CN103786148A - Lower chassis of parallel robot - Google Patents
Lower chassis of parallel robot Download PDFInfo
- Publication number
- CN103786148A CN103786148A CN201410047810.2A CN201410047810A CN103786148A CN 103786148 A CN103786148 A CN 103786148A CN 201410047810 A CN201410047810 A CN 201410047810A CN 103786148 A CN103786148 A CN 103786148A
- Authority
- CN
- China
- Prior art keywords
- central shaft
- lower shoe
- center shaft
- bottom plate
- parallel robot
- 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.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a lower chassis of a parallel robot. The lower chassis of the parallel robot comprises a lower bottom plate, ball heads, a center shaft, a bearing and a locking nut. The lower bottom plate comprises a base and three bodies which extend outwards along the base, wherein every two of the three bodies form the angle of 120 degrees. The two ends, away from the base, of each body are provided with the ball heads respectively. A lower bottom plate center shaft hole is formed in the center position of the inside of the lower bottom plate. The lower bottom plate center shaft hole, the bearing and the center shaft commonly form an air chamber. A lower bottom plate side hole is formed in the lower bottom plate. A center shaft side hole is formed in the center shaft and a center shaft hole is formed inside the center shaft. A rotation air adapter structure is adopted, rotation of the center shaft is achieved and the communication of a gas circuit is achieved too. A sealing ring is omitted, and the structure is simplified as the sealing is carried out through the bearing. Thus, the structure is reasonably arranged, the weight is light, while the strength is high. The pneumatic part is simple in structure and convenient to install and use.
Description
Technical field
The present invention relates to industrial sorting machine people field, be specifically related to a kind of parallel robot low bottom-disc.
Background technology
In industry, carry out secondary package and Material Sorting and often adopt industrial sorting machine people, academicly also referred to as DELTA parallel robot.Parallel robot is generally made up of four major parts, comprises upper plate, center expansion link, arm, low bottom-disc, mounted motor, motor reducer assembly etc. on described upper plate.
Chinese patent CN203210372U discloses a kind of parallel robot, as shown in Figure 3, comprise silent flatform (being base plate), moving platform (being low bottom-disc), be installed in parallel three side chains (being arm) between silent flatform and moving platform, described the first side chain, described the second side chain and described the 3rd side chain are mutually between two equal angular decile and are laid in place plane; Described moving platform has pedestal, extends outward three bodies along described pedestal, and it is mutually 120 ° between two, and described pedestal is provided with end effector, and the three-dimensional that three side chains that this patent is arranged by space are realized end moving platform moves.But adopt this moving platform (low bottom-disc) to make robot overall structure heaviness, inertia larger, and affect the reciprocal high-speed motion of low bottom-disc, simultaneously gas blank area complex structure.Therefore design a kind of reasonable structural arrangement, lightweight, low bottom-disc easy to install is extremely important.
Summary of the invention
The object of this invention is to provide a kind of reasonable structural arrangement, lightweight, easy to install parallel robot low bottom-disc.
To achieve these goals, the technical solution of employing is in the present invention:
A kind of parallel robot low bottom-disc, it,, by being connected with vacuum generator and vacuum slot being installed and being realized the carrying to material, comprises lower shoe, bulb, central shaft, bearing, locking nut; Shown in lower shoe comprise pedestal and extend outward three bodies along described pedestal, it is mutually 120 ° between two; Each body is respectively provided with a bulb away from the two ends of base side; Described central shaft is arranged on the center of pedestal by upper and lower two bearings, described bearing is fixed on pedestal by locking nut; Described lower shoe inside center position is provided with lower shoe central shaft hole, and described lower shoe central shaft hole, bearing, central shaft form an air chamber jointly; Lower shoe is provided with lower shoe side opening, and described central shaft is provided with central shaft side opening, and described central shaft inside is provided with central shaft hole.
Described bulb is arranged on body by screw thread.
Described air chamber is connected with vacuum generator by lower shoe side opening.
Described air chamber is connected with vacuum slot with central shaft hole by central shaft side opening.
The beneficial effect that the present invention can produce: the present invention adopts rotary pneumatic joint structure, both realized the rotation of central shaft, realize again communicating of gas circuit, and by bearing seal, not only saved sealing ring and also simplified the structure, made reasonable structural arrangement, lightweight while intensity is also high, pneumatic part is simple in structure, easy to install.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present invention.
The B-B cutaway view that accompanying drawing 2 is Fig. 1.
Accompanying drawing 3 is low bottom-disc structural representation of the prior art.
