CN108393871A - High speed high load parallel robot - Google Patents
High speed high load parallel robot Download PDFInfo
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- CN108393871A CN108393871A CN201810311670.3A CN201810311670A CN108393871A CN 108393871 A CN108393871 A CN 108393871A CN 201810311670 A CN201810311670 A CN 201810311670A CN 108393871 A CN108393871 A CN 108393871A
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- Prior art keywords
- driving unit
- connecting rod
- moving
- platform
- link
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Classifications
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- 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
Abstract
The invention discloses a kind of high speed high load parallel robots to include：Including fixed platform, the first driving unit, the second driving unit, third driving unit, first connecting rod, second connecting rod, third connecting rod and moving platform, wherein, the fixed platform, first driving unit, second driving unit, the third driving unit, the first connecting rod, the second connecting rod, the third connecting rod and the moving platform Special composition closed loop configuration.High speed high load parallel robot according to the ... of the embodiment of the present invention, structure is compacter, succinct, and control is flexible, and rigidity is high, is suitable for accurate operation, production line sorting, processing and other fields.
Description
Technical field
The present invention relates to machinery fields, more particularly, to a kind of high speed high load parallel robot.
Background technology
With the development of industrial level, the application demand of robot and lathe is continuously improved, such as plastics industry, electronics work
Fast package, sorting and carrying of light material in industry, pharmaceutical industries and field of food industry etc.；Personalized small-sized plane
Numerical control operating such as cuts, prints and carves；Metal cutting, material welding and surface spraying etc. in manufacturing field.
Traditional robot mostly use cascade realization, there are the accumulation of error, heavy moving parts are big the problems such as.With string
Online structure is different, and robot is the closed loop configuration being made of two or more kinematics branches, have compact-sized, rigidity is high,
The advantages that large carrying capacity, becomes one of robot and the ideal chose of Machine Tool design, but robot in the related technology still deposits
It needs to solve in some problems, such as the kinematics brought of redundancy and passive bound branch and structural complexity.
Invention content
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, present invention proposition is a kind of high
Fast high load parallel robot, which at least may be implemented tool in plane, and there are three freedoms of movement
Degree, structure is compacter, succinct, and control is flexible, and rigidity is high, is suitable for accurate operation, production line sorting, processing and other fields.Phase
Than in traditional Delta high speeds parallel robot (using open spherical hinge structure), the present invention uses closed type hinge so that machine
People's rigidity gets a promotion, on the basis of high speed operation, it is easy to accomplish high-load performance.
High speed high load parallel robot according to the ... of the embodiment of the present invention includes：Fixed platform；First driving unit, second drive
Moving cell and third driving unit, first driving unit, second driving unit and third driving unit difference
With being connected for the fixed platform, first driving unit, second driving unit and the third driving unit relative to
The center of the fixed platform circumferentially dispersed placement；First connecting rod, second connecting rod and third connecting rod, the upper end of the first connecting rod
It is connected with first driving unit, the upper end of the second connecting rod is connected with second driving unit, the third connecting rod
Upper end be connected with the third driving unit；Moving platform, the moving platform is located at the lower section of the fixed platform and described move is put down
Platform has principal plane parallel with horizontal plane always, the lower end of the first connecting rod, the lower end of the second connecting rod and described the
The lower end of three-link is circumferentially dispersedly connected with the moving platform respectively；Wherein, the fixed platform, first driving are single
Member, second driving unit, the third driving unit, the first connecting rod, the second connecting rod, the third connecting rod and
The moving platform Special composition closed loop configuration.
High speed high load parallel robot according to the ... of the embodiment of the present invention, by being arranged three driving units in fixed platform
On, and by using being respectively connected with again with three driving units after being connected of three connecting rods and moving platform, to drive moving platform
Movement, such first driving unit, the second driving unit, third driving unit, first connecting rod, second connecting rod, third connecting rod and
Moving platform Special composition closed loop configuration, the high speed high load parallel robot at least may be implemented in plane tool there are three it is mobile from
By spending, high speed high load parallel robot in the present embodiment it is compact-sized, succinct, control is flexible, and rigidity is high, is suitable for essence
Close operation, production line sorting, processing and other fields.(open flexural pivot knot is used compared to traditional Delta high speeds parallel robot
Structure), the present invention uses closed type hinge so that Robot Stiffness gets a promotion, on the basis of high speed operation, it is easy to accomplish high
Load performance.
