CN108381523A - A kind of parallel robot - Google Patents
A kind of parallel robot Download PDFInfo
- Publication number
- CN108381523A CN108381523A CN201810289517.5A CN201810289517A CN108381523A CN 108381523 A CN108381523 A CN 108381523A CN 201810289517 A CN201810289517 A CN 201810289517A CN 108381523 A CN108381523 A CN 108381523A
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- China
- Prior art keywords
- substrate
- driving device
- movement branched
- follower lever
- branched chain
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- 239000000758 substrate Substances 0.000 claims abstract description 35
- 238000009434 installation Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 1
- 238000005538 encapsulation 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of parallel robot,Belong to Industrial Robot Technology field,Including framework connecting plate,Framework connecting plate is used for connection frame,Connector drum is mounted on the lower face of framework connecting plate,Substrate is mounted on the lower face of connector drum,Connector drum is hollow structure,There are three uniformly distributed connecting pins for substrate tool,First driving means,Second driving device,Third driving device is separately mounted to the lower face of three stretching connecting pins of substrate,First driving means,Second driving device,Third driving device drives three movement branched chains successively,The other end of three movement branched chains is connected with moving platform,Framework connecting plate is provided with through-hole,Four-drive device is mounted on the center of substrate through framework connecting plate and connector drum,Four-drive device drives middle pole,Bearing is mounted on moving platform,The output end of middle pole is mounted on the inner ring of bearing；This kind of parallel robot is easy for installation, this kind of cabling neat appearance, and convenient for safeguarding.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of novel four-shaft parallel robot.
Background technology
Parallel robot and traditional industry serial manipulator are in the relationship and serial manipulator of the unity of opposites in philosophy
It compares, parallel robot has the characteristics that：（1）Without accumulated error, precision is higher；（2）Driving device can be placed in fixed
Position on platform or close to fixed platform, such motion parts are light-weight, and speed is high, and dynamic response is good；（3）It is compact-sized,
Rigidity is high, large carrying capacity；（4）Full symmetric parallel institution has preferable isotropism；（5）Working space is small；
According to these features, parallel robot need high rigidity, high-precision or big load and need not very big working space field
Inside it is widely applied.
It in the automatic production line of the industries such as light industry, medicine, food and electronics, such as sorts, pack, encapsulation, parallel machine
For device people because its outstanding feature is widely used, the basic machine design for continuing to optimize parallel robot is always to be engaged in
The tireless pursuit of industrial robot R＆D worker.
Invention content
In order to solve the above-mentioned technical problem, used technical solution is：A kind of parallel robot, including framework connecting plate
And substrate, framework connecting plate are used for connection frame, connector drum is mounted on the lower face of framework connecting plate, and substrate is mounted on connection
The lower face of cylinder, connector drum are hollow structure, and the side of connector drum is provided with through-hole, line collecting plate, line concentration are installed on through-hole
Set air pipe interface and heavy-duty connector interface on plate, substrate tool is mutually between three connecting pins there are three uniformly distributed connecting pin
120 ° of arrangements, first driving means, the second driving device, third driving device are separately mounted to three stretching connecting pins of substrate
Lower face, one end of the first movement branched chain is connected with the output end of first driving means, the other end of the first movement branched chain with
Moving platform is connected, and one end of the second movement branched chain is connected with the output end of the second driving device, the other end of the second movement branched chain
Be connected with moving platform, one end of third movement branched chain is connected with the output end of third driving device, third movement branched chain it is another
End is connected with moving platform, and framework connecting plate is provided with through-hole, and four-drive device is mounted on through framework connecting plate and connector drum
One end of the center of substrate, middle pole is connect with the output end of four-drive device, and bearing is mounted on moving platform, in
Between the output end of branch be mounted on the inner ring of bearing, the output end of middle pole is fixedly connected with connecting flange.
Preferably, first driving means, the second driving device, third driving device include driving motor and retarder,
The output shaft of driving motor is connected with the input terminal of retarder, and retarder is mounted on the side of retarder mounting plate, retarder peace
The upper surface of loading board is mounted on the lower face of the stretching connecting pin of substrate, and cavity, retarder installation are provided on retarder mounting plate
The upper surface of plate is equipped with threading hole, and corresponding position is provided with threading hole on substrate, and motor connecting wire passes through the threading hole of substrate through even
Inner barrel is connect to be connected on heavy-duty connector interface.
