CN204054045U - The built-in parallel robot of Three Degree Of Freedom bar - Google Patents
The built-in parallel robot of Three Degree Of Freedom bar Download PDFInfo
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- CN204054045U CN204054045U CN201420541588.7U CN201420541588U CN204054045U CN 204054045 U CN204054045 U CN 204054045U CN 201420541588 U CN201420541588 U CN 201420541588U CN 204054045 U CN204054045 U CN 204054045U
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Abstract
The utility model discloses the built-in parallel robot of a kind of Three Degree Of Freedom bar, comprise silent flatform, moving platform, the first side chain, the second side chain, the 3rd side chain and driving mechanism, wherein, described first side chain, described second side chain and described 3rd side chain are in same plane and are built in robot space, connect described silent flatform and moving platform in parallel simultaneously; Described driving mechanism drives described first side chain, described second side chain and described 3rd side chain respectively, does Three Degree Of Freedom translation to drive described moving platform.Clamping between follower lever group of the present utility model reduces greatly, and good rigidity, load capacity is large.
Description
Technical field
The utility model relates to industrial robot field, particularly the built-in parallel robot of Three Degree Of Freedom bar.
Background technology
At present, in the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation much utilizes robot to perform.And in numerous robots, the normal parallel robot that adopts realizes multi-faceted rapid movement, wherein the parallel robot of DELTA configuration is Typical Representative.Parallel robot, compared with conventional serial robot, has following characteristics:
1) without cumulative errors, kinematic accuracy and repeatable accuracy high;
2) heavy moving parts is light, and movement velocity is fast, and dynamic response is good;
3) working space is less.
Due to These characteristics, parallel robot is able to extensive use.But meanwhile, also there are some defects in the robot of DELTA configuration: the angle of follower lever group and vertical line is larger; The poor rigidity of robot, load capacity is little.This becomes the problem that those skilled in the art need to solve.
Utility model content
The purpose of this utility model is to provide a kind of Three Degree Of Freedom bar built-in parallel robot, and the angle between its follower lever group reduces greatly, and good rigidity, load capacity is large.To solve one or more problem in prior art.
The technical scheme realizing above-mentioned purpose is:
The built-in parallel robot of a kind of Three Degree Of Freedom bar, comprising: silent flatform, moving platform, the first side chain, the second side chain, the 3rd side chain and driving mechanism, wherein:
Described first side chain, described second side chain and described 3rd side chain are in same plane and are built in robot space, connect described silent flatform and described moving platform in parallel simultaneously;
Described driving mechanism drives described first side chain, described second side chain and described 3rd side chain respectively, does Three Degree Of Freedom translation to drive described moving platform.Thus the Three Degree Of Freedom translation of end moving platform is realized by controlling three built-in side chains, the clamping between follower lever group is reduced greatly, improves the load capacity of follower lever, finally make the load capacity of robot be greatly improved.
In certain embodiments, described first side chain, described second side chain are identical with the structure of described 3rd side chain:
Described first side chain comprises: be fixed on the first supporting seat extended inside described silent flatform and to silent flatform center, be coupling in the first driving lever of this first supporting seat, and the first follower lever group, wherein,
Described driving mechanism drives described first driving lever to rotate around the phase spindle of this first driving lever with described first supporting seat;
One end of described first follower lever group connects described first driving lever by the first revolute pair, and the other end connects described moving platform by the second revolute pair.By specializing three side chains, realized the Three Degree Of Freedom translation of moving platform better.
In certain embodiments, described first follower lever group comprises four follower levers, and these four follower levers are joined end to end by the 3rd revolute pair and formed parallelogram successively;
A follower lever of described parallelogram one opposite side connects described first driving lever by described first revolute pair, and another follower lever of this opposite side connects described moving platform by described second revolute pair.By follower lever group being specialized, obtain more reasonably transmission and kinematic accuracy.
In certain embodiments, described first driving lever extends along perpendicular to its direction with the phase spindle of described first supporting seat, and forms the first sleeve at extension tail end;
A follower lever of described first follower lever group one opposite side passes described first sleeve, and spacing to the two ends of this first sleeve; Another follower lever of this opposite side passes the second sleeve that described moving platform is arranged, and spacing to the two ends of this second sleeve.First revolute pair is specialized, obtains the good and intensity of good flexibility.
