CN208451613U - Block and parallel robot are stablized in parallel connection - Google Patents
Block and parallel robot are stablized in parallel connection Download PDFInfo
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- CN208451613U CN208451613U CN201721897430.3U CN201721897430U CN208451613U CN 208451613 U CN208451613 U CN 208451613U CN 201721897430 U CN201721897430 U CN 201721897430U CN 208451613 U CN208451613 U CN 208451613U
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Abstract
The utility model provide it is a kind of it is in parallel stablize block and parallel robot, be related to robotic technology field.It includes clamp system and bindiny mechanism that block is stablized in parallel connection；Clamp system be equipped at intervals with it is multiple, multiple clamp systems be respectively used to clamp forearm multiple struts；Bindiny mechanism is connected with the both ends of multiple clamp systems respectively, for guaranteeing that the distance between multiple struts are constant, the forearm for solving parallel robot existing in the prior art is easily deformed, cause the error of parallel robot end larger, the lower technical problem of precision, since bindiny mechanism is connected with clamp system, so that forearm is during the motion, the distance between multiple struts of forearm remain unchanged, to ensure that the stability of forearm structure, improve the rigidity of forearm, reduce the probability for causing forearm to deform due to inertia, to improve the precision of parallel robot, the normal table operation of parallel robot is ensured.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of stable block in parallel and parallel robot.
Background technique
In the industries such as automation, electronics, light industry, food and medical treatment, robot is needed to complete such as to carry, case, envelope
The operation such as dress and packaging, usual robot mechanism is divided into two class of Open Loop Mechanism and close loop mechanism, man-machine by machine of Open Loop Mechanism
Structure prototype is serial mechanism, is parallel institution by robot prototype of close loop mechanism, and corresponding robot architecture can also divide
For two class of serial manipulator and parallel robot.As an important branch of theory of mechanisms, parallel institution and serial mechanism are being tied
It is in duality relation on structure and performance characteristics, serial mechanism is the open kinematic chain that each rod piece is sequentially connected by kinematic pair, this kind of machine
People have big working space and high flexibility, the disadvantage is that: due to the accumulation of each rod piece error cause end piece precision it is very low,
Rigidity is low, inertia is big, and dynamic performance is very poor, therefore serial manipulator is needing the different areas of activity of high positioning and control precision very
Not applicable, in order to avoid this kind of disadvantage, robot mechanism can use parallel institution.
Parallel institution is a kind of close loop mechanism, and the disconnected actuator of moving platform or end passes through at least two independent kinematic chains
It is connected with fixed platform.Parallel institution is compared with serial mechanism, with compact-sized, rigidity is high, bearing capacity is strong, accumulated error
Small, precision is influenced compared with the features such as high, exercise load is small, system inertia is low and then dynamic response is good, thus parallel robot is in work
Industry field is widely used.Currently, parallel institution is in lathe, inching operation platform, robot and torque sensor, flight
Increasingly paid attention in the industries such as simulator.
But existing parallel robot is in the case where carry weight and fast offset, since inertia leads to parallel connection
The forearm of robot is easy to be deformed, so that the error that the end of parallel robot generates is larger, precision is lower, to parallel connection
The normal table operation of robot produces influence.
Utility model content
The purpose of this utility model is to provide a kind of stable block in parallel and parallel robots, to solve to deposit in the prior art
The forearm of parallel robot be easily deformed, lead to the technical problem that the error of parallel robot end is larger, precision is lower.
Block in parallel of stablizing provided by the utility model includes clamp system and bindiny mechanism；
The clamp system be equipped at intervals with it is multiple, multiple clamp systems be respectively used to clamp forearm multiple struts；
The bindiny mechanism is connected with the both ends of multiple clamp systems respectively, for guaranteeing between multiple struts
Distance it is constant.
Further, the clamp system includes two gripping blocks being oppositely arranged and the use in the gripping block
In the fastener for fixing two gripping blocks；
The structure of the gripping block is matched with the structure of the strut, and two gripping blocks are to being sandwiched on the strut
To be clamped to the strut.
Further, the bindiny mechanism include two connecting plates, one end of two connecting plates respectively with two institutes
Gripping block is stated to be rotatablely connected far from one end of the strut.
Further, the connecting plate and the gripping block are connected by pin shaft and the bearing being arranged on pin shaft rotation
It connects.
