CN216967775U - Four-axis parallel robot - Google Patents
Four-axis parallel robot Download PDFInfo
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- CN216967775U CN216967775U CN202122902622.1U CN202122902622U CN216967775U CN 216967775 U CN216967775 U CN 216967775U CN 202122902622 U CN202122902622 U CN 202122902622U CN 216967775 U CN216967775 U CN 216967775U
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- axis parallel
- parallel robot
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- arm
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 9
- ZXVONLUNISGICL-UHFFFAOYSA-N 4,6-dinitro-o-cresol Chemical compound CC1=CC([N+]([O-])=O)=CC([N+]([O-])=O)=C1O ZXVONLUNISGICL-UHFFFAOYSA-N 0.000 description 7
- 229920000049 Carbon (fiber) Polymers 0.000 description 6
- 239000004917 carbon fiber Substances 0.000 description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000013201 Stress fracture Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The utility model provides a four-axis parallel robot, which is characterized by comprising: the fixed platform is provided with at least three motor mounting seats, and the servo motor and the speed reducer are fixedly connected to the mounting seats; the at least three driving arms are respectively connected with the speed reducer; one end of each of at least three driven arms is rotatably connected with the driving arm, and the other end of each of the at least three driven arms is connected with the spherical surface of the movable platform; the movable platform is located below the fixed platform, a controlled workpiece connecting position is arranged in the center of the movable platform and comprises a step through hole and a connecting through hole, the spherical joint is arranged on the movable platform and connected with the driven arm, the anti-falling devices are respectively connected to two ends of the driven arm, a connecting rod is arranged in the middle of the anti-falling devices, and two ends of the connecting rod are rotary joints. The anti-drop device is arranged, so that more stable connection is added between the driven arms, the driven arms are connected with the driving arms and the ball heads of the movable platforms and are not easy to drop off during movement, and the stability is enhanced.
Description
Technical Field
The utility model relates to a four-axis parallel robot, and belongs to the field of robots.
Background
The existing four-axis parallel robot scheme in China can substantially meet the requirements of part of enterprises in terms of functions, but a relatively perfect solution cannot be provided in the balance of three aspects of the range of motion, the control precision and the high-speed motion stability of most machine types. Although superior in price compared to products of foreign well-known brands, there is still a gap in performance.
The DETOL type four-axis parallel robot is easy to have stability reduction, too fast material abrasion speed and even too large spring stress fracture when running at high speed, so that the service life of the DETOL type four-axis parallel robot is shortened, and the use experience is general. Meanwhile, the later maintenance and overhaul cost is increased. At present, the DETAL four-axis parallel robot has some defects that (1) potential safety hazards exist: the problem of unhooking of the driven arm of the moving branched chain is not well solved when the robot moves at a high speed. (2) Insufficient stability: due to limitations in control technology, mechanism rationality and the like, repeated positioning accuracy of many DETAL robots currently on the market is reduced when the DETAL robots run at high speed, and the damping effect of the robot is reduced, resulting in reduced overall efficiency. In order to meet the market demand of the DETAL type four-axis parallel robot, a stable and efficient DETAL robot is urgently needed to be designed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a four-axis parallel robot, and provides a four-axis parallel robot with higher stability.
The utility model adopts the following technical scheme:
a four-axis parallel robot, comprising: the fixed platform is provided with at least three motor mounting seats, and the servo motor and the speed reducer are fixedly connected to the mounting seats; the driving arms, at least three of which are respectively connected with the speed reducer; one end of at least three driven arms is rotatably connected with the driving arm, and the other end of each driven arm is connected with the spherical surface of the movable platform; the movable platform is located below the fixed platform, a controlled workpiece connecting position is arranged in the center of the movable platform and comprises a step through hole and a connecting through hole, the spherical joint is arranged on the movable platform and connected with the driven arm, the anti-falling devices are respectively connected to two ends of the driven arm, a connecting rod is arranged in the middle of the anti-falling devices, and two ends of the connecting rod are rotary joints.
Further, the four-axis parallel robot of the present invention is also characterized in that: the driving arm is connected with an output shaft of the servo motor by an array screw.