1, lower shoe; 11, pedestal; 12, body; 2, bulb; 3, central shaft; 4, bearing; 5, lower shoe side opening; 6, central shaft hole; 7, lower shoe central shaft hole; 8, central shaft side opening; 9, locking nut.
The specific embodiment
In conjunction with Fig. 1,2 explanation present embodiments, a kind of parallel robot low bottom-disc, it,, by being connected with vacuum generator and vacuum slot being installed and being realized the carrying to material, comprises lower shoe 1, bulb 2, central shaft 3, bearing 4, locking nut 9; Shown in lower shoe 1 comprise pedestal 11 and extend outward three bodies 12 along described pedestal 11, it is mutually 120 ° between two; Each body 12 is respectively provided with a bulb 2 away from the two ends of base side; Described central shaft 3 is arranged on 11 centers of pedestal by upper and lower two bearings 4, described bearing 4 is fixed on pedestal 11 by locking nut 9; Described lower shoe 1 inside center position is provided with lower shoe central shaft hole 7, described lower shoe central shaft hole 7, bearing 4, an air chamber of central shaft 3 common compositions; On lower shoe, establishing 1 has lower shoe side opening 5, and described central shaft 3 is provided with central shaft side opening 8, and described central shaft 3 inside are provided with central shaft hole 6.
Described bulb 2 is arranged on body 11 by screw thread.
Described air chamber is connected with vacuum generator by lower shoe side opening 5.
Described air chamber is connected with vacuum slot by central shaft side opening 8, central shaft hole 6.
Low bottom-disc is robot end's parts, under the driving of motor reducer assembly and arm, can realize the translation in three dimensions; Under the driving of middle electrocardiograph and center expansion link portion dress, central shaft 3 can be realized revolution; By at central shaft 3 ends, vacuum cup or fixture being installed, can realize the carrying of material.
Certainly, above-mentioned explanation is not limitation of the present invention, and the present invention is also not limited in above-mentioned giving an example, and variation, remodeling, interpolation or replacement that those skilled in the art make in essential scope of the present invention, also should belong to protection scope of the present invention.
Claims (4)
1. a parallel robot low bottom-disc, it by being connected with vacuum generator and vacuum slot being installed and being realized the carrying to material, is characterized in that, comprises lower shoe, bulb, central shaft, bearing, locking nut; Shown in lower shoe comprise pedestal and extend outward three bodies along described pedestal, it is mutually 120 ° between two; Each body is respectively provided with a bulb away from the two ends of base side; Described central shaft is arranged on the center of pedestal by upper and lower two bearings, described bearing is fixed on pedestal by locking nut; Described lower shoe inside center position is provided with lower shoe central shaft hole, and described lower shoe central shaft hole, bearing, central shaft form an air chamber jointly; Lower shoe is provided with lower shoe side opening, and described central shaft is provided with central shaft side opening, and described central shaft inside is provided with central shaft hole.
2. a kind of parallel robot low bottom-disc according to claim 1, is characterized in that, described bulb is arranged on body by screw thread.
3. a kind of parallel robot low bottom-disc according to claim 1, is characterized in that, described air chamber is connected with vacuum generator by lower shoe side opening.
4. a kind of parallel robot low bottom-disc according to claim 1, is characterized in that, described air chamber is connected with vacuum slot with central shaft hole by central shaft side opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410047810.2A CN103786148A (en) | 2014-02-12 | 2014-02-12 | Lower chassis of parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410047810.2A CN103786148A (en) | 2014-02-12 | 2014-02-12 | Lower chassis of parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103786148A true CN103786148A (en) | 2014-05-14 |
Family
ID=50662423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410047810.2A Pending CN103786148A (en) | 2014-02-12 | 2014-02-12 | Lower chassis of parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103786148A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501037A (en) * | 2018-05-04 | 2018-09-07 | 勃肯特（天津）机器人技术有限公司 | A kind of robot band gas circuit rotary movable disk |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851263A (en) * | 2006-04-07 | 2006-10-25 | 李晓东 | Rotaryshaft gas-supply rotor engine |
| CN2895787Y (en) * | 2006-04-07 | 2007-05-02 | 李晓东 | Rotary-shaft gas-supplying rotor engine |
| JP2007253249A (en) * | 2006-03-20 | 2007-10-04 | Honda Motor Co Ltd | Suction device, and suction method using the same suction device |
| US20090255363A1 (en) * | 2008-04-10 | 2009-10-15 | Murata Machinery, Ltd. | Parallel mechanism |
| US20090269180A1 (en) * | 2007-10-09 | 2009-10-29 | Waeppling Daniel | Industrial Robot Device, An Industrial Robot And A Method For Manipulating Objects |
| JP2011088262A (en) * | 2009-10-26 | 2011-05-06 | Fanuc Ltd | Parallel link robot |
| CN102259338A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN203031374U (en) * | 2012-12-20 | 2013-07-03 | 新宇航空制造(苏州)有限公司 | Oil mist recovery system for machining center |
| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
| CN203804965U (en) * | 2014-02-12 | 2014-09-03 | 青岛汇智机器人有限公司 | Lower chassis of parallel robot |
-
2014
- 2014-02-12 CN CN201410047810.2A patent/CN103786148A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253249A (en) * | 2006-03-20 | 2007-10-04 | Honda Motor Co Ltd | Suction device, and suction method using the same suction device |
| CN1851263A (en) * | 2006-04-07 | 2006-10-25 | 李晓东 | Rotaryshaft gas-supply rotor engine |
| CN2895787Y (en) * | 2006-04-07 | 2007-05-02 | 李晓东 | Rotary-shaft gas-supplying rotor engine |
| US20090269180A1 (en) * | 2007-10-09 | 2009-10-29 | Waeppling Daniel | Industrial Robot Device, An Industrial Robot And A Method For Manipulating Objects |
| US20090255363A1 (en) * | 2008-04-10 | 2009-10-15 | Murata Machinery, Ltd. | Parallel mechanism |
| JP2011088262A (en) * | 2009-10-26 | 2011-05-06 | Fanuc Ltd | Parallel link robot |
| CN102259338A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN203031374U (en) * | 2012-12-20 | 2013-07-03 | 新宇航空制造(苏州)有限公司 | Oil mist recovery system for machining center |
| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
| CN203804965U (en) * | 2014-02-12 | 2014-09-03 | 青岛汇智机器人有限公司 | Lower chassis of parallel robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501037A (en) * | 2018-05-04 | 2018-09-07 | 勃肯特（天津）机器人技术有限公司 | A kind of robot band gas circuit rotary movable disk |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109531543B (en) | Four-freedom parallel robot with double-acting platform structure | |
| US10994410B2 (en) | Three-degree-of-freedom parallel mechanism with curved sliding pairs | |
| WO2018223363A1 (en) | Three-degrees-of-freedom decoupled spherical parallel mechanism | |
| US11691268B2 (en) | Robot having a variable transmission ratio | |
| CN105500347B (en) | A kind of 3-freedom parallel mechanism of achievable stable pure translational | |
| CN103817687A (en) | Six degrees of freedom lightweight modular robot | |
| CN102626919B (en) | Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes | |
| CN103203741A (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN106903678B (en) | A kind of 3-freedom parallel mechanism with arc prismatic pair | |
| CN103802094A (en) | Parallel robot | |
| CN105563458B (en) | A kind of parallel robot of four-bar linkage | |
| CN203804965U (en) | Lower chassis of parallel robot | |
| CN104786234A (en) | 'swing-swing-rotation' type three-freedom-degree wrist mechanism | |
| CN102441891B (en) | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation | |
| CN103786148A (en) | Lower chassis of parallel robot | |
| CN105643660A (en) | Novel two-freedom-degree parallel robot joint | |
| WO2019071465A1 (en) | Parallel manipulator having five degrees of freedom, and multi-axis machining device developed therefrom | |
| CN108544479B (en) | Three-branch four-degree-of-freedom robot with three-dimensional movement and one-dimensional rotation | |
| CN104425309B (en) | Film magazine loading attachment loads chamber, Transmission system and semiconductor processing equipment | |
| CN205394590U (en) | Two degree of freedom robot joint on highly branched chain coupling sphere | |
| CN105563461A (en) | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism | |
| CN106670883B (en) | A kind of six-joint robot | |
| CN204525515U (en) | A kind of connection in series-parallel anthropomorphous machine arm | |
| CN104275691B (en) | There is the asymmetric parallel institution of three two turns of five degree of freedom of shifting | |
| CN109476015A (en) | Industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 256600 No. 1, Kam Yip Road, hi tech Zone, Shandong, Qingdao Applicant after: QINGDAO PHAESTUS IS ENGINEERING CO., LTD. Address before: 256600 No. 1, Kam Yip Road, hi tech Zone, Shandong, Qingdao Applicant before: QINGDAO HUIZHI ROBOT CO., LTD. |
|
| COR | Change of bibliographic data | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140514 |
|
| RJ01 | Rejection of invention patent application after publication |