CN103878783B - Joint structure of parallel robot - Google Patents
Joint structure of parallel robot Download PDFInfo
- Publication number
- CN103878783B CN103878783B CN201310706777.5A CN201310706777A CN103878783B CN 103878783 B CN103878783 B CN 103878783B CN 201310706777 A CN201310706777 A CN 201310706777A CN 103878783 B CN103878783 B CN 103878783B
- Authority
- CN
- China
- Prior art keywords
- connecting portion
- bar
- parallel robot
- motion platform
- room
- 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
Links
- 239000000314 lubricant Substances 0.000 claims description 9
- 239000004519 grease Substances 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 12
- 239000000446 fuel Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Abstract
The utility model provides a joint structure of parallel robot locates parallel robot, and this parallel robot has a plurality of first poles, second pole and a motion platform, and first pole has first connecting portion, and the second pole has second and third connecting portion, and the motion platform has the fourth connecting portion, and first connecting portion are joined to the second connecting portion, and third connecting portion are joined to the fourth connecting portion, joint structure characterized in that of parallel robot: one of the first rod, the second rod or the motion platform is provided with a containing chamber, the containing chamber corresponds to the assembly and penetrates through the surface of the first connecting part of the first rod, the second connecting part of the second rod, the third connecting part of the second rod or the fourth connecting part of the motion platform to form a hole, and the hole is covered by one of the first connecting part of the first rod, the second connecting part of the second rod, the third connecting part of the second rod or the fourth connecting part of the motion platform.
Description
Technical field
The present invention is relevant with parallel robot, refers to a kind of articulation structure of parallel robot especially.
Background technology
Press, along with driving demand day obviously of social progress and industrial automation, robot demand grows with each passing day.Generally speaking, the structure of robot can be divided into tandem (serialmechanism) and parallel (parallelmechanism).And parallel robot is compared to tandem robot, have precision compared with high, motional inertia is little, bearing capacity is large, less etc. the advantage of working space, also therefore makes parallel robot be used widely.Artificially routine with Delta machine, as the U.S.'s No. 4976582 patent, it is a kind of parallel robot, and each joint portion is that the combination of two bearings group reaches two-freedom degree joint, with three upper arm for active body connects underarm and motion platform.The and for example U.S.'s No. 7735390 patent, the Delta robot that it provides is the angle change of the motion platform being driven parallel four limit types with four upper arm by underarm rod member, and collocation gear train, reaches the motion of translation and the anglec of rotation.
Only, can find from known technology, all unlubricated Mechanism Design of the articulation structure of current parallel robot between its rod member, this is quite unfavorable for being often in the joint of operating state, easily produces wearing and tearing and lowers operation life.
Summary of the invention
The object of the present invention is to provide a kind of articulation structure of parallel robot, it can be filled lubricant grease and lubricate the joint between rod member.
For achieving the above object, according to the articulation structure of a kind of parallel robot provided by the present invention, be located at a parallel robot, this parallel robot has multiple first bar, respectively this first bar one end has one first connecting portion, the other end then drives by external force, multiple second bar, respectively these the second bar two ends have one second connecting portion and one the 3rd connecting portion respectively, respectively this second connecting portion links respectively this first connecting portion respectively, one motion platform, there is multiple 4th connecting portion, respectively the 4th connecting portion links respectively the 3rd connecting portion respectively, respectively this second bar and then allow this motion platform move is driven by outer power-actuated respectively this first bar, the articulation structure of this parallel robot is characterised in that: respectively this first bar, one of them of respectively this second bar or this motion platform has a room, corresponding aforementioned components of this room and run through the first connecting portion of this first bar, second connecting portion of this second bar, the surface of the 3rd connecting portion of this second bar or the 4th connecting portion of this motion platform and form a hole, this hole is by the first connecting portion of this first bar, second connecting portion of this second bar, 3rd connecting portion of this second bar or one of them covering of the 4th connecting portion of this motion platform.
Thus, after filling lubricant grease to this room, lubricant grease passing hole can flow to the surface of the 4th connecting portion of the first connecting portion of this first bar, the second connecting portion of this second bar, the 3rd connecting portion of this second bar or this motion platform, lubricates the first bar, articulation structure between the second bar and motion platform.