Further, the four-axis parallel robot of the present invention is also characterized in that: the driven arms are provided with two and are connected with the driving arm and the movable platform by adopting spherical joints.
Further, the four-axis parallel robot of the present invention is also characterized in that: the movable platform comprises a middle fixed disc and three motor mounting seats which are uniformly distributed along the disc.
Further, the four-axis parallel robot of the present invention is also characterized in that: the driving arm is crescent.
Further, the four-axis parallel robot of the present invention is also characterized in that: two driven arms are in a group, and two ends of each driven arm are respectively connected with the driving arm and the movable platform through ball heads.
Further, the four-axis parallel robot of the present invention is also characterized in that: the driving arm is connected with the speed reducer through six screws which are evenly distributed on the circumference.
Further, the four-axis parallel robot of the present invention is also characterized in that: the middle of the connecting rod is provided with a spring.
The anti-drop device is arranged, so that more stable connection is added between the driven arms, the driven arms are connected with the driving arms and the ball heads of the movable platforms and are not easy to drop off during movement, and the stability is enhanced. Furthermore, the driving arm of the utility model is connected with the output shaft of the servo motor by adopting the array screw, thereby greatly improving the control precision and stability of the driving arm of the moving branched chain.
Drawings
Fig. 1 is a schematic perspective view of a four-axis parallel robot according to an embodiment.
Fig. 2 is a schematic diagram of a three-dimensional mechanism of a driving arm of a four-axis parallel robot according to an embodiment.
Fig. 3 is a perspective view of a slave arm of the four-axis parallel robot according to the embodiment.
Fig. 4 is a schematic view of a ball joint connecting a master-slave boom and a slave arm and a movable platform of the four-axis parallel robot according to the embodiment.
Fig. 5 is a schematic diagram of a three-dimensional mechanism of a movable platform of the four-axis parallel robot in the embodiment.
Fig. 6 is a schematic view of the anti-drop device.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, in the present embodiment, the fixed platform 1 includes a middle fixed disk 11 and three motor mounts 12 uniformly distributed along the disk.
The servo motor 3 and the speed reducer assembly body are fixed on the motor mounting seat 12 through four screws, and then a motor protective cover is sleeved on the motor mounting seat and is fixed with the motor mounting seat through four screws, so that accidents caused by the fact that the motor is exposed are prevented.
The three crescent-like driving arms 2 with the same shape are connected with a speed reducer through six screws 21 which are uniformly distributed on the circumference or a screw array, so that the driving arms 2 and the motor rotate strictly synchronously. The structure of the active arm 2 is shown in fig. 2, and the active arm structure effectively improves the rigidity of the active arm and improves the overall aesthetic degree of the robot. The driving arm has a screw hole 22 for mounting a screw 21.
The driving arm 2 is provided with a first ball head mounting hole 23, and the tail end of the ball head device 6 is mounted in the first ball head mounting hole 23.
The follower arm 4 is constructed as shown in fig. 3, and is formed of an assembly of carbon fiber rods, one after the other. The two ends of the driven arm 4 are respectively provided with a spherical shell 41 which is connected with the driving arm and a ball head device 6 on the movable platform. The structure of the ball head device 6 is shown in fig. 4. The connecting mode of the ball head increases the movement smoothness and the movement speed, and is beneficial to reducing the movement abrasion.
In order to balance and coordinate the two carbon fiber rods and prevent the ball head from being assembled and unhooked, the same anti-falling devices 8 are respectively used for assembly at two ends. The anti-drop devices 8 are respectively arranged at the upper end and the lower end of the driven arm, and the anti-drop devices 8 apply inward pulling force to the driven arms at two sides. The structure of anti-disengaging device 8 is as shown in fig. 6, and anti-disengaging device 8 both ends have installation piece 81, and the shape matches with the radian of carbon fiber rod, through screw and carbon fiber rod fixed connection. The middle of the anti-falling device 8 is a connecting rod 83, and the two ends of the connecting rod 83 are rotating joints 82, so that a certain rotating allowance is provided for the anti-falling device 8. A spring may be provided in the middle of the connecting rod 83, so that the two carbon fiber rods can be pulled toward the middle to further prevent the carbon fiber rods from falling off.
