Parallel robot structure

Abstract

The utility model discloses a parallel robot structure which comprises a static platform, an upper cover, a first gear motor, a driving arm, a driven rod, a movable platform and a feeding mechanism, one end of the driving arm is connected with an output shaft of the first gear motor, the other end of the driving arm is rotatably connected with the upper end of the driven rod, and the movable platform is arranged below the static platform in parallel. The lower ends of the two driven rods of the same set of motors penetrate through the first through holes and are rotationally connected with the upper end wall of the moving platform, the feeding mechanism is arranged on the lower end wall of the moving platform, a first feeding hole is formed in the upper end wall of the upper cover, and a second feeding hole is oppositely formed in the upper end of the moving platform and the upper end of the feeding mechanism in a concave mode. And a discharging hole is concavely formed in the lower end part of the feeding mechanism. According to the technical scheme, materials can be automatically conveyed to a preset position in a high-precision mode, the feeding efficiency and precision are greatly improved, the labor intensity and the labor cost are reduced, and the feeding device is simple in structure, stable and reliable in work and high in practicability.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a parallel robot structure. Background Technology

[0002] Currently, the feeding of rod-shaped materials mostly relies on manual labor to move the materials to designated positions, which is labor-intensive, inefficient, has a high error rate, and results in unstable classification accuracy.

[0003] To address this, we propose a parallel robot structure for automatic feeding of rod-shaped materials, aiming to improve feeding efficiency and accuracy while reducing labor intensity. Utility Model Content

[0004] The main objective of this invention is to propose a parallel robot structure that aims to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the parallel robot structure proposed in this utility model includes a static platform, a top cover, a first geared motor, an active arm, a driven rod, a moving platform, and a loading mechanism. The top cover is detachably bolted to the upper end of the static platform. The number of the first geared motor, the active arm, and the driven rod is six in total. Two first geared motors are arranged side-by-side as a group of motors, and the three groups of motors are symmetrically arranged in a triangle on the inner peripheral wall of the static platform. One end of the active arm is connected to the output shaft of the first geared motor, and the other end of the active arm is rotatably connected to the upper end of the driven rod. The mobile platform is arranged parallel to the bottom of the stationary platform. The two active arms and two driven rods of the same set of motors are arranged in a figure-eight shape. The lower end of the stationary platform is provided with a first through hole. The lower ends of the two driven rods of the same set of motors pass through the first through hole and are rotatably connected to the upper end wall of the mobile platform. The feeding mechanism is provided on the lower end wall of the mobile platform. The upper end wall of the upper cover is provided with a first feed hole. The upper ends of the mobile platform and the feeding mechanism are recessed with a second feed hole. The lower end of the feeding mechanism is recessed with a discharge hole. The feeding mechanism is used for automatic feeding.

[0006] Optionally, the upper wall of the mobile platform is symmetrically provided with three connecting seats, and the lower ends of the two driven rods of the same group of motors pass through the first through hole and are rotatably connected to the two adjacent connecting seats respectively.

[0007] Optionally, the feeding mechanism includes a housing, a second reduction motor, a third reduction motor, and clamping feed rollers. The second and third reduction motors are respectively disposed on the two inner side walls of the housing. The clamping feed rollers are detachably and fixedly connected to the output shafts of the second and third reduction motors, respectively. The clamping feed rollers are arranged side by side, and the second feed hole and the discharge hole are located directly above and directly below the gap between the two clamping feed rollers, respectively.

[0008] Optionally, a limiting groove is recessed along the circumferential direction on the outer peripheral wall of the clamping feed roller.

[0009] Optionally, it also includes a clamping feed roller mounting base. The output shafts of the second and third geared motors are provided with a plurality of triangular limiting protrusions along the circumferential direction. The clamping feed roller mounting base is respectively provided with a mounting hole in the middle. The inner circumferential wall of the mounting hole is provided with a plurality of triangular limiting grooves. The output shafts of the second and third geared motors are respectively detachably embedded in the mounting hole, and the triangular limiting protrusions are respectively embedded in the triangular limiting grooves. The clamping feed roller is detachably and fixedly connected to the clamping feed roller mounting base by screws.

[0010] Optionally, the active arm, driven rod, and moving platform are all made of carbon fiber.