According to one embodiment of present invention, the both ends of the first connecting rod by the first kinematic pair respectively with described first
Driving unit is connected with the moving platform, and first kinematic pair includes the first revolute pair that two axis intersect vertically, and two
The first revolute pair in a first kinematic pair corresponds to parallel；The both ends of the second connecting rod by the second kinematic pair respectively with
Second driving unit is connected with the moving platform, and second kinematic pair includes the second rotation that two axis intersect vertically
Pair, and the second revolute pair in two the second kinematic pairs correspond to it is parallel；The both ends of the third connecting rod pass through third kinematic pair point
It is not connected with the third driving unit and the moving platform, the third kinematic pair includes the third that two axis intersect vertically
Revolute pair, and the third revolute pair in two third kinematic pairs correspond to it is parallel.
According to one embodiment of present invention, the moving platform is equipped with the end being pivotally connected with the moving platform and executes
Device, the high speed high load parallel robot further include for driving the rotation of the end executive device rotation to drive dress
It sets.
According to one embodiment of present invention, the device of rotation driving is located on the moving platform and is held with the end
Luggage is set connected.
According to one embodiment of present invention, the device of rotation driving be located on the fixed platform by pivot link with
The end executive device is connected, the 4th revolute pair that one end of the pivot link is intersected vertically by two axis with it is described
Device of rotation driving is connected, the 5th revolute pair and the end that the other end of the pivot link is intersected vertically by two axis
Executive device is held to be connected.
According to one embodiment of present invention, the pivot link includes two cross-talk connecting rods being at least connected with each other, adjacent
Two sub-links can be along the opposite sliding of axis of the pivot link.
According to one embodiment of present invention, first driving unit includes first motor and is constituted in perpendicular
First moving link of parallelogram, four endpoints of first moving link be sequentially connected after be pivotable structure,
The two neighboring endpoint location of first moving link is fixed and one of them is pivotally attached to the first motor, and described
One connecting rod is connected between other two endpoint of first moving link；Second driving unit include the second motor and
The second moving link that parallelogram is constituted in perpendicular, after four endpoints of second moving link are sequentially connected
It is pivotable structure, the two neighboring endpoint location of second moving link is fixed and one of them and second motor
It is pivotally attached to, the second connecting rod is connected between other two endpoint of second moving link；The third driving is single
Member includes third motor and constitutes the third moving link of parallelogram in perpendicular, and the four of the third moving link
A endpoint is pivotable structure after being sequentially connected, and the two neighboring endpoint location of the third moving link is fixed and wherein one
It is a to be pivotally attached to the third motor, the third connecting rod be connected to the third moving link other two endpoint it
Between.
According to one embodiment of present invention, the fixed endpoint in two of which position of first moving link is located at institute
It states on fixed platform, is equipped with the first intermediate connector between other two adjacent endpoint of first moving link, described the
One intermediate connector is connected with the first connecting rod；The fixed endpoint in two of which position of second moving link is located at institute
It states on fixed platform, is equipped with the second intermediate connector between other two adjacent endpoint of second moving link, described the
Two intermediate connectors are connected with the second connecting rod；The fixed endpoint in two of which position of the third moving link is located at institute
It states on fixed platform, is equipped with third intermediate connector between other two adjacent endpoint of the third moving link, described the
Three intermediate connectors are connected with the third connecting rod.
According to one embodiment of present invention, the fixed platform includes main body；It is connected respectively with the outer wall of the main body
First mounting plate, the second mounting plate and third mounting plate, first mounting plate, second mounting plate and third installation
Center circumferentially dispersed placement, and first mounting plate, second mounting plate and described of the plate relative to the main body
Three mounting plates are parallel with perpendicular, and first driving unit is located on first mounting plate, and second driving is single
Member is located on second mounting plate, and the third driving unit is located on the third mounting plate.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is high speed high load parallel robot according to an embodiment of the invention；
Fig. 2 is high speed high load parallel robot in accordance with another embodiment of the present invention.
