CN107486837A - A kind of new 3-dof parallel robot of apery hand shoulder joint - Google Patents
A kind of new 3-dof parallel robot of apery hand shoulder joint Download PDFInfo
- Publication number
- CN107486837A CN107486837A CN201710689381.2A CN201710689381A CN107486837A CN 107486837 A CN107486837 A CN 107486837A CN 201710689381 A CN201710689381 A CN 201710689381A CN 107486837 A CN107486837 A CN 107486837A
- Authority
- CN
- China
- Prior art keywords
- electric machine
- new
- machine assembly
- shoulder joint
- rotating
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The present invention relates to a kind of new 3-dof parallel robot of apery hand shoulder joint, including：Central gear pedestal, electric machine assembly, workbench, No. 1 rotating dog, curved rod, No. 2 rotating dogs, centre rotational axis.The electric machine assembly and central rotation pivot hinge, can rotates around central shaft, while the little gear on motor and the cooperation of central gear pedestal, and workbench is connected parallel connection by the curved rod by No. 1 rotating dog and No. 2 rotating dogs with 3 groups of electric machine assemblies respectively.Precision of the present invention is high, easy to operate, freedom and flexibility, cost are cheap.
Description
Technical field
The invention discloses a kind of new 3-dof parallel robot of apery hand shoulder joint, is related to Robot Design neck
Domain.
Background technology
The artificial moving platform of parallel manipulator is connected with fixed platform by least two independent kinematic chains, and mechanism has two
Or the two or more free degree, and a kind of close loop mechanism driven with parallel way is mainly used in high accuracy, the assembling of high speed is made
Industry
Parallel robot uses linkage more at present, and each articular couple is high, part processing cost is big, cost is held high
It is expensive, while the coupling height between each joint also results in the complexity of motion control, to promoting the use for parallel robot
Bring very big difficulty.
The content of the invention
The defects of existing for prior art, it is an object of the invention to provide a kind of new apery shoulder joint Three Degree Of Freedom
Parallel robot, precision is high, easy to operate, motion is flexibly rapid, cost is cheap.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of new apery shoulder joint 3-dof parallel robot, including：Central gear pedestal, electric machine assembly, work
Platform, No. 1 rotating dog, curved rod, No. 2 rotating dogs, centre rotational axis.It is characterized in that：The electric machine assembly revolves with center
Shaft hinge connects, and can be rotated around central shaft, while the little gear on motor coordinates with central gear pedestal, the curved rod
Workbench is connected parallel connection with 3 groups of electric machine assemblies by No. 1 rotating dog and No. 2 rotating dogs respectively.
The electric machine assembly includes a connecting rod, and connecting rod one end is provided with servomotor, and one end is with being arranged on centre tooth
The centre rotational axis hinge connection of pedestal center is taken turns, little gear is arranged on motor output shaft, while little gear and centre tooth
The gear wheel for taking turns pedestal coordinates.
During work, the servomotor output rotary motion on kinematic link, the little gear rotation on output shaft is driven
Turn, little gear and central gear pedestal gear motion, realize rotary motion of the kinematic link around centre rotational axis, the kinematic link
Curved rod is driven to move by No. 2 rotating dogs, curved rod drives workbench to move by No. 1 rotating dog, three sets of motors
The parallel kinematic of component, realize rotary motion of the workbench around XYZ directions.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is simple in construction, and cost is relatively low, is advantageous to promote, while the invention use is more convenient, by simple zero
Part, simple control can realize the stabilization of robot end, high-speed motion, while the robot is cheap, is easy to push away
Broad-spectrum and.
Brief description of the drawings
Fig. 1 is a kind of new 3-dof parallel robot structural representation of apery hand shoulder joint of the present invention.
Fig. 2 is that a kind of motor component structure of the new 3-dof parallel robot of apery hand shoulder joint of the present invention shows
It is intended to.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of new apery shoulder joint 3-dof parallel robot, including：Central gear pedestal 001,
Electric machine assembly 002,003, No. 1 rotating dog 004 of workbench, curved rod 005, No. 2 rotating dog 006, centre rotational axis 007.