Preferably, the first movement branched chain includes the first master arm and the first slave arm, and the first slave arm includes first driven
Bar and the second follower lever, one end of the first master arm and the output end of first driving means are connected by axis pin, the first master arm
The other end be provided with through-hole, the first axis pin is installed in through-holes, and the first follower lever is installed with the second follower lever by flexural pivot respectively
At the both ends of the first axis pin, the first follower lever and the second follower lever are isometric, and through-hole is provided on moving platform, and the second axis pin is mounted on logical
Kong Zhong, the first follower lever, the second follower lever respectively by flexural pivot be mounted on the second axis pin both ends, the first axis pin, the second axis pin,
First follower lever and the second follower lever constitute parallelogram.
Preferably, the component and structure all same of the second movement branched chain, third movement branched chain and the first movement branched chain.
Preferably, intermediary movements branch includes the first active jackshaft and the first driven jackshaft, in the first active
Countershaft is connected with the output shaft of four-drive device by the first Hooke's hinge, and the first active jackshaft and the first driven jackshaft are slided
Dynamic connection, the other end of the first driven jackshaft are connected with intermediate output shaft by the second Hooke's hinge, and bearing is mounted on moving platform
Interior, intermediate output shaft is mounted on the inner ring of bearing.
Preferably, the outside of first driving means, the second driving device, third driving device and the 4th driving assembling device
It is respectively equipped with protection clamshell, protection clamshell is mounted on corresponding retarder mounting plate.
The invention has the advantages that：This kind of parallel robot is easy for installation, and connector drum, the connection of motor is arranged
Line passes through the threading hole of substrate to be connected internally on heavy-duty connector interface through connector drum, this kind of cabling neat appearance, and
Convenient for safeguarding；First driving means, the second driving device, third driving device and the 4th drive the outside of assembling device to set respectively
There are protection clamshell, four protection cases, connector drum to make a high space of closed stratum jointly, reduce the pass of parallel robot
Key member is influenced by working environment, to increase the application scenario of parallel robot.
Description of the drawings
Fig. 1 is the structural schematic diagram of apparatus of the present invention.
Fig. 2 is the overlooking structure diagram of substrate in apparatus of the present invention.
Fig. 3 is the overlooking structure diagram of retarder mounting plate in apparatus of the present invention.
Fig. 4 is the structural representation of the first movement branched chain, the second movement branched chain and third movement branched chain in apparatus of the present invention
Figure.
Fig. 5 is the broken section structural schematic diagram of intermediary movements branch and moving platform junction in apparatus of the present invention.
Fig. 6 is first driving means in apparatus of the present invention, the second driving device, third driving device and the 4th driving dress
The structural representation set is as schemed.
In figure：1. framework connecting plate；2. connector drum；3. substrate；31. substrate threading hole；32. tracheae wiring plate hole；4A.
First driving means；The second driving devices of 4B.；The first master arms of 5A.；The first follower levers of 6A.；The second follower levers of 7A.；8. dynamic flat
Platform；9. connecting flange；10. line collecting plate；11. four-drive device；12. the first Hooke's hinge；13. the first active jackshaft；14. the
One driven jackshaft；15. the second Hooke's hinge；16. retarder mounting plate；161. retarder plate threading holes；17. intermediate output shaft；
18. protecting case.
Specific implementation mode
As shown in figures 1 to 6, this parallel robot, including framework connecting plate 1 and substrate 3, framework connecting plate 1 is for connecting machine
Frame, connector drum 2 are mounted on the lower face of framework connecting plate 1, and substrate 3 is mounted on the lower face of connector drum 2, connector drum 2
For hollow structure, the side of connector drum 2 is provided with through-hole, and line collecting plate 10 is installed on through-hole, set on line collecting plate 10 air pipe interface and
Heavy-duty connector interface, the tool of substrate 3 are mutually 120 ° of arrangements there are three uniformly distributed connecting pin between three connecting pins, first drives
Device 4A, the second driving device 4B, third driving device 4C are separately mounted to the lower face of three stretching connecting pins of substrate 3,
One end of first movement branched chain is connected with the output end of first driving means 4A, the other end and the moving platform 8 of the first movement branched chain
Be connected, one end of the second movement branched chain is connected with the output end of the second driving device 4B, the other end of the second movement branched chain and move
Platform 8 is connected, and one end of third movement branched chain is connected with the output end of third driving device 4C, the other end of third movement branched chain
It is connected with moving platform 8, framework connecting plate 1 is provided with through-hole, and four-drive device 11 is pacified through framework connecting plate 1 and connector drum 2
Mounted in the center of substrate 3, one end of middle pole is connect with the output end of four-drive device 11, is mounted on moving platform 8
In the inner ring of bearing and the output end of middle pole coordinate, the output end of middle pole is fixedly connected with connecting flange 9.