In certain embodiments, described first side chain, the second side chain are identical with the Plane of rotation angle between any two of the respective driving lever of the 3rd side chain;
Described first side chain, the second side chain are identical with the respective follower lever group place plane angle between any two of the 3rd side chain.Thus three side chains are evenly arranged.
In certain embodiments, described moving platform is provided with and described first side chain, the second side chain and the 3rd side chain three the second sleeves one to one, these three second sleeves axis angle between any two is separately identical.Limit three side chains to be further evenly arranged.
In certain embodiments, described driving mechanism comprises: corresponding to the first servomotor and first reductor of described first side chain, corresponding to the second servomotor and second reductor of described second side chain, and correspond to the 3rd servomotor and the 3rd reductor of described 3rd side chain;
Described first servomotor and described first reductor are all fixed on described first supporting seat;
The output of described first servomotor connects with the input of described first reductor;
Output shaft and described first driving lever of described first reductor are affixed, and the dead in line of the phase spindle of the axis of this output shaft and described first driving lever and described first supporting seat.By the specific descriptions to driving mechanism, the overall built-in parallel robot of Three Degree Of Freedom bar is achieved.
Accompanying drawing explanation
Fig. 1 is the structural representation of the built-in parallel robot of Three Degree Of Freedom bar of a kind of embodiment of the utility model;
Fig. 2 is the first driving lever and the first follower lever group johning knot composition of the built-in parallel robot of Three Degree Of Freedom bar of a kind of embodiment of the utility model;
Fig. 3 is follower lever group and the moving platform johning knot composition of the built-in parallel robot of Three Degree Of Freedom bar of a kind of embodiment of the utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Refer to Fig. 1, Fig. 2 and Fig. 3, the built-in parallel robot of Three Degree Of Freedom bar of the present utility model, comprise silent flatform 1, moving platform 2, first side chain 3, second side chain 4, the 3rd side chain 5 and driving mechanism.Wherein:
Silent flatform 1 is the platform of fixed position.
First side chain 3, second side chain 4 is identical with the structure of the 3rd side chain 5, is installed in parallel between silent flatform 1 and moving platform 2, and is placed in robot space.In the present embodiment, their identical angles of two twenty percents and being uniformly distributed at grade.
First side chain 3 comprises the first supporting seat 31, first driving lever 34 and the first follower lever group, and the first follower lever group comprises the two pairs of follower levers 35,36 surrounding parallelogram.Second side chain 4 comprises the second supporting seat 41, second driving lever 44 and the second follower lever group, and the second follower lever group comprises the two pairs of follower levers 45,46 surrounding parallelogram.3rd side chain 5 comprises the 3rd supporting seat 51, the 3rd driving lever 54 and the 3rd follower lever group, and the 3rd follower lever group comprises the two pairs of follower levers 55,56 surrounding parallelogram.Because structure is identical, just position is different, so for the first side chain 3, be described below:
First supporting seat 31 is fixed on the medial surface of silent flatform 1, and extend (in like manner towards the center of silent flatform 1, second supporting seat 41 and the 3rd supporting seat 51 are arranged equally, and they are equal with the angle of silent flatform 1 central point between any two), thus provide basis for three side chains are built in robot space.In the present embodiment, the first supporting seat 31, second supporting seat 41 and the 3rd supporting seat 51 are in same plane, and angle is consistent between two.
First driving lever 34 is coupling in the first supporting seat 31, by the driving of driving mechanism, rotates around the phase spindle (axis of this phase spindle is A1) of the first driving lever 34 with the first supporting seat 31.In like manner, the second driving lever 44 rotates around axis A2.3rd driving lever 54 rotates around axis A3.First driving lever 34 connects one end of the first follower lever group by the first revolute pair relative to the other end of pivoted connection end, the other end of this first follower lever group connects moving platform 2 by the second revolute pair.
First follower lever group comprises a pair follower lever 35 and another is to follower lever 36, and these four follower levers are joined end to end by the 3rd revolute pair and formed parallelogram successively, that is: between four follower levers by pin 37,39 hinged.A pair follower lever, 35, follower lever 35 as parallelogram one opposite side connects the first driving lever 34 by the first revolute pair, and another follower lever 35 connects moving platform 2 by the second revolute pair.This opposite side prioritizing selection minor face.Owing to being that revolute pair connects, realizing parallelogram place plane and rotate around the first driving lever 34, meanwhile, the first follower lever group of this parallelogram self also realizes distortion by revolute pair.First side chain 3, second side chain 4 is identical with the respective follower lever group place plane angle between any two of the 3rd side chain 5.