It is characterized in that：The electric machine assembly 002 and the hinge connection of centre rotational axis 007, can rotate around central shaft 007, while motor
Little gear 009 on 002 coordinates with central gear pedestal 001, and the curved rod 005 passes through No. 1 rotating dog 004 and 2 respectively
Workbench 003 is connected parallel connection by number rotating dog 006 with 3 groups of electric machine assemblies 002.
As shown in Fig. 2 the electric machine assembly 002 includes a kinematic link 008, the one end of kinematic link 008 is provided with
Servomotor 010, one end and the hinge connection of centre rotational axis 007 installed in the center of central gear pedestal 001, little gear
009 is arranged on the output shaft of servomotor 010, while little gear 009 engages with the gear wheel of central gear pedestal 001.
The course of work of the present embodiment device is as follows：
The servomotor 010 that on kinematic link 008 is arranged in electric machine assembly 002 exports rotary motion, drives output shaft
On little gear 009 rotate, little gear 009 and the gear motion of central gear pedestal 001, realize that kinematic link 008 revolves around center
The rotary motion of rotating shaft 007, the kinematic link 008 drive curved rod 005 to move by No. 2 rotating dogs 006, curved rod
005 drives workbench 003 to move by No. 1 rotating dog 004, the parallel kinematic of three sets of electric machine assemblies 002, realizes workbench
003 around XYZ directions rotary motion.
Claims (2)
1. a kind of new 3-dof parallel robot of apery hand shoulder joint, it is characterised in that concrete structure and annexation
For：Including：Central gear pedestal 001, electric machine assembly 002,003, No. 1 rotating dog 004 of workbench, curved rod 005,2
Rotating dog 006, centre rotational axis 007.It is characterized in that：The electric machine assembly 002 and the hinge connection of centre rotational axis 007, can
Rotated around central shaft 007, while the little gear 009 on electric machine assembly 002 engages with central gear pedestal 001, the arc connects
Bar 005 is in parallel with 3 groups of electric machine assemblies 002 by workbench 003 by No. 1 rotating dog 004 and No. 2 rotating dogs 006 respectively.
A kind of 2. new 3-dof parallel robot of apery hand shoulder joint according to claim 1, it is characterised in that：
The electric machine assembly 002 includes a kinematic link 008, and kinematic link one end is provided with servomotor 010, one end with
The hinge connection of centre rotational axis 007 installed in the center of central gear pedestal 001, little gear 009 are arranged on servomotor 010
On output shaft, while little gear 009 engages with the gear wheel of central gear pedestal 001.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689381.2A CN107486837A (en) | 2017-08-11 | 2017-08-11 | A kind of new 3-dof parallel robot of apery hand shoulder joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689381.2A CN107486837A (en) | 2017-08-11 | 2017-08-11 | A kind of new 3-dof parallel robot of apery hand shoulder joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107486837A true CN107486837A (en) | 2017-12-19 |
Family
ID=60644240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710689381.2A Pending CN107486837A (en) | 2017-08-11 | 2017-08-11 | A kind of new 3-dof parallel robot of apery hand shoulder joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107486837A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111803872A (en) * | 2020-07-08 | 2020-10-23 | 海宁世正贸易有限公司 | Balance training instrument capable of adjusting training difficulty |
| CN112427975A (en) * | 2020-11-18 | 2021-03-02 | 崔江涛 | Three-dimensional multi-angle integrated multi-shaft machining center mechanism |
-
2017
- 2017-08-11 CN CN201710689381.2A patent/CN107486837A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111803872A (en) * | 2020-07-08 | 2020-10-23 | 海宁世正贸易有限公司 | Balance training instrument capable of adjusting training difficulty |
| WO2022007652A1 (en) * | 2020-07-08 | 2022-01-13 | 海宁世正贸易有限公司 | Balance training instrument capable of adjusting training difficulty |
| CN112427975A (en) * | 2020-11-18 | 2021-03-02 | 崔江涛 | Three-dimensional multi-angle integrated multi-shaft machining center mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171219 |