Reference numeral：
High speed high load parallel robot 100；
Fixed platform 10；Main body 11；First mounting plate 12；Second mounting plate 13；Third mounting plate 14；
First driving unit 21；First motor 211；First moving link 212；
Second driving unit 22；Second motor 221；Second moving link 222；
Third driving unit 23；Third motor 231；Third moving link 232；
First intermediate connector 24；Second intermediate connector 25；Third intermediate connector 26；
First connecting rod 31；Second connecting rod 32；Third connecting rod 33；
Moving platform 40；
First kinematic pair 51；
Second kinematic pair 52；
Third kinematic pair 53；
End executive device 60；Device of rotation driving 61；Pivot link 62.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, limit
There is the feature of " first ", " second " to can explicitly or implicitly include one or more this feature surely.The present invention's
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
High speed high load parallel robot 100 according to the ... of the embodiment of the present invention is described below with reference to Fig. 1 and Fig. 2.Such as Fig. 1 and
Shown in Fig. 2, high speed high load parallel robot 100 according to the ... of the embodiment of the present invention, including fixed platform 10, the first driving unit
21, the second driving unit 22, third driving unit 23, first connecting rod 31, second connecting rod 32, third connecting rod 33 and moving platform
40。
Fixed platform 10 is that entire high speed high load parallel robot 100 provides fixing body, and fixed platform 10 can be fixed on height
The installation of fast high load parallel robot 100.As depicted in figs. 1 and 2, the first driving unit 21 is connected with fixed platform 10, the
Two driving units 22 are connected with fixed platform 10, and third driving unit 23 is connected with fixed platform 10, the first driving unit 21, and second
The center circumferentially dispersed placement of driving unit 22 and third driving unit 23 relative to fixed platform 10, specifically, in horizontal plane
Projection on, the first driving unit 21, the second driving unit 22 and third driving unit 23 exist relative to the center of fixed platform 10
Evenly over the circumference dispersed placement, i.e., two neighboring driving unit is equal by the central angle in the center of circle of the center of fixed platform 10
's.
The upper end of first connecting rod 31 is connected with the first driving unit 21, and the lower end of first connecting rod 31 is connected with moving platform 40；
The upper end of second connecting rod 32 is connected with the second driving unit 22, and the lower end of second connecting rod 32 is connected with moving platform 40；Third connecting rod
33 upper end is connected with third driving unit 23, and the lower end of third connecting rod 33 is connected with moving platform 40；Wherein the first driving unit
21 provide power for the movement of first connecting rod 31, and the second driving unit 22 provides power for the movement of second connecting rod 32, and third is driven
Moving cell 23 provides power for the movement of third connecting rod 33.
Moving platform 40, which is located at the lower section of fixed platform 10 and moving platform 40, has a principal plane parallel with horizontal plane always, and first
The lower end of the lower end of connecting rod 31, the lower end of second connecting rod 32 and third connecting rod 33 circumferentially dispersedly respectively with 40 phase of moving platform
Even.The wherein lower end of first connecting rod 31, the lower end of second connecting rod 32 and the lower end of third connecting rod 33 are relative in moving platform 40
The heart is circumferentially uniformly dispersed arrangement, i.e., the lower end of two neighboring connecting rod using the center of moving platform 40 as the central angle in the center of circle
It is equal.
Wherein, fixed platform 10, the first driving unit 21, the second driving unit 22, third driving unit 23, first connecting rod
31,40 Special composition closed loop configuration of second connecting rod 32, third connecting rod 33 and moving platform.
Optionally, end executive device 60 can be set on the moving platform 40, thus the high speed high load parallel manipulator
People 100 can in the horizontal plane send the end executive device 60 to any position, so as to flexibly realize robot and
Machine operation.
High speed high load parallel robot 100 according to the ... of the embodiment of the present invention, by determining three driving unit settings
On platform 10, and by using being respectively connected with again with three driving units after being connected of three connecting rods and moving platform 40, to band
Dynamic moving platform 40 moves, such first driving unit 21, the second driving unit 22, third driving unit 23, first connecting rod 31, the
40 Special composition closed loop configuration of two connecting rods 32, third connecting rod 33 and moving platform, the high speed high load parallel robot 100 at least may be used
To realize in plane tool there are three one-movement-freedom-degree, high speed high load parallel robot 100 in the present embodiment it is compact-sized,
Succinctly, control is flexible, and rigidity is high, is suitable for accurate operation, production line sorting, processing and other fields.Compared to traditional Delta high speeds
Parallel robot (uses open spherical hinge structure), and the present invention uses closed type hinge so that and Robot Stiffness gets a promotion,
On the basis of high speed operation, it is easy to accomplish high-load performance.