Further, the bindiny mechanism further includes the support column for connecting two connecting plates.
Further, the clamp system is set to the middle part of the forearm.
Parallel robot provided by the utility model, including forearm and on the forearm such as above-mentioned technical proposal
Any one of described in parallel connection stablize block.
Further, further include fixed platform, the large arm being rotatablely connected respectively with the fixed platform and the forearm and with
The moving platform that the forearm is rotatablely connected far from one end of the large arm；
The large arm and the forearm are equipped with multiple.
Further, the forearm includes two struts, and the large arm is by being symmetrically disposed on the two of the large arm end
A spherical joint head is rotatablely connected with two struts respectively.
Further, the large arm is curved rod, is equipped with multiple through-holes along the extending direction of the large arm in the large arm.
In parallel block of stablizing provided by the utility model includes clamp system and bindiny mechanism, clamp system be equipped with it is multiple, and
And the setting of multiple clamp system intervals, clamp system are used to clamp the strut of forearm, the strut of forearm be usually provided with it is multiple,
So that each clamp system respectively corresponds corresponding forearm strut, so that multiple clamp systems be made to be respectively used to clamp the more of forearm
A strut plays the role of fixed and positions to forearm strut.Bindiny mechanism makes forearm for connecting multiple clamp systems
Multiple struts are respectively connected with by clamp system and bindiny mechanism, are played fixed function to the strut of forearm, are avoided forearm
Deformation.Specifically, bindiny mechanism is connected with the both ends of multiple clamp systems respectively.
Due to being provided with bindiny mechanism, bindiny mechanism is connected with clamp system, so that forearm is during the motion, forearm
The distance between multiple struts remain unchanged, to ensure that the stability of forearm structure, improve the rigidity of forearm so that
Forearm reduces the probability for causing forearm to deform due to inertia, so that in parallel in the case where carry weight and fast offset
The end of robot will not generate biggish error, to improve the precision of parallel robot, ensure parallel robot
Normal table operation.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the first embodiment in parallel for stablizing block provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of second of embodiment in parallel for stablizing block provided by the embodiment of the utility model；
The top view of Fig. 3 Fig. 2；
Fig. 4 is the structural schematic diagram of parallel robot provided by the embodiment of the utility model.
Icon: 100- clamp system；200- bindiny mechanism；300- fixed platform；400- large arm；500- forearm；600- is dynamic flat
Platform；110- gripping block；120- fastener；210- connecting plate；220- support column；410- through-hole；510- strut.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
In the description of the present invention, it should be noted that such as occur term " center ", "upper", "lower", " left side ",
" right side ", "vertical", "horizontal", "inner", "outside" etc., indicated by orientation or positional relationship be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, such as there is term " first ", " second ", " third " are used for description purposes only, be not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, such as there is term
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment 1 and embodiment 2 are described in detail with reference to the accompanying drawing:
Fig. 1 is the structural schematic diagram of the first embodiment in parallel for stablizing block provided by the embodiment of the utility model；Fig. 2
For the structural schematic diagram of second of embodiment in parallel for stablizing block provided by the embodiment of the utility model；The vertical view of Fig. 3 Fig. 2
Figure；Fig. 4 is the structural schematic diagram of parallel robot provided by the embodiment of the utility model.
Embodiment 1
Please with reference to Fig. 1-4, a kind of stable block in parallel, including clamp system 100 and connection machine are present embodiments provided
Structure 200, specifically:
Clamp system 100 be equipped at intervals with it is multiple, multiple clamp systems 100 be respectively used to clamp forearm 500 multiple struts
510；
Bindiny mechanism 200 is connected with the both ends of multiple clamp systems 100 respectively, for guaranteeing between multiple struts 510
Apart from constant.
As shown in Figure 1, in parallel block of stablizing includes clamp system 100 and bindiny mechanism 200, clamp system 100 be equipped with it is multiple,
Also, the setting of multiple intervals of clamp system 100, clamp system 100 are used to clamp the strut 510 of forearm 500, the branch of forearm 500
Bar 510 be usually provided with it is multiple so that each clamp system 100 respectively corresponds the strut 510 of corresponding forearm 500, to make
Multiple clamp systems 100 are respectively used to clamp multiple struts 510 of forearm 500, to the strut 510 of forearm 500 play it is fixed and
The effect of positioning.Bindiny mechanism 200 makes multiple struts 510 of forearm 500 pass through folder for connecting multiple clamp systems 100
Tight mechanism 100 and bindiny mechanism 200 are respectively connected with, and play fixed function to the strut 510 of forearm 500, avoid forearm 500
Deformation.Specifically, bindiny mechanism 200 is connected with the both ends of multiple clamp systems 100 respectively.
Due to being provided with bindiny mechanism 200, bindiny mechanism 200 is connected with clamp system 100, so that forearm 500 is being transported
During dynamic, the distance between multiple struts 510 of forearm 500 are remained unchanged, to ensure that the stabilization of 500 structure of forearm
Property, the rigidity of forearm 500 is improved, so that forearm 500 in the case where carry weight and fast offset, is reduced due to used
Property cause forearm 500 deform probability so that the end of parallel robot will not generate biggish error, to improve parallel connection
The precision of robot has ensured the normal table operation of parallel robot.
In a kind of specific embodiment, clamp system 100 be equipped with it is multiple, also, multiple clamp systems 100 along perpendicular to
Successively parallel interval is arranged in the direction of forearm 500, so that multiple with forearm 500 of bindiny mechanism 200 and clamp system 100
Bar 510 is perpendicular, avoids clamp system 100 and bindiny mechanism 200 from being obliquely installed, reduces the difficulty designed and manufactured, be easy to
Guarantee the precision of installation and the connection in parallel for stablizing block and forearm 500, to be conducive to improve the rigidity of forearm 500, improves simultaneously
Join the precision of robot.
In the optinal plan of the present embodiment, clamp system 100 includes gripping block 110 and fastener 120.Gripping block 110 is set
There are two setting, also, two gripping blocks 110 are oppositely arranged for clamping 500 strut 510 of forearm, specifically, gripping block 110
Structure is matched with the structure of strut 510, and the middle part of two gripping blocks 110 is groove, the section of groove and the half of strut 510
The structure snd size in face match, so that the groove of two gripping blocks 110 is made to match the cross section structure to form strut 510, two
A groove engagement sleeves be set to strut 510 outside, thus make two gripping blocks 110 to be sandwiched on strut 510 with realize to strut
510 clamping.
Clamp system 100 is implemented to position in operation, first with two gripping blocks 110 to strut 510, and it is suitable to determine
Implement to clamp after installation site, when clamping, two gripping blocks 110 are fastenedly connected using fastener 120.Fastener
120 are set in gripping block 110, and fastener 120 can be equipped with one or more, and fastener 120 and the connection of gripping block 110 can be used
It the connection types such as is bolted, to realize the fixation to gripping block 110, guarantees that gripping block 110 will not be from 500 strut 510 of forearm
On fall off, guarantee that the in parallel normal function for stablizing block is achieved.Fastener 120, when connecting, connects with gripping block 110 for raising
The reliability connect, settable elastomeric pad between fastener 120 and gripping block 110, then be bolted, to avoid connecting
Failure, improves the service life of bolt connection piece.
In another optinal plan of the present embodiment, clamp system 100 includes gripping block 110, and gripping block 110 may also set up
One, at the middle part of gripping block 110, setting is fluted, and groove is matched with the structure of strut 510, and strut 510 is inserted
In groove, the connection of strut 510 and groove is using being interference fitted, so that gripping block 110 be enable to implement to press from both sides to strut 510
Tightly, it avoids gripping block 110 from falling off, guarantees that gripping block 110 will not fall off from 500 strut 510 of forearm, guarantee stable block in parallel
Normal function is achieved.
In a kind of specific embodiment, as shown in Figure 1, bindiny mechanism 200 includes connecting plate 210, connecting plate 210 is equipped with
Two, also, one end of two connecting plates 210 is rotatablely connected with two gripping blocks 110 far from one end of strut 510 respectively.Even
Fishplate bar 210 can be arranged in an oblique way with gripping block 110, the length of connecting plate 210 centainly to guarantee between multiple struts 510 away from
From not changing, but the design and manufacture of this mode gripping block 110 and connecting plate 210 are complicated, and precision is difficult to ensure, preferably
Ground, connecting plate 210 and the perpendicular setting of gripping block 110 are convenient for so that gripping block 110 and the design and manufacture of connecting plate 210 are simple
Guarantee connection precision, meanwhile, the line of centres and strut 510 of two junctions of two connecting plates 210 and two gripping blocks 110
Center on the same line, to make connecting plate 210, gripping block 110 and 500 strut 510 of forearm be coaxially disposed, convenient for guaranteeing
Connection precision guarantees that the distance between multiple struts 510 do not change, to ensure that the stability of 500 structure of forearm, mentions
The high rigidity of forearm 500, so that forearm 500 in the case where carry weight and fast offset, is reduced since inertia is led
The probability for causing forearm 500 to deform, so that the end of parallel robot will not generate biggish error, to improve parallel manipulator
The precision of people has ensured the normal table operation of parallel robot.