First driving means 4A, the second driving device 4B, third driving device 4C include driving motor and retarder, are driven
The output shaft of dynamic motor is connected with the input terminal of retarder, and retarder is mounted on retarder mounting plate 16, and retarder, which is mounted on, to be subtracted
Fast device mounting plate 16, retarder mounting plate 16 are mounted on the lower face of the stretching connecting pin of substrate 3, are opened on retarder mounting plate 16
There is a cavity, the upper surface of retarder mounting plate 16 is equipped with retarder plate threading hole 161, corresponding position substrate threading hole on substrate 3
31, the connecting line of driving device is connected internally to the heavy duty of line collecting plate 10 across the substrate threading hole 31 of substrate 3 through connector drum 2
In connector interface.
Substrate 3 is set connects plate hole 32 by tracheae, and tracheae, which connects, installs tracheae connecting plate, gas-tpe fitting on plate hole 32
On tracheae connecting plate, tracheae is connected internally on the air pipe interface of line collecting plate 10 across gas-tpe fitting through connector drum 2.
First movement branched chain includes the first master arm 5A and the first slave arm, the first slave arm including the first follower lever 6A and
Second follower lever 7A, one end of the first master arm 5A are connect with the output end of first driving means 4A by axis pin, and first actively
The other end of arm 5A is provided with through-hole, and the first axis pin is installed in through-holes, and the first follower lever 6A and the second follower lever 7A pass through flexural pivot
The both ends of the first axis pin are separately mounted to, the first follower lever 6A and the second follower lever 7A are isometric, and through-hole is provided on moving platform 8, the
Two axis pins are mounted in the through-hole of moving platform 8, and the first follower lever 6A, the second follower lever 7A are mounted on the second pin by flexural pivot respectively
The both ends of axis, as shown in figure 4, the first axis pin and the second axis pin are isometric, the first axis pin, the second axis pin, the first follower lever 6A and
Two follower lever 7A constitute parallelogram sturcutre.
The component and structure all same of second movement branched chain, third movement branched chain and the first movement branched chain.
First driving means drive the first master arm around axis revolve, the first master arm drive the first slave arm rotation, first from
Swing arm and the connection axis pin at both ends form parallelogram sturcutre, and the structure of three movement branched chains is equal, to which moving platform 8 exists
It can be translatable along XYZ axis under the drive of three driving devices.
Intermediary movements branch includes the first active jackshaft 13 and the first driven jackshaft 14, the first active jackshaft
13 are connected with the output shaft of four-drive device 11 by the first Hooke's hinge 12, the first active jackshaft 13 and the first driven centre
Axis 14 is slidably connected, and the other end of the first driven jackshaft 14 is connected with intermediate output shaft 17 by the second Hooke's hinge 15, installation
Coordinating with intermediate output shaft 17 in the inner ring of 8 middle (center) bearing of moving platform, connecting flange 9 is fixedly connected with intermediate output shaft 17, to,
9 compliant platform 8 of connecting flange is translatable.
11 power of four-drive device through Hooke's hinge, the first active jackshaft 13, the first driven jackshaft 14., Hooke's hinge,
Intermediate output shaft 17 is transmitted on connecting flange, and four-drive device drives the component on connecting flange 9 and connecting flange 9 to turn
Dynamic, there are three translational degree of freedom and the degree of freedom turned about the Z axis for the tool of connecting flange 9.