High speed high load parallel robot 100 according to the ... of the embodiment of the present invention is described below with reference to Fig. 1.As shown in Figure 1, root
Include according to the high speed high load parallel robot 100 of the embodiment of the present invention：Fixed platform 10, the driving of the first driving unit 21, second
Unit 22, third driving unit 23, first connecting rod 31, second connecting rod 32, third connecting rod 33 and moving platform 40.
As shown in Figure 1, fixed platform 10 includes main body 11 and the first mounting plate 12 being connected respectively with the outer wall of main body 11, the
Two mounting plates 13 and third mounting plate 14, main body 11 are configured to hollow cylinder, the first mounting plate 12, the second mounting plate 13
Center circumferentially dispersed placement with third mounting plate 14 relative to main body 11, specifically, in the projection of horizontal plane, the first peace
Loading board 12, the second mounting plate 13 and third mounting plate 14 are circumferentially uniformly dispersed arrangement relative to the center of main body 11, i.e.,
Two neighboring mounting plate is equal by the central angle in the center of circle of the center of main body 11.Wherein, the first mounting plate 12, second is pacified
Loading board 13 and third mounting plate 14 are parallel with perpendicular, and the first driving unit 21 is located on the first mounting plate 12, and second drives
Moving cell 22 is located on the second mounting plate 13, and third driving unit 23 is located on third mounting plate 14.From there through fixed platform 10
Above structure can be that the first driving unit 21, the second driving unit 22, third driving unit 23 provide rational installation knot
Structure, simple for structure, the connection and reasonable arrangement of high speed high load parallel robot 100, and the stable structure of fixed platform 10.
In example as shown in Figure 1, the both ends of first connecting rod 31 by the first kinematic pair 51 respectively with the first driving unit
21 are connected with moving platform 40, and the first kinematic pair 51 includes the first revolute pair that two axis intersect vertically, and two first move
The first revolute pair in pair 51 corresponds to parallel, that is to say, that is driven by the first kinematic pair 51 and first upper end of first connecting rod 31
Moving cell 21 is connected, and the lower end of first connecting rod 31 is connected by the first kinematic pair 51 with moving platform 40, wherein the first kinematic pair 51
Can be replaced by Hooke's hinge, and the first revolute pair in first kinematic pair 51 at 31 both ends of first connecting rod correspond to it is parallel, as a result,
First connecting rod 31 has two rotational freedoms Bi Cichuizhied with the first driving unit 21, and the first driving unit 21 is for first
The driving of connecting rod 31 is more flexible, and first connecting rod 31 has two rotational freedoms Bi Cichuizhied with moving platform 40, thus
Under the drive of first connecting rod 31, moving platform 40 can carry out corresponding position movement, and simple in structure, at low cost, movement spirit
It is living.
In example as shown in Figure 1, the both ends of second connecting rod 32 by the second kinematic pair 52 respectively with the second driving unit
22 are connected with moving platform 40, and the second kinematic pair 52 includes the second revolute pair that two axis intersect vertically, and two second move
The second revolute pair in pair 52 corresponds to parallel, that is to say, that is driven by the second kinematic pair 52 and second upper end of second connecting rod 32
Moving cell 22 is connected, and the lower end of second connecting rod 32 is connected by the second kinematic pair 52 with moving platform 40, wherein the second kinematic pair 52
Can be replaced by Hooke's hinge, and the second revolute pair in second kinematic pair 52 at 32 both ends of second connecting rod correspond to it is parallel, as a result,
Second connecting rod 32 has two rotational freedoms Bi Cichuizhied with the second driving unit 22, and the second driving unit 22 is for second
The driving of connecting rod 32 is more flexible, and second connecting rod 32 has two rotational freedoms Bi Cichuizhied with moving platform 40, thus
Under the drive of second connecting rod 32, moving platform 40 can carry out corresponding position movement, and simple in structure, at low cost, movement spirit
It is living.