Particularly, as shown in Figures 2 and 3, along perpendicular to the direction of the first driving lever 34 with the phase spindle of the first supporting seat 31, the first driving lever 34 extends, and form the first sleeve 341 (in like manner, the second driving lever 44 and the 3rd driving lever 54 are all extended with the first sleeve) at extension tail end.Moving platform 2 is provided with and the first side chain 3, second side chain 4 and the 3rd side chain 5 three the second sleeves one to one, these three second sleeves axis angle between any two is separately identical, can be evenly arranged to make three side chains.
Middle part as a pair follower lever, 35, follower lever 35 of parallelogram one opposite side is socketed the first sleeve 341, and two ends are spacing to this first sleeve 341.The middle part of another follower lever 35 of this opposite side is socketed the second sleeve, and two ends are spacing to this second sleeve.Wherein, spacing finger: the middle part length of follower lever 35 is slightly larger than the length of the first sleeve 341, second sleeve, and the barrel dliameter at the two ends of follower lever 35 is greater than the barrel dliameter at middle part, to play position-limiting action.
Driving mechanism is used for driving the first side chain 3, second side chain 4 and the 3rd side chain 5 respectively, does Three Degree Of Freedom translation to drive moving platform 2.Driving mechanism comprises: corresponding to the first servomotor 33 and the first reductor 32 of the first side chain 3, corresponding to the second servomotor 43 and the second reductor 42 of the second side chain 4, and corresponds to the 3rd servomotor 53 and the 3rd reductor 52 of the 3rd side chain 5.First servomotor 33 and the first reductor 32, second servomotor 43 and the second reductor 42, and the 3rd servomotor 53 is consistent with the arrangement of the 3rd reductor 52, to correspond to the first servomotor 33 and the first reductor 32 of the first side chain 3:
First servomotor 33 and the first reductor 32 are all fixed on the first supporting seat 31.The output of the first servomotor 33 connects with the input of the first reductor 32.Output shaft and first driving lever 34 of the first reductor 32 are affixed, and the axis A1 of the phase spindle of the axis of this output shaft and the first driving lever 34 and the first supporting seat 31 overlaps.
In summary, the Plane of rotation of the first driving lever 34 is vertical with axis A1, and the Plane of rotation of the second driving lever 44 is vertical with axis A2, and the Plane of rotation of the 3rd driving lever 54 is vertical with axis A3, and these three Plane of rotations angle is between any two identical.A follower lever 35 of the first follower lever group rotates around the axis A11 of the first sleeve 341 of the first driving lever 34, and another follower lever 35 rotates around the axis A14 of second sleeve of platform 2.A pair follower lever 36 of the first follower lever group can rotate around axis A12, A13, A15, A16 of pin 37,39 respectively.
To sum up, by the first side chain 3, second side chain 4 and the 3rd side chain 5 are all built in robot space, each side chain can not extend out, be different from traditional freedom degree parallel connection structure, angle between follower lever group is reduced greatly, thus the load capacity of follower lever is improved greatly, finally make the load capacity of robot be greatly improved.
Adopt pure parallel institution in the utility model, reduce moving component weight, thus improve speed and the precision of moving platform.And parallel institution of the present utility model is easy to control, moving platform working space is large, be distributed symmetrically, simplicity of design, be easy to installation and maintenance.
The above is only a kind of embodiment of the present utility model; it should be pointed out that to those skilled in the art, under the prerequisite not departing from the utility model creation design; can also make some similar distortion and improvement, these also should be considered as within protection domain of the present utility model.
Claims (7)
1. the built-in parallel robot of Three Degree Of Freedom bar, it is characterized in that, comprise: silent flatform (1), moving platform (2), the first side chain (3), the second side chain (4), the 3rd side chain (5) and driving mechanism, wherein:
Described first side chain (3), described second side chain (4) and described 3rd side chain (5) are in same plane and are built in robot space, connect described silent flatform (1) and described moving platform (2) in parallel simultaneously;
Described driving mechanism drives described first side chain (3), described second side chain (4) and described 3rd side chain (5) respectively, does Three Degree Of Freedom translation to drive described moving platform (2).