The outside of first driving means 4A, the second driving device 4B, the driving assembling devices 11 of third driving device 4C and the 4th
It is respectively equipped with protection clamshell 16, protection clamshell 16 is mounted on corresponding retarder mounting plate 16, four protection cases 18, connections
Cylinder 2 makes a high space of closed stratum jointly, reduces the critical component of DELTA parallel robots by the shadow of working environment
It rings, to increase the application scenario of parallel robot.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is used, or without changing
Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (6)
1. a kind of parallel robot, it is characterised in that including framework connecting plate and substrate, the framework connecting plate is for connecting machine
Frame, connector drum are mounted on the lower face of the framework connecting plate, and substrate is mounted on the lower face of the connector drum, connecting cylinder
Body is hollow structure, and the side of connector drum is provided with through-hole, line collecting plate is installed on through-hole, set on the line collecting plate air pipe interface and
Heavy-duty connector interface, substrate tool are mutually 120 ° of arrangements, the first drive there are three uniformly distributed connecting pin between three connecting pins
Dynamic device, the second driving device, third driving device are separately mounted to the lower face of three stretching connecting pins of substrate, the first fortune
One end of dynamic branch is connected with the output end of first driving means, and the other end of the first movement branched chain is connected with moving platform, and second
One end of movement branched chain is connected with the output end of the second driving device, and the other end of the second movement branched chain is connected with moving platform, the
One end of three movement branched chains is connected with the output end of third driving device, and the other end of third movement branched chain is connected with moving platform,
The framework connecting plate is provided with through-hole, and four-drive device is mounted on the centre bit of substrate through framework connecting plate and connector drum
It sets, one end of middle pole is connect with the output end of four-drive device, and bearing is mounted on moving platform, the output of middle pole
End is mounted on the inner ring of bearing, and the output end of middle pole is fixedly connected with connecting flange.
2. parallel robot according to claim 1, which is characterized in that the first driving means, the second driving device,
Third driving device includes driving motor and retarder, and the output shaft of the driving motor is connected with the input terminal of retarder,
Retarder is mounted on the side of retarder mounting plate, and the upper surface of retarder mounting plate is mounted under the stretching connecting pin of substrate
End face is provided with cavity on retarder mounting plate, and the upper surface of retarder mounting plate is equipped with threading hole, and corresponding position is provided on substrate
Threading hole, motor connecting wire pass through the threading hole of substrate to be connected internally on heavy-duty connector interface through connector drum.
3. parallel robot according to claim 1, which is characterized in that first movement branched chain includes the first master arm
With the first slave arm, the first slave arm includes the first follower lever and the second follower lever, one end of the first master arm and described first
The output end of driving device is connected by axis pin, and the other end of the first master arm is provided with through-hole, and the first axis pin is installed in through-holes,
First follower lever and the second follower lever are separately mounted to the both ends of the first axis pin, the first follower lever and the second follower lever by flexural pivot
It is isometric, through-hole is provided on moving platform, the second axis pin is installed in through-holes, and the first follower lever, the second follower lever pass through flexural pivot respectively
Mounted on the both ends of the second axis pin, the first axis pin, the second axis pin, the first follower lever and the second follower lever constitute parallelogram.
4. parallel robot according to claim 3, which is characterized in that second movement branched chain, third movement branched chain
With the component and structure all same of the first movement branched chain.
5. parallel robot according to claim 1, which is characterized in that the intermediary movements branch includes the first master
The output shaft of dynamic jackshaft and the first driven jackshaft, the first active jackshaft and four-drive device passes through first gram of hinge phase
Even, the first active jackshaft is slidably connected with the first driven jackshaft, the other end and intermediate output shaft of the first driven jackshaft
It is connected by the second Hooke's hinge, bearing is mounted in moving platform, and intermediate output shaft is mounted on the inner ring of bearing.
6. parallel robot according to claim 1, which is characterized in that the first driving means, the second driving device,
The outside of third driving device and the 4th driving assembling device is respectively equipped with protection clamshell, and the protection clamshell is mounted on corresponding
On retarder mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810289517.5A CN108381523A (en) | 2018-04-03 | 2018-04-03 | A kind of parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810289517.5A CN108381523A (en) | 2018-04-03 | 2018-04-03 | A kind of parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381523A true CN108381523A (en) | 2018-08-10 |
Family
ID=63073305
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810289517.5A Pending CN108381523A (en) | 2018-04-03 | 2018-04-03 | A kind of parallel robot |
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| Country | Link |
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| CN (1) | CN108381523A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
| CN113172609A (en) * | 2021-05-17 | 2021-07-27 | 勃肯特(镇江)机器人技术有限公司 | High-speed parallel robot with cam arm indirect drive |
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| CN113172609A (en) * | 2021-05-17 | 2021-07-27 | 勃肯特(镇江)机器人技术有限公司 | High-speed parallel robot with cam arm indirect drive |
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
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