In example as shown in Figure 1, the both ends of third connecting rod 33 by third kinematic pair 53 respectively with third driving unit
23 are connected with moving platform 40, and third kinematic pair 53 includes the third revolute pair that two axis intersect vertically, and two thirds move
Third revolute pair in pair 53 corresponds to parallel, that is to say, that is driven by third kinematic pair 53 and third the upper end of third connecting rod 33
Moving cell 23 is connected, and the lower end of third connecting rod 33 is connected by third kinematic pair 53 with moving platform 40, wherein third kinematic pair 53
Can be replaced by Hooke's hinge, and the third revolute pair in the third kinematic pair 53 at 33 both ends of third connecting rod correspond to it is parallel, as a result,
Third connecting rod 33 has two rotational freedoms Bi Cichuizhied with third driving unit 23, and third driving unit 23 is for third
The driving of connecting rod 33 is more flexible, and third connecting rod 33 has two rotational freedoms Bi Cichuizhied with moving platform 40, thus
Under the drive of third connecting rod 33, moving platform 40 can carry out corresponding position movement, and simple in structure, at low cost, movement spirit
It is living.
The embodiment of driving unit according to the ... of the embodiment of the present invention is described below.
As shown in Figure 1, the first driving unit 21 includes first motor 211 and constitutes parallelogram in perpendicular
First moving link 212, four endpoints of the first moving link 212 be sequentially connected after be pivotable structure, the first movement structure
The two neighboring endpoint location of part 212 is fixed and one of them is pivotally attached to first motor 211, and first connecting rod 31 is connected to
Between other two endpoint of one moving link 212.The fixed endpoint in two of which position of wherein the first moving link 212 is set
On fixed platform 10, between other two adjacent endpoint of the first moving link 212 be equipped with the first intermediate connector 24, first
Intermediate connector 24 is connected with first connecting rod 31, it is possible thereby to it is simpler so that the structure of the first driving unit 21 is constructed, first
Driving unit 21 and the connection structure cooperation of first connecting rod 31 are relatively reliable.
Specifically, in example shown in Figure 1, the first moving link 212 includes four endpoints, two of which endpoint
Position fix always, such as two fixed endpoints can be located on the first mounting plate 12, one in two fixed endpoints with
The motor shaft of first motor 211 is connected.Wherein in " the first moving link 212 for constituting parallelogram in perpendicular "
" perpendicular " can be the plane where the installation two fixing points of the first mounting plate 12.Optionally, first motor 211 and
The two fixing points of one moving link 212 are respectively provided in two opposite planes of the first mounting plate 12, it is possible thereby to make
The installation of one driving unit 21 is simpler.
As shown in Figure 1, the second driving unit 22 includes the second motor 221 and constitutes parallelogram in perpendicular
Second moving link 222, four endpoints of the second moving link 222 be sequentially connected after be pivotable structure, the second movement structure
The two neighboring endpoint location of part 222 is fixed and one of them is pivotally attached to the second motor 221, and second connecting rod 32 is connected to
Between other two endpoint of two moving links 222.The fixed endpoint in two of which position of wherein the second moving link 222 is set
On fixed platform 10, between other two adjacent endpoint of the second moving link 222 be equipped with the second intermediate connector 25, second
Intermediate connector 25 is connected with second connecting rod 32, it is possible thereby to it is simpler so that the structure of the second driving unit 22 is constructed, second
Driving unit 22 and the connection structure cooperation of second connecting rod 32 are relatively reliable.
Specifically, in example shown in Figure 1, the second moving link 222 includes four endpoints, two of which endpoint
Position fix always, such as two fixed endpoints can be located on the second mounting plate 13, one in two fixed endpoints with
The motor shaft of second motor 221 is connected.Wherein in " the second moving link 222 for constituting parallelogram in perpendicular "
" perpendicular " can be the plane where the installation two fixing points of the second mounting plate 13.Optionally, the second motor 221 and
The two fixing points of two moving links 222 are respectively provided in two opposite planes of the second mounting plate 13, it is possible thereby to make
The installation of two driving units 22 is simpler.
As shown in Figure 1, third driving unit 23 includes third motor 231 and constitutes parallelogram in perpendicular
Third moving link 232, four endpoints of third moving link 232 be sequentially connected after be pivotable structure, third moves structure
The two neighboring endpoint location of part 232 is fixed and one of them is pivotally attached to third motor 231, and third connecting rod 33 is connected to
Between other two endpoint of three moving links 232.The fixed endpoint in two of which position of wherein third moving link 232 is set
On fixed platform 10, third intermediate connector 26, third are equipped between other two adjacent endpoint of third moving link 232
Intermediate connector 26 is connected with third connecting rod 33, it is possible thereby to which the structure of third driving unit 23 is made to construct simpler, third
Driving unit 23 and the connection structure cooperation of third connecting rod 33 are relatively reliable.
