CN215149082U

CN215149082U - Five-rod parallel robot

Info

Publication number: CN215149082U
Application number: CN202121523381.3U
Authority: CN
Inventors: 李亚; 唐伟杰; 刘睿诚; 田昊新
Original assignee: Tianjin University of Science and Technology
Current assignee: Tianjin University of Science and Technology
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-12-14
Anticipated expiration: 2031-07-06

Abstract

The utility model relates to the technical field of robots, in particular to a five-rod parallel robot, which comprises supporting legs, a bottom plate, an aluminum profile bracket, a supporting plate, a first motor, a second motor, a first speed reducer, a second speed reducer, a first driving rod, a second driving rod, a first driven rod, a second driven rod and a telescopic cylinder; the device occupies small space and is suitable for scenes with narrow partial space; the plane working space is larger. The five-rod parallel robot has two degrees of freedom in a plane, the rods of the five-rod parallel robot are slender, and the five-rod parallel robot has a large working space.

Description

Five-rod parallel robot

Technical Field

The utility model relates to the technical field of robots, especially a five-rod parallel robot.

Background

In the production and manufacturing process in the fields of actual industries such as food, medicine, electronics and the like, the production and manufacturing process relates to the working procedures such as sorting, packaging, arrangement and the like, workpieces are small and light, the production beat is fast, and parallel robots are mostly adopted. The parallel robot in the current market has the characteristics of high precision, high speed and the like, but the configuration of the parallel robot is similar to a spider structure, and the parallel robot occupies a large space, has a small working space and is expensive. In addition, joints of some robots are not designed reasonably and smoothly enough, so that the precision is poor and the service life is short.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an effectual problem among the above-mentioned background of solution provides a five pole parallel robot.

The specific technical scheme is as follows; a five-rod parallel robot comprises supporting legs, a bottom plate, an aluminum profile bracket, a supporting plate, a first motor, a second motor, a first speed reducer, a second speed reducer, a first driving rod, a second driving rod, a first driven rod, a second driven rod and a telescopic cylinder; the supporting legs are fixed at four included angles at the bottom of the bottom plate, the bottom of the aluminum profile support is fixed with the bottom plate, the top of the aluminum profile support is fixed with the supporting plate, the first motor and the second motor are respectively connected with the first speed reducer and the second speed reducer, the first speed reducer and the second speed reducer are fixed on the supporting plate side by side, output shafts of the first speed reducer and the second speed reducer extend out of the lower portion of the supporting plate and are respectively fixedly connected with the first driving rod and the second driving rod, the other ends of the first driving rod and the second driving rod are respectively connected with the first driven rod and the second driven rod through joint structures, each joint structure comprises a first deep groove ball bearing and a first rotating shaft, the two first deep groove ball bearings are respectively pressed into the other ends of the first driving rod and the second driving rod, the upper portions of the two first driving rods are fixed through pressing covers, and the inner rings of the first deep groove ball bearings are fixed with the first rotating shafts, the lower extreme of two first pivots respectively with first driven lever and second driven lever are fixed, the end of first driven lever and second driven lever is impressed the second deep groove ball bearing respectively and is sealed through the bearing cap, and the inner circle and the second pivot of two second deep groove ball bearings are connected, the upper portion and the output shaft of driving motor of second pivot, driving motor pass through the support to be fixed on the second driven lever on upper portion, the end of second pivot with telescopic cylinder connects.

Preferably, the legs are provided with fastening holes and fixed with the table top through bolts.

Preferably, a cross roller bearing in running fit is fixed at the bottom of the support plate, wherein a bearing inner ring is fixedly connected with the first driving rod and the second driving rod, a fixing hole is formed in the center of the support inner ring, and the fixing hole is connected with output shafts of the first speed reducer and the second speed reducer.

Preferably, the aluminum profile supports are at least three and are distributed in a triangular shape on the bottom plate, so that the swinging directions of the first driving rod and the second driving rod are prevented from being blocked.

Preferably, the bottom of the supporting plate is provided with a limit switch for limiting the first driving rod and the second driving rod.

Compared with the prior art, the beneficial effects of the utility model are that: 1. the occupied space is small. The method is suitable for scenes with narrow partial space;

2. the plane working space is large, the five-rod parallel robot has two degrees of freedom in the plane, the rods of the five-rod parallel robot are slender, and the five-rod parallel robot has a large working space;

3. the equipment structure is simpler, and the failure rate is low;

4. the price is lower than that of the parallel robot with similar functions in the market;

5. because the joint adopts a corresponding bearing design, the operation is smoother, the precision is high, and the service life is long;

6. the tail end joint can drive the driving cylinder to rotate through the motor, so that the manipulator can rotate the workpiece by a certain angle.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a perspective view of the present invention in a bottom view;

FIG. 3 is a partial enlarged view of the joint end of the present invention;

FIG. 4 is a cross-sectional view of the middle joint structure of the present invention;

fig. 5 is a cross-sectional view of the middle joint end of the present invention.

Detailed Description

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.

The following detailed description of the preferred embodiments of the present invention is provided in connection with the accompanying drawings. As shown in fig. 1-3, the utility model discloses mainly develop towards the industrial manufacturing field, can realize snatching fast to light and small work piece, realize processes such as letter sorting, packing, balance. The utility model has the advantages of mechanical mechanism is simple, and control is stable, and is with low costs, and occupation space is less, and workspace is great relatively.

As shown in fig. 1, 2 and 3, a five-rod parallel robot includes a support leg 1, a bottom plate 2, an aluminum profile bracket 3, a support plate 4, a first motor 5, a second motor 6, a first reducer 7, a second reducer 8, a first driving rod 9, a second driving rod 10, a first driven rod 11, a second driven rod 12 and a telescopic cylinder 13; the supporting legs are fixed at four included angles at the bottom of the bottom plate, the bottom of the aluminum profile support is fixed with the bottom plate, the top of the aluminum profile support is fixed with the supporting plate, the first motor and the second motor are respectively connected with the first speed reducer and the second speed reducer, the first speed reducer and the second speed reducer are fixed on the supporting plate side by side, output shafts of the first speed reducer and the second speed reducer extend out of the lower portion of the supporting plate and are respectively fixedly connected with the first driving rod and the second driving rod, the other ends of the first driving rod and the second driving rod are respectively connected with the first driven rod and the second driven rod through joint structures, each joint structure comprises a first deep groove ball bearing 14 and a first rotating shaft 15, the two first deep groove ball bearings are respectively pressed into the other ends of the first driving rod and the second driving rod, the upper portions of the two first driving rods are pressed and fixed through pressing covers 16, and inner rings of the first deep groove ball bearings are fixed with the first rotating shafts, the lower ends of the two first rotating shafts are fixed with the first driven rod and the second driven rod respectively, the tail ends of the first driven rod and the second driven rod are pressed into the second deep groove ball bearings 17 respectively and are sealed through the bearing covers 18, the inner rings of the two second deep groove ball bearings are connected with the second rotating shaft 19, the upper portion of the second rotating shaft is connected with an output shaft of a driving motor 20, the driving motor is fixed on the second driven rod on the upper portion through a support 21, and the tail end of the second rotating shaft is connected with the telescopic cylinder.

In order to ensure that the device can be stably fixed at a required position, the supporting legs are provided with fastening holes and fixed with the table top through bolts.

The bottom of the supporting plate is fixed with a cross roller bearing 22 in running fit, and the first driving rod can rotate more stably through the cross roller bearing, so that the accuracy is improved. The supporting inner ring is fixedly connected with the first driving rod and the second driving rod, a fixing hole is formed in the center of the supporting inner ring, and the fixing hole is connected with output shafts of the first speed reducer and the second speed reducer.

In order to improve more firm of this device, reduce unnecessary and rock, the aluminium alloy support is three at least, is triangular distribution on the bottom plate, avoids sheltering from the swing direction of first drive lever and second drive lever.

The specific principle is as follows: the utility model relates to a five-rod parallel robot has the fixed point and snatchs and move some and snatch two kinds of modes. Fixed-point grabbing refers to grabbing the workpiece at one or more fixed points, and the grabbing positions can be obtained and recorded through debugging. The robot can be controlled to reach the fixed point at the appointed time through an external signal. Before the robot moves every time, the singlechip calculates the set coordinates of the target point according to the mathematical model of the five-rod mechanism to obtain the pulse number required by the motor, and simultaneously carries out trajectory planning. Then the single chip sends pulse to the motor driver, the driver sends pulse to the stepping motor to realize driving, and simultaneously the driver reads the pulse feedback of the rotary encoder at the tail end of the motor in real time to carry out closed-loop control on the motor so as to achieve the purpose of reducing motor step loss. The closed-loop step controller improves the motion precision of the five-rod robot. The motor rotates and drives the driving rod to rotate through the speed reducer. The crossed roller bearing outer ring is fixed on the rack, the inner ring is connected with one end of the driving rod, namely, the bearing inner ring rotates along with the output shaft of the speed reducer and the driving rod. The function of the crossed roller bearing is to transfer the bending moment acting on the extension shaft of the speed reducer to the frame. A rotary joint is adopted between the driving rod and the driven rod, and the interior of the rotary joint is composed of two angular contact ball bearings, a rotating shaft, a shaft sleeve, a bearing cover and the like. The driven rod is forced to rotate due to the constraint action of the five-rod mechanism. Two deep groove ball bearings are matched with the rotating shaft in the rotating joint between the driven rod and the driven rod, so that the rotating shaft can rotate freely. The telescopic cylinder is connected to the flange, the flange is fixed to the joint rotating shafts of the two driven rods through threaded connection, and the suction disc and the air nozzle can be assembled on the extension shaft of the telescopic cylinder. After the five-rod robot reaches the designated position, the single chip microcomputer sends a signal to the electromagnetic valve. The electromagnetic valve controls the on-off of the air path, so that the linear cylinder can stretch. When the cylinder stretches out, the suction disc generates negative pressure, the workpiece is sucked by the suction nozzle, and the cylinder retracts. And the five-rod robot moves to another position, the cylinder extends out, and the suction disc closes the air passage, so that the workpiece is put down. The grabbing and placing functions of the workpieces are realized. The five-rod robot also has a moving point grabbing function, and the single chip microcomputer is provided with a serial port and can receive the coordinate position sent by the upper computer through serial port communication. And the robot can be driven to reach the specified position after the command is analyzed.

And the bottom of the supporting plate is provided with a limit switch used for limiting the first driving rod and the second driving rod. The limit switch is a contact travel switch with a contact, and is fixed on the frame. When the robot is initialized, the robot automatically moves towards the direction of the limit switch, and when the driving rod touches the limit switch, the robot stops moving, so that the zero-resetting operation is realized. In the working process of the robot, the limit switch also plays a role in protecting the robot from exceeding a movement space.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a five pole parallel robot which characterized in that: the device comprises supporting legs, a bottom plate, an aluminum profile bracket, a supporting plate, a first motor, a second motor, a first speed reducer, a second speed reducer, a first driving rod, a second driving rod, a first driven rod, a second driven rod and a telescopic cylinder; the supporting legs are fixed at four included angles at the bottom of the bottom plate, the bottom of the aluminum profile support is fixed with the bottom plate, the top of the aluminum profile support is fixed with the supporting plate, the first motor and the second motor are respectively connected with the first speed reducer and the second speed reducer, the first speed reducer and the second speed reducer are fixed on the supporting plate side by side, output shafts of the first speed reducer and the second speed reducer extend out of the lower portion of the supporting plate and are respectively fixedly connected with the first driving rod and the second driving rod, the other ends of the first driving rod and the second driving rod are respectively connected with the first driven rod and the second driven rod through joint structures, each joint structure comprises a first deep groove ball bearing and a first rotating shaft, the two first deep groove ball bearings are respectively pressed into the other ends of the first driving rod and the second driving rod, the upper portions of the two first driving rods are fixed through pressing covers, and the inner rings of the first deep groove ball bearings are fixed with the first rotating shafts, the lower extreme of two first pivots respectively with first driven lever and second driven lever are fixed, the end of first driven lever and second driven lever is impressed the second deep groove ball bearing respectively and is sealed through the bearing cap, and the inner circle and the second pivot of two second deep groove ball bearings are connected, the upper portion and the output shaft of driving motor of second pivot, driving motor pass through the support to be fixed on the second driven lever on upper portion, the end of second pivot with telescopic cylinder connects.

2. The five-rod parallel robot as claimed in claim 1, wherein the legs have fastening holes and are fixed to the table top by bolts.

3. The five-rod parallel robot as claimed in claim 1, wherein a cross roller bearing is fixed to the bottom of the supporting plate in a rotation fit manner, wherein a bearing inner ring is fixedly connected to the first driving rod and the second driving rod, and a fixing hole is formed in the center of the bearing inner ring and connected to output shafts of the first speed reducer and the second speed reducer.

4. The five-rod parallel robot as claimed in claim 1, wherein the number of the aluminum profile brackets is at least three, and the aluminum profile brackets are distributed on the bottom plate in a triangular shape to avoid blocking the swing direction of the first driving rod and the second driving rod.

5. The five-rod parallel robot as claimed in claim 1, wherein the bottom of the support plate is provided with a limit switch for limiting the first and second driving rods.