The telescopic rotating shaft 7 directly connected with the fixed platform in the middle enhances the overall stability while providing a fourth degree of freedom of rotation, and provides guarantee for the operation of heavy-load objects.
As shown in fig. 5, the controlled workpiece is connected to the movable platform 5 through a stepped through hole 51 and a connecting small through hole 52 on the movable platform. Therefore, the controlled workpiece is driven by the four-axis parallel robot to complete the operation. The movable platform is provided with a second ball mounting hole 53, and the tail end of the ball device 6 is arranged in the second ball mounting hole 53.
The driving arm, the driven arm and the movable platform form a link mechanism, and three servo motors connected with the driving arm drive the three driving arms to swing, so that the movable platform generates three degrees of freedom in the direction of X, Y, Z, and the platform moves rapidly in space; the middle telescopic rotating shaft provides a fourth degree of freedom and rotates rapidly around the Z axis.
Compared with the existing four-axis parallel robot of the same type, the four-axis parallel robot provided by the utility model has the advantages of large moving range, high control precision, high-speed movement stability and the like, greatly improves the production efficiency, and further accelerates the automatic and intelligent conversion process of enterprises.
Claims (8)
1. A four-axis parallel robot, comprising:
the fixed platform is provided with at least three motor mounting seats, and the servo motor and the speed reducer are fixedly connected to the mounting seats;
the driving arms, at least three of which are respectively connected with the speed reducer;
one end of at least three driven arms is rotatably connected with the driving arm, and the other end of each driven arm is connected with the spherical surface of the movable platform;
the movable platform is positioned below the fixed platform, the center of the movable platform is provided with a controlled workpiece connecting position, the controlled workpiece connecting position comprises a step through hole and a connecting through hole,
a spherical joint arranged on the movable platform and connected with the driven arm,
the anti-disengaging device is respectively connected at two ends of the driven arm, the middle of the anti-disengaging device is provided with a connecting rod, and two ends of the connecting rod are provided with rotating joints.
2. The four-axis parallel robot of claim 1, wherein:
the driving arm is connected with an output shaft of the servo motor by an array screw.
3. The four-axis parallel robot of claim 1, wherein:
the driven arms are provided with two driven arms and are connected with the driving arm and the movable platform through spherical joints, and the anti-falling device is connected between the two driven arms.
4. The four-axis parallel robot of claim 1, wherein:
the movable platform comprises a middle fixed disc and three motor mounting seats which are uniformly distributed along the disc.
5. The four-axis parallel robot of claim 1, wherein:
the driving arm is crescent.
6. The four-axis parallel robot of claim 1, wherein:
two driven arms are in a group, and two ends of each driven arm are respectively connected with the driving arm and the ball head device on the movable platform.
7. The four-axis parallel robot of claim 1, wherein:
the movable platform is provided with a step through hole and a small connecting through hole.
8. The four-axis parallel robot of claim 1, wherein:
the middle of the connecting rod is provided with a spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122902622.1U CN216967775U (en) | 2021-11-24 | 2021-11-24 | Four-axis parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122902622.1U CN216967775U (en) | 2021-11-24 | 2021-11-24 | Four-axis parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216967775U true CN216967775U (en) | 2022-07-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122902622.1U Active CN216967775U (en) | 2021-11-24 | 2021-11-24 | Four-axis parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216967775U (en) |
-
2021
- 2021-11-24 CN CN202122902622.1U patent/CN216967775U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240911 Address after: 200120 building C, No.888, Huanhu West 2nd Road, Pudong New Area, Shanghai Patentee after: SHANGHAI CHUANXIANG ELECTRONIC TECHNOLOGY CO.,LTD. Country or region after: China Address before: Room 1810, building 3, No. 2388, xiupu Road, Pudong New Area, Shanghai 200120 Patentee before: Shanghai Chuanxiang Robot Technology Co.,Ltd. Country or region before: China |