Specifically, in example shown in Figure 1, third moving link 232 includes four endpoints, two of which endpoint
Position fix always, such as two fixed endpoints can be located on third mounting plate 14, one in two fixed endpoints with
The motor shaft of third motor 231 is connected.Wherein in " the third moving link 232 for constituting parallelogram in perpendicular "
" perpendicular " can be the plane where the installation two fixing points of third mounting plate 14.Optionally, third motor 231 and
The two fixing points of three moving links 232 are respectively provided in two opposite planes of third mounting plate 14, it is possible thereby to make
The installation of three driving units 23 is simpler.
Second embodiment of the present invention, high speed high load parallel robot 100 as shown in Figure 2 and Fig. 1 are described below
Shown in the identical place of structure of high speed high load parallel robot 100 repeat no more, it is different from mechanism shown in FIG. 1
It is：Moving platform 40 is equipped with the end executive device 60 being pivotally connected with moving platform 40, and high speed high load parallel robot 100 is also
It include the device of rotation driving 61 for driving 60 rotation of end executive device.As shown in Fig. 2, the end executive device 60 can be with
Around its own axis rotation, i.e., the end executive device 60 can be rotated around vertical axis, and thus high speed high load is in parallel
The application field of robot 100 is further expanded, and application range is wider.
Optionally, in an alternate embodiment of the present invention where, device of rotation driving 61 be located on moving platform 40 and with end
Executive device 60 is held to be connected.It is possible thereby to keep the control of end executive device 60 more flexible.
In another alternative embodiment of the invention, lead to as shown in Fig. 2, device of rotation driving 61 is located on fixed platform 10
It crosses pivot link 62 with end executive device 60 to be connected, intersect vertically by two axis the 4th turn of one end of pivot link 62
Dynamic pair is connected with device of rotation driving 61, the 5th revolute pair that the other end of pivot link 62 is intersected vertically by two axis and
End executive device 60 is connected.As a result, by being arranged device of rotation driving 61 on fixed platform 10, allocated so as to reduce
The quality of platform 10, so as to so that the movement of fixed platform 10 is more flexible freely.Optionally, device of rotation driving 61 can be arranged
In the main body 11 of fixed platform 10.
That is, in the present embodiment, the tool of high speed high load parallel robot 100 there are three one-movement-freedom-degree and one around
The rotational freedom of vertical direction, totally four degree of freedom.It is possible thereby to make the movement of high speed high load parallel robot 100 more
Flexibly, application range is wider.
Further, pivot link 62 includes the two cross-talk connecting rods that are at least connected with each other, and two neighboring sub-link can be along turning
The axis of dynamic connecting rod 62 is opposite to be slided.In this way when moving platform 40 moves in above-below direction, two sub-links are relatively sliding along axis
It is dynamic, the movement of moving platform 40 can be made to be not blocked.
To sum up, high speed high load parallel robot 100 according to the ... of the embodiment of the present invention, fixed platform 10, the first driving unit
21, the second driving unit 22, third driving unit 23, first connecting rod 31,40 structure of second connecting rod 32, third connecting rod 33 and moving platform
At space closed loop configuration, so that compact-sized, succinct, the control of the high speed high load parallel robot 100 in the present embodiment
System is flexible, and rigidity is high, is suitable for accurate operation, production line sorting, processing and other fields.Compared to traditional Delta high speeds parallel machine
Device people (uses open spherical hinge structure), and the present invention uses closed type hinge so that Robot Stiffness gets a promotion, and is grasped in high speed
On the basis of work, it is easy to accomplish high-load performance.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (9)
1. a kind of high speed high load parallel robot, which is characterized in that including：
Fixed platform；
First driving unit, the second driving unit and third driving unit, first driving unit, second driving unit
Be connected respectively with the fixed platform with the third driving unit, first driving unit, second driving unit and
Center circumferentially dispersed placement of the third driving unit relative to the fixed platform；
First connecting rod, second connecting rod and third connecting rod, the upper end of the first connecting rod is connected with first driving unit, described
The upper end of second connecting rod is connected with second driving unit, the upper end of the third connecting rod and the third driving unit phase
Even；
Moving platform, the moving platform is located at the lower section of the fixed platform and the moving platform has master parallel with horizontal plane always
The lower end of plane, the lower end of the first connecting rod, the lower end of the second connecting rod and the third connecting rod is circumferentially dispersedly divided
It is not connected with the moving platform；
Wherein, the fixed platform, first driving unit, second driving unit, the third driving unit, described
One connecting rod, the second connecting rod, the third connecting rod and the moving platform Special composition closed loop configuration.