2. the built-in parallel robot of Three Degree Of Freedom bar according to claim 1, is characterized in that, described first side chain (3), described second side chain (4) are identical with the structure of described 3rd side chain (5),
Described first side chain (3) comprising: be fixed on described silent flatform (1) inner side and the first supporting seat (31) extended to silent flatform (1) center, be coupling in first driving lever (34) of this first supporting seat (31), and the first follower lever group, wherein
Described driving mechanism drives described first driving lever (34) to rotate around the phase spindle of this first driving lever (34) with described first supporting seat (31);
One end of described first follower lever group connects described first driving lever (34) by the first revolute pair, and the other end connects described moving platform (2) by the second revolute pair.
3. the built-in parallel robot of Three Degree Of Freedom bar according to claim 2, is characterized in that,
Described first follower lever group comprises four follower levers, and these four follower levers are joined end to end by the 3rd revolute pair and formed parallelogram successively;
A follower lever of described parallelogram one opposite side connects described first driving lever (34) by described first revolute pair, and another follower lever of this opposite side connects described moving platform (2) by described second revolute pair.
4. the built-in parallel robot of Three Degree Of Freedom bar according to claim 3, is characterized in that,
Described first driving lever (34) extends along perpendicular to its direction with the phase spindle of described first supporting seat (31), and forms the first sleeve (341) at extension tail end;
A follower lever of described first follower lever group one opposite side passes described first sleeve (341), and spacing to the two ends of this first sleeve (341); Another follower lever of this opposite side passes upper the second sleeve arranged of described moving platform (2), and spacing to the two ends of this second sleeve.
5. the built-in parallel robot of Three Degree Of Freedom bar according to claim 4, is characterized in that,
Described first side chain (3), the second side chain (4) are identical with the Plane of rotation angle between any two of the respective driving lever (34,44,54) of the 3rd side chain (5);
Described first side chain (3), the second side chain (4) are identical with the respective follower lever group place plane angle between any two of the 3rd side chain (5).
6. the built-in parallel robot of Three Degree Of Freedom bar according to claim 4, it is characterized in that, described moving platform (2) is provided with and described first side chain (3), the second side chain (4) and the 3rd side chain (5) three the second sleeves one to one, these three second sleeves axis angle between any two is separately identical.
7. the built-in parallel robot of Three Degree Of Freedom bar according to any one of claim 2 to 6, is characterized in that,
Described driving mechanism comprises: corresponding to the first servomotor (33) and first reductor (32) of described first side chain (3), corresponding to the second servomotor (43) and second reductor (42) of described second side chain (4), and correspond to the 3rd servomotor (53) and the 3rd reductor (52) of described 3rd side chain (5);
Described first servomotor (33) and described first reductor (32) are all fixed on described first supporting seat (31);
The output of described first servomotor (33) connects with the input of described first reductor (32);
Output shaft and described first driving lever (34) of described first reductor (32) are affixed, and the dead in line of the phase spindle of the axis of this output shaft and described first driving lever (34) and described first supporting seat (31).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420541588.7U CN204054045U (en) | 2014-09-19 | 2014-09-19 | The built-in parallel robot of Three Degree Of Freedom bar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420541588.7U CN204054045U (en) | 2014-09-19 | 2014-09-19 | The built-in parallel robot of Three Degree Of Freedom bar |
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| CN204054045U true CN204054045U (en) | 2014-12-31 |
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| CN201420541588.7U Withdrawn - After Issue CN204054045U (en) | 2014-09-19 | 2014-09-19 | The built-in parallel robot of Three Degree Of Freedom bar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260080A (en) * | 2014-09-19 | 2015-01-07 | 江南大学 | Three degree-of-freedom rod built-in parallel connection robot |
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2014
- 2014-09-19 CN CN201420541588.7U patent/CN204054045U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260080A (en) * | 2014-09-19 | 2015-01-07 | 江南大学 | Three degree-of-freedom rod built-in parallel connection robot |
| CN104260080B (en) * | 2014-09-19 | 2016-08-24 | 江南大学 | The built-in parallel robot of Three Degree Of Freedom bar |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141231 Effective date of abandoning: 20160824 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |