CN206185862U - Parallel robot - Google Patents
Parallel robot Download PDFInfo
- Publication number
- CN206185862U CN206185862U CN201621243053.7U CN201621243053U CN206185862U CN 206185862 U CN206185862 U CN 206185862U CN 201621243053 U CN201621243053 U CN 201621243053U CN 206185862 U CN206185862 U CN 206185862U
- Authority
- CN
- China
- Prior art keywords
- sliding block
- guide shaft
- parallel robot
- underframe
- platform
- 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.)
- Expired - Fee Related
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- Manipulator (AREA)
Abstract
The utility model relates to a parallel robot, support the guide shaft of going up frame and underframe including last frame, underframe and three groups, set up a slider on the guide shaft be connected with the screw rod on the slider, thereby it makes the slider remove along the axial direction of guide shaft to drive the screw rod rotation through the motor, still include the connecting rod of being connected with the slider, the connecting rod end -to -end connection moves the platform, and the platform parallel can be adjusted in this device simple structure, easily assembly, stable performance, with low costs, realizes automatic control through the motor, and structural arrangement is reasonable.
Description
Technical field
The utility model belongs to industrial robot field, is related to a kind of parallel robot.
Background technology
With the Popularization And Development of parallel institution, the equipment of various parallel institution form is applied to different fields.
It is a kind of especially extensive with the parallel robot application that movable slider is moved up and down by Timing Belt.But the installation according to Timing Belt will
Ask, it is necessary to some parts such as driving wheel, driven pulley, Timing Belt, bearing, bearing block and power down brake, design complexity, dress
With difficulty, cost is also higher.
Utility model content
In view of this, the purpose of this utility model be provide a kind of simple structure, be easily assembled, stable performance, cost
Low New Parallel Manipulator.
To reach above-mentioned purpose, the utility model provides following technical scheme：
Present apparatus parallel robot, including upper frame 1, underframe 2 and three groups of support upper frames and underframe guide shaft 4；
One sliding block 5 is set on the guide shaft 4, and the sliding block 5 is connected with screw rod 8, drives screw rod 8 to rotate so that sliding block by motor
5 can move along the axis direction of guide shaft 4；Also include the connecting rod 9 being connected with sliding block 5, the end of connecting rod 9 connection moving platform 11.
Further, three groups of guide shafts 4 are distributed centered on the axle center of upper frame and underframe in 120 °.
Further, the connecting rod 9 is connected with sliding block 5 and moving platform 11 respectively by oscillating bearing.
Further, the guide shaft 4 is hollow optical axis, and one group is two, is connected with sliding block by linear bearing 12.
Further, a platform 3 is additionally provided with the underframe, the platform 3 is covered by screw support on the screw
There is compression spring.
The beneficial effects of the utility model are：Present apparatus simple structure, be easily assembled, stable performance, low cost, can be with
Adjustment platform parallel, realizes automatically controlling by motor, and three groups of guide shafts 4 are in 120 ° centered on the axle center of upper frame and underframe
Distribution, reasonable structural arrangement.
Brief description of the drawings
In order that the purpose of this utility model, technical scheme and beneficial effect are clearer, the utility model provides as follows
Accompanying drawing is illustrated：
Fig. 1 is the structural representation of the utility model parallel robot；
Fig. 2 is the moving component structural representation of the utility model parallel robot.
Specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
As shown in figure 1, parallel robot of the present utility model include upper frame 1, underframe 2, drive mechanism, laser,
Display and controller, upper frame 1 place the devices, controller such as motor 7, power supply, controller, limit switch, display, button
The upper cover plate of frame is installed in Deng part, so as to optimize equipment wiring, stabilization of equipment performance is improve, underframe 2 is used as branch
Support base, its upper surface is equipped with platform 3, and upper frame 1 and underframe 2 are supported and connected by guide shaft 4, and sliding block is provided with guide shaft 4
5, can be threaded in sliding block 5 and be connected with screw rod 8, it is also possible to which the nut 6 that is connected in sliding block 5 is connected with screw rod, in motor
The effect of self-locking can be reached during power down, nut 6 spins together with the output shaft screw rod 8 of motor 7, sliding block 5 is simultaneously logical with connecting rod 9
Cross oscillating bearing 10 to connect, the other end of connecting rod 9 is connected by another oscillating bearing with moving platform.
Used as further improvement of this embodiment, three groups of guide shafts 4 are in centered on the axle center of upper frame and underframe
120 ° of distributions.
Used as further improvement of this embodiment, guide shaft 4 is hollow optical axis, and one group is two, by linear bearing 12 with
Sliding block is connected.
When three groups of motors 7 are rotated, the screw rod 8 of motor shaft rotates together, nut 6 under the turning effort of screw rod 8 along
Axis direction moves up and down, and guide shaft plays a part of to prevent the motion of nut radial direction.Nut 6 is connected on sliding block 5, sliding block 5
Also lower motion in the axial direction therewith, the motion drivening rod 9 of sliding block 5 is acted, and under three groups of mutual drives of connecting rod 9, moves flat
Platform 11 can be moved in three dimensions.
Platform 3 on underframe 2 is cased with compression spring, the rotation of adjusting screw by several screw supports on each screw
It is parallel with the sports level face of moving platform 11 to ensure the plane where platform 3 to enter depth.
Controller of the present utility model can be by USB cable and computer connection communication, and computer software is to image graph
Shape is analyzed calculating, generates move file, and file content is sent into controller by usb communication, and controller resolves and is
The pulse value of motor movement and motor is rotated, with the rotation of motor, synchronous pulley also concomitant rotation drives Timing Belt to move
Dynamic, so that the connected sliding block 5 of Timing Belt is slided up and down, three couplings of sliding block 5 are slided, after being embodied on moving platform, as
Moving platform motion in three dimensions.
Finally illustrate, preferred embodiment above is only used to illustrate the technical solution of the utility model and unrestricted, to the greatest extent
Pipe is described in detail by above preferred embodiment to the utility model, but those skilled in the art should manage
Solution, can make various changes, without departing from the utility model claims institute to it in the form and details
The scope of restriction.
Claims (5)
1. a kind of parallel robot, it is characterised in that：Including upper frame (1), underframe (2) and three groups of support upper frames and lower frame
The guide shaft (4) of frame；One sliding block (5) is set on the guide shaft (4), screw rod (8) is connected with the sliding block (5), by electricity
Machine drives screw rod (8) to rotate so that sliding block (5) can be moved along the axis direction of guide shaft (4)；Also include being connected with sliding block (5)
Connecting rod (9), connecting rod (9) end connect moving platform (11).
2. parallel robot according to claim 1, it is characterised in that：Three groups of guide shafts (4) are with upper frame and lower frame
In 120 ° of distributions centered on the axle center of frame.
3. parallel robot according to claim 1, it is characterised in that：The connecting rod (9) by oscillating bearing respectively with
Sliding block (5) and moving platform (11) are by connection.
4. parallel robot according to claim 1, it is characterised in that：The guide shaft (4) is hollow optical axis, and one group is two
Root, is connected by linear bearing (12) with sliding block.
5. parallel robot according to claim 1, it is characterised in that：A platform (3) is additionally provided with the underframe,
The platform (3) is cased with compression spring by the screw support being arranged on underframe on the screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621243053.7U CN206185862U (en) | 2016-11-21 | 2016-11-21 | Parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621243053.7U CN206185862U (en) | 2016-11-21 | 2016-11-21 | Parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206185862U true CN206185862U (en) | 2017-05-24 |
Family
ID=58726777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621243053.7U Expired - Fee Related CN206185862U (en) | 2016-11-21 | 2016-11-21 | Parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206185862U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108260284A (en) * | 2018-01-24 | 2018-07-06 | 广西科技大学鹿山学院 | A kind of PCB fast platemaking machines of parallel-connection structure |
| CN112792799A (en) * | 2019-11-13 | 2021-05-14 | 信浓绢糸株式会社 | Parallel robot |
| CN113606466A (en) * | 2021-10-08 | 2021-11-05 | 成都理工大学 | Portable binocular photogrammetry device |
-
2016
- 2016-11-21 CN CN201621243053.7U patent/CN206185862U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108260284A (en) * | 2018-01-24 | 2018-07-06 | 广西科技大学鹿山学院 | A kind of PCB fast platemaking machines of parallel-connection structure |
| CN112792799A (en) * | 2019-11-13 | 2021-05-14 | 信浓绢糸株式会社 | Parallel robot |
| CN113606466A (en) * | 2021-10-08 | 2021-11-05 | 成都理工大学 | Portable binocular photogrammetry device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20181121 |