2. high speed high load parallel robot according to claim 1, which is characterized in that
The both ends of the first connecting rod are connected with first driving unit and the moving platform respectively by the first kinematic pair, institute
It includes the first revolute pair that two axis intersect vertically to state the first kinematic pair, and the first rotation in two first kinematic pairs
Pair correspondence is parallel；
The both ends of the second connecting rod are connected with second driving unit and the moving platform respectively by the second kinematic pair, institute
It includes the second revolute pair that two axis intersect vertically to state the second kinematic pair, and the second revolute pair pair in two the second kinematic pairs
It answers parallel；
The both ends of the third connecting rod are connected with the third driving unit and the moving platform respectively by third kinematic pair, institute
It includes the third revolute pair that two axis intersect vertically to state third kinematic pair, and the third rotation in two third kinematic pairs
Pair correspondence is parallel.
3. high speed high load parallel robot according to claim 1, which is characterized in that the moving platform is equipped with and institute
The end executive device that moving platform is pivotally connected is stated, the high speed high load parallel robot further includes for driving the end
The device of rotation driving of executive device rotation.
4. high speed high load parallel robot according to claim 3, which is characterized in that the device of rotation driving is located at
It is connected on the moving platform and with the end executive device.
5. high speed high load parallel robot according to claim 3, which is characterized in that the device of rotation driving is located at
It is connected with the end executive device by pivot link on the fixed platform, one end of the pivot link passes through two axis
The 4th revolute pair to intersect vertically is connected with the device of rotation driving, and the other end of the pivot link is hung down by two axis
The 5th revolute pair directly intersected is connected with the end executive device.
6. high speed high load parallel robot according to claim 5, which is characterized in that the pivot link includes at least
Two cross-talk connecting rods being connected with each other, the two neighboring sub-link can be along the opposite slidings of axis of the pivot link.
7. the high speed high load parallel robot according to any one of claim 1-6, which is characterized in that
First driving unit includes first motor and constitutes the first moving link of parallelogram, institute in perpendicular
State the first moving link four endpoints be sequentially connected after be pivotable structure, the two neighboring end of first moving link
Point position is fixed and one of them is pivotally attached to the first motor, and the first connecting rod is connected to first moving link
Other two endpoint between；
Second driving unit includes the second motor and constitutes the second moving link of parallelogram, institute in perpendicular
State the second moving link four endpoints be sequentially connected after be pivotable structure, the two neighboring end of second moving link
Point position is fixed and one of them is pivotally attached to second motor, and the second connecting rod is connected to second moving link
Other two endpoint between；
The third driving unit includes third motor and constitutes the third moving link of parallelogram, institute in perpendicular
State third moving link four endpoints be sequentially connected after be pivotable structure, the two neighboring end of the third moving link
Point position is fixed and one of them is pivotally attached to the third motor, and the third connecting rod is connected to the third moving link
Other two endpoint between.
8. high speed high load parallel robot according to claim 7, which is characterized in that
The fixed endpoint in two of which position of first moving link is located on the fixed platform, first moving link
Other two adjacent endpoint between be equipped with the first intermediate connector, first intermediate connector and the first connecting rod phase
Even；
The fixed endpoint in two of which position of second moving link is located on the fixed platform, second moving link
Other two adjacent endpoint between be equipped with the second intermediate connector, second intermediate connector and the second connecting rod phase
Even；
The fixed endpoint in two of which position of the third moving link is located on the fixed platform, the third moving link
Other two adjacent endpoint between be equipped with third intermediate connector, the third intermediate connector and the third connecting rod phase
Even.
9. high speed high load parallel robot according to claim 1, which is characterized in that
The fixed platform includes main body；
The first mounting plate, the second mounting plate and the third mounting plate being connected respectively with the outer wall of the main body, first installation
The center circumferentially dispersed placement of plate, second mounting plate and the third mounting plate relative to the main body, and described
One mounting plate, second mounting plate and the third mounting plate are parallel with perpendicular, and first driving unit is located at
On first mounting plate, second driving unit is located on second mounting plate, and the third driving unit is located at institute
It states on third mounting plate.
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| CN108393871B (en) | 2019-09-17 |
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