[0011] The technical solution of this utility model has the following beneficial effects: The technical solution of this utility model involves a top cover detachably mounted on the upper end of the stationary platform via bolts. The number of first reduction motors, driving arms, and driven rods are all set to six. Two first reduction motors form a group of motors, and the three groups of motors are arranged symmetrically in a triangle on the inner circumferential wall of the stationary platform. One end of the driving arm is connected to the output shaft of the first reduction motor, and the other end of the driving arm is rotatably connected to the upper end of the driven rod. The moving platform is arranged parallel to the lower part of the stationary platform. The two driving arms and two driven rods of the same group of motors are arranged in a V-shape. The lower end of the stationary platform is provided with a first through hole. The lower ends of the two driven rods of the same set of motors pass through the first through hole and are rotatably connected to the upper end wall of the moving platform. The feeding mechanism is set on the lower end wall of the moving platform. The upper end wall of the cover is provided with a first feed hole. The upper ends of the moving platform and the feeding mechanism are respectively recessed with a second feed hole. The lower end of the feeding mechanism is recessed with a discharge hole, thereby realizing the high-precision automatic conveying of materials to the preset position, completing the automatic feeding of materials, greatly improving the efficiency and accuracy of feeding, reducing labor intensity and labor costs, and having a simple structure, stable and reliable operation, and strong practicality. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of a parallel robot according to an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the overall structure of a parallel robot according to an embodiment of the present invention from another perspective.

[0015] Figure 3 This is an exploded structural diagram of a parallel robot structure according to an embodiment of the present invention;

[0016] Figure 4 This is a partially exploded structural diagram of a parallel robot structure according to an embodiment of the present invention;

[0017] Figure 5 This is an exploded structural diagram of another part of a parallel robot structure according to an embodiment of the present invention.

[0018] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0022] This utility model proposes a parallel robot structure.

[0023] like Figures 1 to 5 As shown, in one embodiment of this utility model, the parallel robot structure includes a static platform 101, a top cover 102, a first reduction motor 103, an active arm 104, a driven rod 105, a moving platform 106, and a loading mechanism 107. The top cover 102 is detachably bolted to the upper end of the static platform 101. The number of the first reduction motor 103, the active arm 104, and the driven rod 105 are all set to six. Two first reduction motors 103 are arranged side-by-side as one group of motors, and the three groups of motors are arranged symmetrically in a triangle on the inner peripheral wall of the static platform 101. One end of the active arm 104 is connected to the output shaft of the first reduction motor 103, and the other end of the active arm 104 is rotatably connected to the upper end of the driven rod 105. Platform 106 is arranged parallel to the bottom of stationary platform 101. The active arms 104 and two driven rods 105 of the two first reduction motors 103 of the same set of motors are respectively arranged in a figure-eight shape. The lower end of stationary platform 101 is provided with a first through hole 1011. The lower ends of the two driven rods 105 of the same set of motors pass through the first through hole 1011 and are rotatably connected to the upper end wall of moving platform 106, thereby forming a 6-degree-of-freedom parallel mechanism. The feeding mechanism 107 is provided on the lower end wall of moving platform 106. The upper end wall of upper cover 102 is provided with a first feed hole 1021. The upper ends of moving platform 106 and feeding mechanism 107 are respectively recessed with a second feed hole 108. The lower end of feeding mechanism 107 is recessed with a discharge hole 109.

[0024] Specifically, the upper wall of the mobile platform 106 is symmetrically provided with three connecting seats 110. The lower ends of the two driven rods 105 of the same motor pass through the first through hole 1011 and are rotatably connected to the two adjacent connecting seats 110 respectively. The material is automatically moved to the preset position through the mobile platform.

[0025] Specifically, the feeding mechanism 107 includes a housing 1071, a second reduction motor 1072 and a third reduction motor 1073, and a clamping feeding roller 1074. The second reduction motor 1072 and the third reduction motor 1073 are respectively disposed on the two inner side walls of the housing 1071. The clamping feeding roller 1074 is detachably and fixedly connected to the output shafts of the second reduction motor 1072 and the third reduction motor 1073. The clamping feeding roller 1074 is arranged side by side. The second feed hole 108 and the discharge hole 109 are located directly above and directly below the gap between the two clamping feeding rollers 1074, respectively. The automatic feeding and conveying of materials is realized through the clamping action of the clamping feeding roller.

[0026] Specifically, a limiting groove 10741 is recessed along the circumferential direction on the outer peripheral wall of the clamping feed roller 1074 to limit the material.

[0027] Specifically, it also includes a clamping feed roller mounting base 1075. The output shafts of the second reduction motor 1072 and the third reduction motor 1073 are provided with multiple triangular limiting protrusions (not shown) along the circumferential direction. The clamping feed roller mounting base 1075 is respectively recessed in the middle of a mounting hole 10751. The inner circumferential wall of the mounting hole 10751 is provided with multiple triangular limiting grooves (not shown) along the circumferential direction. The output shafts of the second reduction motor 1072 and the third reduction motor 1073 are respectively detachably embedded in the mounting hole 10751, and the triangular limiting protrusions are respectively embedded in the triangular limiting grooves. The clamping feed roller 1074 is detachably and fixedly connected to the clamping feed roller mounting base 1075 by screws. Through the structural design of the clamping feed roller mounting base, the installation and removal of the clamping feed roller is more convenient and quick.

