided with threads, and one end of the rotating rod close to the rotating cap (18) penetrates through the fastening threaded sleeve (17) to be in threaded fit with the fastening threaded sleeve (17).

6. The motion device of a high precision parallel robot according to claim 1, wherein: six the inside of high accuracy electric cylinder (6) all is provided with displacement sensor, and is three the inside of connecting seat (7) all is provided with angular velocity transducer.

7. The motion device of a high precision parallel robot according to claim 1, wherein: three the outside trisection department of supporting seat (14) all seted up fixed screw, and corresponding through-hole has all been seted up with the corresponding position department of fixed screw in three rubber buffer seat (15).

8. The motion device of a high precision parallel robot according to claim 1, wherein: the controller (10) is electrically connected with the six high-precision electric cylinders (6), the level meter (11), the displacement sensor and the angular velocity sensor.