Specifically, pin shaft and bearing can be used to realize in the rotation connection of connecting plate 210 and gripping block 110.Connecting plate 210
It is connected with gripping block 110 by pin shaft, so that can relatively rotate between connecting plate 210 and gripping block 110, guarantees forearm
500 proper motion avoids the parallel connection of setting gripping block 110 and connecting plate 210 from stablizing block and generates to the proper motion of forearm 500
Interference, to influence the normal operation of parallel robot, while for make it is in parallel stablize block activity flexibly, reduce connecting plate 210 with
The pivoting friction of 110 junction of gripping block, is arranged with bearing on pin shaft, and connecting plate 210 is made to pass through bearing and 110 phase of gripping block
Even, to reduce friction when 500 strut 510 of forearm moves between connecting plate 210 and gripping block 110, it ensure that forearm 500
The flexibility of movement improves kinematic accuracy.
For the stability for improving bindiny mechanism 200, avoid 500 strut 510 of forearm in carry weight and fast offset
Process kind has an impact bindiny mechanism 200 since inertia causes the forearm 500 of parallel robot to be deformed, makes connection machine
Structure 200 occurs unstability and can not play the role of stable block in parallel, and as shown in Figures 2 and 3, bindiny mechanism 200 further includes support
Column 220, support column 220 are connected with two connecting plates 210 respectively, support column 220 can be set between two clamp systems 100 to
The stable structure for guaranteeing the connecting plate 210 between two clamp systems 100, improves the stability of bindiny mechanism 200, guarantees
Forearm 500 rigidity with higher makes block in parallel of stablizing can be realized its function.
Since the length of usual forearm 500 is longer, stability is poor, to enable the effect abundant reality in parallel for stablizing block
Now, in a kind of specific embodiment, clamp system 100 is set to the middle part of forearm 500, i.e., block in parallel of stablizing is set to forearm 500
Medium position to improve the rigidity of forearm 500, make forearm 500 in carry weight and fast so that 500 stress of forearm is good
In the case where speed displacement, the probability for causing forearm 500 to deform due to inertia is reduced, so that the end of parallel robot will not generate
Biggish error has ensured the normal table operation of parallel robot to improve the precision of parallel robot.
Embodiment 2
As shown in figure 4, a kind of parallel robot is present embodiments provided, including forearm 500 and on forearm 500
Block is stablized in parallel connection in embodiment 1.Preferably, the in parallel medium position stablized block and can be set to forearm 500, make forearm 500 by
Power is in good condition, improves the rigidity of forearm 500, the probability for causing forearm 500 to deform due to inertia is reduced, so that parallel robot
End will not generate biggish error, to improve the precision of parallel robot.
Parallel robot further includes fixed platform 300, large arm 400 and moving platform 600.Fixed platform 300 with outside for setting
It is standby to be connected, to facilitate the installation and removal of parallel robot, to realize the normal operation of parallel robot.According to parallel manipulator
The job specification of people is different, and the motion conditions of fixed platform 300 are also different, such as fixed platform 300 and the fixed company of external equipment
It connects or fixed platform 300 does relative motion relative to external equipment.Meanwhile fixed platform 300 and large arm 400 are rotatablely connected, and are allocated
Platform 300 plays supporting role to large arm 400, is the skeleton of entire parallel robot, has ensured the normal work of parallel robot
Industry.
The one end of large arm 400 far from fixed platform 300 and forearm 500 are rotatablely connected, the one end of forearm 500 far from large arm 400
It is rotatablely connected with moving platform 600, moving platform 600 is for clamping object, so that the movement of large arm 400 be made to be able to drive forearm 500
Movement, forearm 500 movement drive moving platform 600 movement, so that moving platform 600 is completed corresponding job task.