[0028] Specifically, the active arm 104, the driven rod 105, and the moving platform 106 are all made of carbon fiber. The density of carbon fiber is only 1 / 4 that of steel and 1 / 2 that of aluminum alloy, but its strength is far greater than that of steel and aluminum alloy. This can significantly reduce weight, achieving extreme lightweighting while ensuring structural rigidity. This facilitates high-speed movement and energy-saving operation, improves dynamic response speed, and reduces motion inertia through lightweight design. This makes the parallel robot start and stop more agile, increasing acceleration by more than 30%. While maintaining a high load capacity (20kg), the movement speed is increased by 40%, and the accuracy reaches ±0.5mm level, solving the problem of accuracy decay under high-speed movement of parallel robots.

[0029] Specifically, the working principle and process of this utility model are as follows:

[0030] By feeding rod-shaped materials into the feeding mechanism through the first and second feed holes of the upper stationary platform, passing between the two clamping feed rollers, and finally exiting through the lower discharge hole, the automatic feeding of materials is achieved through the clamping of the feed rollers and the driving action of the second and third geared motors. The first geared motor drives the moving platform to move, enabling the feeding mechanism to move flexibly, thereby realizing the automatic feeding of materials and moving them to the preset position with high precision. This completes the automatic feeding of materials, greatly improving the efficiency and accuracy of feeding, reducing labor intensity and labor costs, and is simple in structure, stable and reliable in operation, and highly practical.

[0031] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A parallel robot structure, characterized in that, The system includes a stationary platform, a top cover, a first geared motor, a drive arm, a driven rod, a moving platform, and a loading mechanism. The top cover is detachably bolted to the upper end of the stationary platform. There are six first geared motors, six drive arms, and six driven rods. Two first geared motors are arranged side-by-side as one group of motors, and the three groups of motors are symmetrically arranged in a triangle on the inner circumferential wall of the stationary platform. One end of the drive arm is connected to the output shaft of the first geared motor, and the other end of the drive arm is rotatably connected to the upper end of the driven rod. The moving platform is arranged parallel to the load. Below the stationary platform, the two active arms and two driven rods of the same set of motors are respectively arranged in a figure-eight shape. The lower end of the stationary platform is provided with a first through hole. The lower ends of the two driven rods of the same set of motors pass through the first through hole and are rotatably connected to the upper end wall of the moving platform. The feeding mechanism is provided on the lower end wall of the moving platform. The upper end wall of the upper cover is provided with a first feed hole. The upper ends of the moving platform and the feeding mechanism are respectively recessed with a second feed hole. The lower end of the feeding mechanism is recessed with a discharge hole. The feeding mechanism is used for automatic feeding.

2. The parallel robot structure according to claim 1, characterized in that, The upper wall of the mobile platform is symmetrically provided with three connecting seats. The lower ends of the two driven rods of the same group of motors pass through the first through hole and are rotatably connected to the two adjacent connecting seats respectively.

3. The parallel robot structure according to claim 1, characterized in that, The feeding mechanism includes a housing, a second geared motor, a third geared motor, and clamping feed rollers. The second geared motor and the third geared motor are respectively disposed on the two inner side walls of the housing. The clamping feed rollers are detachably and fixedly connected to the output shafts of the second geared motor and the third geared motor, respectively. The clamping feed rollers are arranged side by side. The second feed hole and the discharge hole are located directly above and directly below the gap between the two clamping feed rollers, respectively.

4. The parallel robot structure according to claim 3, characterized in that, A limiting groove is recessed along the circumferential direction on the outer peripheral wall of the clamping feed roller.

5. The parallel robot structure according to claim 3, characterized in that, It also includes a clamping feed roller mounting base. The output shafts of the second and third geared motors are provided with multiple triangular limiting protrusions along the circumferential direction. The clamping feed roller mounting base is respectively provided with a mounting hole in the middle. The inner circumferential wall of the mounting hole is provided with multiple triangular limiting grooves. The output shafts of the second and third geared motors are respectively detachably embedded in the mounting hole, and the triangular limiting protrusions are respectively embedded in the triangular limiting grooves. The clamping feed roller is detachably and fixedly connected to the clamping feed roller mounting base by screws.

6. The parallel robot structure according to claim 1, characterized in that, The active arm, driven rod, and moving platform are all made of carbon fiber.

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