CN113172609A

CN113172609A - High-speed parallel robot with cam arm indirect drive

Info

Publication number: CN113172609A
Application number: CN202110533184.8A
Authority: CN
Inventors: 王岳超
Original assignee: Bokent Zhenjiang Robot Technology Co ltd
Current assignee: Bokent Zhenjiang Robot Technology Co ltd
Priority date: 2021-05-17
Filing date: 2021-05-17
Publication date: 2021-07-27

Abstract

A high-speed parallel robot with indirect drive of cam arm, including quiet platform, movement assembly, intermediate shaft and moving platform, the said quiet platform locates above moving platform, and link to each other with moving platform through the intermediate shaft, the said movement assembly includes the speed reducer, first master arm, second master arm and third master arm, the structure of the said first master arm is a cam structure, the invention is through changing the mechanical structure of the parallel robot among the prior art, in order to realize the effective promotion of the working speed of the parallel robot, has raised the working efficiency, the first master arm of the cam mechanism type has solved the parallel robot and caused the too big problem of current in the motor because of the reciprocating motion process, this has very big promotion to life-span, power consumption efficiency, maintenance and reliability of the motor.

Description

High-speed parallel robot with cam arm indirect drive

Technical Field

The invention particularly relates to a high-speed parallel robot indirectly driven by a cam arm.

Background

With the continuous increase of labor cost, the dependence degree of the speed of the parallel robot auxiliary processing in industrial production is larger and larger, so the speed of the parallel robot is the main embodiment of the performance of the series of robots, and the parallel robot in the prior art has the following defects and shortcomings: the existing parallel robot is limited by a mechanical structure and self-movement characteristics, so that the running speed of the parallel robot cannot be improved in a breakthrough manner even if a high-speed and high-power motor is used, and the problem that the current generated by the motor is overlarge when the parallel robot carries out reciprocating motion is solved.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a high-speed parallel robot indirectly driven by a cam arm, which comprises a static platform and a movable platform, wherein the static platform is positioned above the movable platform, the periphery of the static platform is connected with the movable platform through three groups of motion assemblies uniformly distributed at 120 degrees, the static platform and the movable platform are connected through a middle shaft, a drive unit of the middle shaft is positioned on the static platform, the upper end of the middle shaft is provided with a rotating flange, a mounting flange is arranged below the movable platform, and the mounting flange is connected with the lower end of the middle shaft.

Preferably, the motion subassembly include first initiative arm, second initiative arm and third initiative arm, first initiative arm link to each other with the output of speed reducer, the structure of first initiative arm is the cam structure, first initiative arm is articulated mutually with the second initiative arm, the outer arm of second initiative arm and third initiative arm articulated mutually, articulated department be equipped with flange, the one end of third initiative arm is equipped with the fixing base, the fixing base both sides with move and link to each other through the slave arm between the platform, the other end of third initiative arm articulated with the articulated seat of quiet platform below, the articulated seat of quiet platform in the left and right sides be equipped with left torsion spring and right torsion spring respectively.

Preferably, a transmission pair structure is formed between the first driving arm and the second driving arm.

Preferably, the second active arm is hinged to the third active arm at 1/3 outer arms.

Preferably, a spherical pair structure is formed between the driven arm and the third driving arm.

Preferably, a spherical pair structure is formed between the driven arm and the movable platform.

Two torsion springs with opposite rotation directions are arranged in the hinge seat of the static platform, according to the characteristics of the springs, under different working states of the third driving arm, the torsion springs respectively play roles of acceleration and energy storage, the purpose of energy recovery on the third driving arm is realized, the phenomenon that the current in the motor is too large due to reciprocating motion of the motor is avoided, and preferably, the rotation directions of the left torsion spring and the right torsion spring are opposite.

Preferably, the left torsion spring is a right-hand torsion spring.

Preferably, the right torsion spring is a left-handed torsion spring.

The cam mechanism type first driving arm not only can bear larger force structurally and bear smaller abrasion, but also can keep the motor to continuously rotate in one direction, and the problem that the current in the motor is overlarge due to the reciprocating motion process of the parallel robot is solved, so that the service life, the power consumption efficiency, the maintenance and the reliability of the motor are greatly improved.

Drawings

FIG. 1 is a schematic three-dimensional structure diagram of a high-speed parallel robot with a cam arm indirect drive;

FIG. 2 is a top view of a high speed parallel robot with an indirect drive of a cam arm;

FIG. 3 is a front view of a high speed parallel robot with an indirect drive of a cam arm;

FIG. 4 is a schematic cross-sectional view A-A of FIG. 3;

FIG. 5 is an enlarged partial schematic view of region B of FIG. 3;

FIG. 6 is an enlarged partial schematic view of region C of FIG. 3;

FIG. 7 is another schematic diagram of the high-speed parallel robot

In the figure: 1. the device comprises a static platform 11, a static platform hinge base 2, a moving assembly 21, a speed reducer 22, a first driving arm 23, a second driving arm 24, a third driving arm 241, a fixed base 242, a connecting flange 25, a driven arm 3, an intermediate shaft 31, a rotating flange 4, a moving platform 41 and a mounting flange

Detailed description of the preferred embodiments

For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the following examples and the accompanying drawings, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.