Accompanying drawing explanation
Fig. 1 is the stereogram of the present invention first preferred embodiment, display parallel robot;
Fig. 2 is the members schematic diagram of the present invention first preferred embodiment, shows the first bar and has room;
Fig. 3 is the members schematic diagram of the present invention first preferred embodiment, shows the first bar and has room;
Fig. 4 is the members schematic diagram of the present invention first preferred embodiment, shows the second bar and has room;
Fig. 5 is the members schematic diagram of the present invention first preferred embodiment, and display motion platform has room;
Fig. 6 is the members schematic diagram of the present invention first preferred embodiment, shows the first bar and has room;
Fig. 7 is the members schematic diagram of the present invention first preferred embodiment, shows the first bar and has room;
Fig. 8 is the members schematic diagram of the present invention first preferred embodiment, shows the second bar and has room;
Fig. 9 is the members schematic diagram of the present invention first preferred embodiment, and display motion platform has room;
Figure 10 is the members schematic diagram of the present invention first preferred embodiment, display bulb (ballstud);
Figure 11 is the members schematic diagram of the present invention first preferred embodiment, display ball seat (ballseat);
Figure 12 is the schematic diagram of the present invention second preferred embodiment, shows the first bar, the second bar and motion platform and has room; And
Figure 13 is the schematic diagram of the present invention second preferred embodiment, shows the first bar, the second bar and motion platform and has room.
Primary clustering symbol description in accompanying drawing:
10 parallel robots, 11 first bars, 111 first connecting portions, 112 holding parts, 12 second bars, 121 second connecting portions, 122 the 3rd connecting portions, 13 motion platforms, 131 the 4th connecting portions, 14 rooms, 141 holes, 15 through holes.
Detailed description of the invention
In order to describe technical characterstic place of the present invention in detail, lift following preferred embodiment and coordinate accompanying drawing illustrate as after, wherein:
As shown in Figure 1, the articulation structure of a kind of parallel robot that the present invention first preferred embodiment provides, be located at a parallel robot 10, this parallel robot 10 has multiple first bar 11, respectively this first bar 11 one end has one first connecting portion 111, the other end then drives by external force, multiple second bar 12, respectively these the second bar 12 two ends have one second connecting portion 121 and one the 3rd connecting portion 122 respectively, respectively this second connecting portion 121 links respectively this first connecting portion 111 respectively, one motion platform 13, there is multiple 4th connecting portion 131, respectively the 4th connecting portion 131 links respectively the 3rd connecting portion 122 respectively, respectively this second bar 12 and then allow this motion platform 13 move is driven by outer power-actuated respectively this first bar 11, in this preferred embodiment, this first bar 11 and this second bar 12 are for quantity three, but be not limited with this quantity, as quantity four is also passable.
As shown in Fig. 2 ~ Fig. 9, the articulation structure of this parallel robot is characterised in that: respectively this first bar 11, one of them of respectively this second bar 12 or this motion platform 13 has a room 14, the corresponding aforementioned components of this room 14 and run through the first connecting portion 111 of this first bar 11, second connecting portion 121 of this second bar 12, the surface of the 3rd connecting portion 122 of this second bar 12 or the 4th connecting portion 131 of this motion platform 13 and form a hole 141, this hole 141 is by the first connecting portion 111 of this first bar 11, second connecting portion 121 of this second bar 12, 3rd connecting portion 122 of this second bar 12 or one of them covering of the 4th connecting portion 11 of this motion platform 13.
Thus, as wish lubrication the first bar 11, articulation structure between the second bar 12 and motion platform 13, after filling lubricant grease to this room 14, lubricant grease passing hole 141 is allowed to flow to the first connecting portion 111 of this first bar 11, second connecting portion 121 of this second bar 12, the surface of the 3rd connecting portion 122 of this second bar 12 or the 4th connecting portion 131 of this motion platform 13 produces lubricant effect, make the motion between this first connecting portion 111 and this second connecting portion 121, and the 3rd motion between connecting portion 122 and the 4th connecting portion 131 obtain the service life that good lubricant effect maintains structure.It is worth mentioning that, if need external fuel cell on this first bar 11, holding part 112 oil feeding reservoirs can be formed in the opposite end of this first connecting portion 111 and arrange wherein.
As shown in Figure 10 ~ Figure 11, it should be noted that, this first connecting portion 111 links this second connecting portion 121 or the 3rd connecting portion 122, and to link the 4th connecting portion 131 be reach in the following ways:
One, this first connecting portion 111 links this second connecting portion 121, or the 3rd connecting portion 122 link the 4th connect 131 be adopt spherojoint (balljoint) mode connected to each other, and this first connecting portion 111 and this second connecting portion 121, and the 3rd connecting portion 122 is the cooperation of bulb (ballstud) and ball seat (ballseat) with the 4th connecting portion 131.
Two, this first connecting portion 111 links this second connecting portion 121, or the 3rd connecting portion 122 to link the 4th connecting portion 131 be adopt axle to be arranged in mode in pivoted hole connected to each other, and this first connecting portion 111 and this second connecting portion 121, and the 3rd connecting portion 122 is the cooperation of axle (axis) and pivoted hole (hole) with the 4th connecting portion 131.
In addition, if fill lubricant grease in this room, one of them of this first bar 11, this second bar 12 and this motion platform 13 can be allowed to have a through hole 15, and this through hole 15 is communicated with this room 14, user by this through hole 15 can from outside by oil refill to this room 14.
As shown in Figure 12 ~ Figure 13, the present invention second preferred embodiment, itself and the first preferred embodiment difference are: this first bar 11, this second bar 12 and this motion platform 13 all have a room 14, respectively this room 14 is communicated with each other by this first connecting portion 111, this second connecting portion 121, the 3rd connecting portion 122 and the 4th connecting portion 131, its effect is identical with the first preferred embodiment, does not repeat for this reason at this.
Claims (11)
1. the articulation structure of a parallel robot, be located at a parallel robot, this parallel robot has multiple first bar, respectively this first bar one end has one first connecting portion, the other end then drives by external force, multiple second bar, respectively these the second bar two ends have one second connecting portion and one the 3rd connecting portion respectively, respectively this second connecting portion links respectively this first connecting portion respectively, one motion platform, there is multiple 4th connecting portion, respectively the 4th connecting portion links respectively the 3rd connecting portion respectively, respectively this second bar and then allow this motion platform move is driven by outer power-actuated respectively this first bar, the articulation structure of this parallel robot is characterised in that:
One of them of each this first bar has a room, and this room runs through the surface of the first connecting portion of this first bar and forms a hole, and this hole covers by the second connecting portion of this second bar.
2. the articulation structure of a parallel robot, be located at a parallel robot, this parallel robot has multiple first bar, respectively this first bar one end has one first connecting portion, the other end then drives by external force, multiple second bar, respectively these the second bar two ends have one second connecting portion and one the 3rd connecting portion respectively, respectively this second connecting portion links respectively this first connecting portion respectively, one motion platform, there is multiple 4th connecting portion, respectively the 4th connecting portion links respectively the 3rd connecting portion respectively, respectively this second bar and then allow this motion platform move is driven by outer power-actuated respectively this first bar, the articulation structure of this parallel robot is characterised in that:
One of them of each this second bar has a room, and this room runs through the surface of the second connecting portion of this second bar and forms a hole, and this hole covers by the first connecting portion of this first bar.
3. the articulation structure of a parallel robot, be located at a parallel robot, this parallel robot has multiple first bar, respectively this first bar one end has one first connecting portion, the other end then drives by external force, multiple second bar, respectively these the second bar two ends have one second connecting portion and one the 3rd connecting portion respectively, respectively this second connecting portion links respectively this first connecting portion respectively, one motion platform, there is multiple 4th connecting portion, respectively the 4th connecting portion links respectively the 3rd connecting portion respectively, respectively this second bar and then allow this motion platform move is driven by outer power-actuated respectively this first bar, the articulation structure of this parallel robot is characterised in that:
One of them of each this second bar has a room, and this room runs through the surface of the 3rd connecting portion of this second bar and forms a hole, and this hole covers by the 4th connecting portion of this motion platform.
4. the articulation structure of a parallel robot, be located at a parallel robot, this parallel robot has multiple first bar, respectively this first bar one end has one first connecting portion, the other end then drives by external force, multiple second bar, respectively these the second bar two ends have one second connecting portion and one the 3rd connecting portion respectively, respectively this second connecting portion links respectively this first connecting portion respectively, one motion platform, there is multiple 4th connecting portion, respectively the 4th connecting portion links respectively the 3rd connecting portion respectively, respectively this second bar and then allow this motion platform move is driven by outer power-actuated respectively this first bar, the articulation structure of this parallel robot is characterised in that:
This motion platform has a room, and this room runs through the surface of the 4th connecting portion of this motion platform and forms a hole, and this hole covers by the 3rd connecting portion of this second bar.
5. the articulation structure of parallel robot according to claim 1, is characterized in that: this first bar forms a holding part in the opposite end of this first connecting portion, and oil feeding reservoirs is arranged wherein.
6. the articulation structure of parallel robot according to any one of Claims 1-4, it is characterized in that: this first connecting portion links this second connecting portion, or the 3rd connecting portion to link the 4th connecting portion be adopt spherojoint mode connected to each other, and this first connecting portion and this second connecting portion, and the 3rd connecting portion is the cooperation of bulb and ball seat with the 4th connecting portion.
7. the articulation structure of parallel robot according to any one of Claims 1-4, it is characterized in that: this first connecting portion links this second connecting portion, or the 3rd connecting portion to link the 4th connecting portion be adopt axle to be arranged in mode in pivoted hole connected to each other, and this first connecting portion and this second connecting portion, and the 3rd connecting portion is the cooperation of axle and pivoted hole with the 4th connecting portion.
8. the articulation structure of parallel robot according to any one of Claims 1-4, is characterized in that: one of them of this first bar, this second bar and this motion platform has a through hole, and this through hole is communicated with this room.
9. the articulation structure of parallel robot according to claim 1, it is characterized in that: this first bar, this second bar and this motion platform all have a room, respectively this room is communicated with each other by this first connecting portion, this second connecting portion, the 3rd connecting portion and the 4th connecting portion.
10. the articulation structure of parallel robot according to claim 9, is characterized in that: one of them of this first bar, this second bar and this motion platform has a through hole, and this through hole is communicated with this room.
The articulation structure of 11. parallel robots according to claim 1, is characterized in that: comprise a lubricant grease, is filled in this room.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101149143 | 2012-12-21 | ||
| TW101149143A TWI483820B (en) | 2012-12-21 | 2012-12-21 | Parallel joint structure of the robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103878783A CN103878783A (en) | 2014-06-25 |
| CN103878783B true CN103878783B (en) | 2016-03-02 |
Family
ID=50948064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310706777.5A Expired - Fee Related CN103878783B (en) | 2012-12-21 | 2013-12-20 | Joint structure of parallel robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103878783B (en) |
| TW (1) | TWI483820B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017211642A1 (en) * | 2017-07-07 | 2019-01-10 | Kuka Deutschland Gmbh | Delta robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201664928U (en) * | 2010-04-07 | 2010-12-08 | 天津市中马骏腾精密机械制造有限公司 | Centralized oil supply device of manipulator linear platform |
| CN102152315A (en) * | 2011-02-01 | 2011-08-17 | 赵德政 | Bionic joint device of closed lubrication |
| CN102601797A (en) * | 2012-04-07 | 2012-07-25 | 大连镔海自控股份有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH672089A5 (en) * | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
| US5507534A (en) * | 1994-04-29 | 1996-04-16 | Nordson Corporation | Hydraulic ball style swivel fitting |
| US7188544B2 (en) * | 1998-12-03 | 2007-03-13 | Abb Ab | Industrial robot |
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| WO2007080988A1 (en) * | 2006-01-13 | 2007-07-19 | Nabtesco Corporation | Joint mechanism |
| JP4803841B2 (en) * | 2008-04-14 | 2011-10-26 | 村田機械株式会社 | Parallel mechanism |
| KR101190154B1 (en) * | 2012-02-20 | 2012-10-12 | 한국기계연구원 | Parallel robot having ball joint structure |
-
2012
- 2012-12-21 TW TW101149143A patent/TWI483820B/en active
-
2013
- 2013-12-20 CN CN201310706777.5A patent/CN103878783B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201664928U (en) * | 2010-04-07 | 2010-12-08 | 天津市中马骏腾精密机械制造有限公司 | Centralized oil supply device of manipulator linear platform |
| CN102152315A (en) * | 2011-02-01 | 2011-08-17 | 赵德政 | Bionic joint device of closed lubrication |
| CN102601797A (en) * | 2012-04-07 | 2012-07-25 | 大连镔海自控股份有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103878783A (en) | 2014-06-25 |
| TW201424962A (en) | 2014-07-01 |
| TWI483820B (en) | 2015-05-11 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| 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: 20160302 |