Parallel robot usually has two or more freedom degrees, thus large arm 400 and forearm 500 be equipped with it is multiple,
Can according to the actual job requirements of parallel robot to freedom degree requirement selection setting large arm 400 and forearm 500 number,
Make parallel robot that there is suitable freedom degree, to meet the needs of normal operation.
In a kind of specific embodiment, forearm 500 includes two struts 510, and two struts 510 are respectively arranged on large arm
400 two sides, and be symmetrical arranged relative to large arm 400, to keep the kinetic stability of parallel robot good, balance is good, fortune
Dynamic precision is higher, while can be realized heavy load movement, and specifically, large arm 400 is by being symmetrically disposed on the two of 400 end of large arm
A spherical joint head is rotatablely connected with two struts 510 respectively so that the activity of 500 strut 510 of forearm is flexibly, service life compared with
It is long.
In the optinal plan of the present embodiment, large arm 400 is curved rod, and curved rod structure is beautiful, and stress is good, Neng Gouti
The rigidity of high parallel robot is equipped with multiple through-holes 410 along the extending direction of large arm 400 in large arm 400, reduces large arm 400
Weight reduced costs to keep dead load small, through-hole 410 can change so that structure is beautiful for square hole or round hole
Kind stress performance.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of stable block in parallel, which is characterized in that including clamp system and bindiny mechanism；
The clamp system be equipped at intervals with it is multiple, multiple clamp systems be respectively used to clamp forearm multiple struts；
The bindiny mechanism is connected with the both ends of multiple clamp systems respectively, for guarantee between multiple struts away from
From constant.
2. stable block in parallel according to claim 1, which is characterized in that the clamp system includes two be oppositely arranged
Gripping block and the fastener for being used to fix two gripping blocks in the gripping block；
The structure of the gripping block is matched with the structure of the strut, and two gripping blocks are to being sandwiched on the strut with right
The strut is clamped.
In parallel stablizing block 3. according to claim 2, which is characterized in that the bindiny mechanism includes two connecting plates, and two
One end of a connecting plate is rotatablely connected with two gripping blocks far from one end of the strut respectively.
4. stable block in parallel according to claim 3, which is characterized in that the connecting plate and the gripping block pass through pin shaft
With the bearing rotation connection being arranged on the pin shaft.
5. stable block in parallel according to claim 3, which is characterized in that the bindiny mechanism further includes described in connection two
The support column of connecting plate.
6. stable block in parallel according to any one of claims 1-5, which is characterized in that the clamp system is set to described
The middle part of forearm.
7. a kind of parallel robot, which is characterized in that including forearm and on the forearm as in claim 1-6 appoint
Block is stablized in parallel connection described in one.
8. parallel robot according to claim 7, which is characterized in that further include fixed platform, respectively with the fixed platform
With the large arm of forearm rotation connection and the moving platform of one end rotation connection with the forearm far from the large arm；
The large arm and the forearm are equipped with multiple.
9. parallel robot according to claim 8, which is characterized in that the forearm includes two struts, the large arm
Two spherical joint heads by being symmetrically disposed on the large arm end are rotatablely connected with two struts respectively.
10. parallel robot according to claim 8, which is characterized in that the large arm is curved rod, edge in the large arm
The extending direction of the large arm is equipped with multiple through-holes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721897430.3U CN208451613U (en) | 2017-12-29 | 2017-12-29 | Block and parallel robot are stablized in parallel connection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721897430.3U CN208451613U (en) | 2017-12-29 | 2017-12-29 | Block and parallel robot are stablized in parallel connection |
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| Publication Number | Publication Date |
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| CN208451613U true CN208451613U (en) | 2019-02-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500583A (en) * | 2021-07-06 | 2021-10-15 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
-
2017
- 2017-12-29 CN CN201721897430.3U patent/CN208451613U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500583A (en) * | 2021-07-06 | 2021-10-15 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
| CN113500583B (en) * | 2021-07-06 | 2023-02-28 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210510 Address after: No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province Patentee after: Bokent (Yuyao) robot technology Co.,Ltd. Address before: Room 101, 1st floor, building A2, area a, airport international headquarters base, No.8 Pingying Road, Dongli District, Tianjin Patentee before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |
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