As shown in fig. 1, 2, 4 and 6, the high-speed parallel robot with the indirect cam arm drive comprises a static platform 1 and a movable platform 4, wherein the static platform 1 is positioned above the movable platform 4, the periphery of the static platform 1 is connected with the movable platform 4 through three groups of motion assemblies 2 which are uniformly distributed at 120 degrees, the static platform 1 is connected with the movable platform 4 through an intermediate shaft 3, a drive unit of the intermediate shaft 3 is positioned on the static platform 1, a rotary flange 31 is arranged at the upper end of the intermediate shaft 1, a mounting flange 41 is arranged below the movable platform 4, and the mounting flange 41 is connected with the lower end of the intermediate shaft 3 and can perform rotary motion through the intermediate shaft 3.

As shown in fig. 3, 4 and 5, the moving assembly 2 includes a first active arm 22, a second active arm 23 and a third active arm 24, the first driving arm 22 is connected with the output end of the speed reducer 21, the first driving arm 22 is in a cam structure, the first driving arm 22 is hinged with the second driving arm 23, the second driving arm 23 is hinged with the 1/3 outer arm of the third driving arm 24, a connecting flange 242 is arranged at the hinged position, a fixing seat 241 is arranged at one end of the third driving arm 24, the two sides of the fixed seat 241 are connected with the movable platform 4 through the driven arm 25, the other end of the third driving arm 24 is hinged with the fixed platform hinge seat 11 below the fixed platform 1, the left and right sides in the static platform hinge seat 11 are respectively provided with a left torsion spring (not shown in the figure) and a right torsion spring (not shown in the figure).

The working condition is as follows: as shown in fig. 7, the speed reducer 21 on the stationary platform 1 drives the first driving arm 22 to rotate, the transmission pair structure composed of the first driving arm 22 and the second driving arm 23 drives the third driving arm 24 to swing up and down, the third driving arm 24 drives the movable platform 4 to move in three horizontal directions of XYZ through the driven arm 25, and the intermediate shaft 3 drives the movable platform 4 to rotate around the Z axis. Because three groups of motion assemblies 2 are arranged around the static platform 1 in an annular array, when the motion platform 4 moves, indirect drive is realized among the three groups of motion assemblies, and the motion assemblies cooperatively control the position of the motion platform to move.

Because the left torsion spring (not shown in the figure) in the stationary platform hinge base 11 is a right-handed torsion spring, when the third driving arm 24 moves to a position below the horizontal line, the left torsion spring is twisted to store energy, and releases energy when the third driving arm 24 stops swinging downwards and starts swinging upwards, so as to accelerate. The same principle is that: because the right torsion spring (not shown in the figure) in the stationary platform hinge seat 11 is a left-handed torsion spring, when the third driving arm 24 moves to a position above the horizontal line, the right torsion spring in the stationary platform hinge seat 11 is twisted to store energy, and releases energy when the third driving arm 24 stops swinging upwards and starts swinging downwards, so as to accelerate.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The high-speed parallel robot with the cam arm indirect drive is characterized by comprising a static platform and a movable platform, wherein the static platform is located above the movable platform, the periphery of the static platform is connected with the movable platform through three groups of motion assemblies which are uniformly distributed at 120 degrees, the static platform is connected with the movable platform through an intermediate shaft, a drive unit of the intermediate shaft is located on the static platform, a rotating flange is arranged at the upper end of the intermediate shaft, a mounting flange is arranged below the movable platform, and the mounting flange is connected with the lower end of the intermediate shaft.

2. The high-speed parallel robot with the indirect cam arm drive function according to claim 1, wherein the moving assembly comprises a first driving arm, a second driving arm and a third driving arm, the first driving arm is connected with the output end of the speed reducer, the first driving arm is of a cam structure, the first driving arm is hinged to the second driving arm, the second driving arm is hinged to the outer arm of the third driving arm, a connecting flange is arranged at the hinged position, a fixing seat is arranged at one end of the third driving arm, two sides of the fixing seat are connected with the movable platform through the driven arm, the other end of the third driving arm is hinged to a fixed platform hinge seat below the fixed platform, and a left torsion spring and a right torsion spring are arranged on the left side and the right side in the fixed platform hinge seat respectively.

3. The high-speed parallel robot with the indirect cam arm drive of claim 2, wherein a transmission pair structure is formed between the first active arm and the second active arm.

4. The high-speed parallel robot with the indirect cam arm drive of claim 2, wherein the second driving arm is hinged with the third driving arm at the position of 1/3 outer arms.

5. The high-speed parallel robot with the indirect cam arm drive of claim 2, wherein a spherical pair structure is formed between the driven arm and the third driving arm.

6. The high-speed parallel robot with the indirect cam arm drive of claim 2, wherein a spherical pair structure is formed between the driven arm and the movable platform.

7. The high-speed parallel robot with the indirect cam arm drive of claim 2, wherein the left torsion spring and the right torsion spring are oppositely rotated.

8. The indirectly driven high-speed parallel robot with the cam arm as claimed in claim 7, wherein the left torsion spring is a right-hand torsion spring.

9. The indirectly driven high-speed parallel robot with the cam arm as claimed in claim 7, wherein the right torsion spring is a left torsion spring.