CN204054063U - A kind of can the Delta structure parallel manipulator of precision three-dimensional movement - Google Patents

A kind of can the Delta structure parallel manipulator of precision three-dimensional movement Download PDF

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Publication number
CN204054063U
CN204054063U CN201420427276.3U CN201420427276U CN204054063U CN 204054063 U CN204054063 U CN 204054063U CN 201420427276 U CN201420427276 U CN 201420427276U CN 204054063 U CN204054063 U CN 204054063U
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China
Prior art keywords
main platform
delta
parallel manipulator
precision
guide rail
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CN201420427276.3U
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Chinese (zh)
Inventor
何凯文
张东
苏建威
李忠浪
李俊璋
梁炜丰
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The utility model discloses a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, comprise based on 3-RUU kinematic chain Delta type parallel manipulator body, carry main platform and the main platform support based on 3-PUU kinematic chain, wherein, described Delta type parallel manipulator body is loaded on the main platform of carrying, and is driven by transmission four-bar mechanism by the servomotor on the main platform of described carrying; The main platform of described carrying is supported by the main platform support based on 3-PUU kinematic chain, has three, space translational degree of freedom, can oscilaltion and planar movement.The utility model is simultaneously based on 3-PUU and 3-RUU kinematic chain, the main platform of carrying can be made to obtain spatial movement scope, not only can be elevated, can also planar movement be made, and then allow secondary moving platform (final actuating element of Delta type parallel manipulator body) have larger Work space and dexterous workspace.

Description

A kind of can the Delta structure parallel manipulator of precision three-dimensional movement
Technical field
The utility model relates to the technical field of Delta parallel robot, refer in particular to a kind of can the Delta structure parallel manipulator of precision three-dimensional movement.
Background technology
Delta parallel robot is the most successful parallel robot of current business application, has boundless application prospect in all trades and professions.Have passed through the development of two more than ten years abroad, its structure and control system unusual maturation, and be widely used in the industry such as electronics, food and medicine, complete such as capturing, sort and repetitive operation that packaging etc. is a large amount of.And in China, no matter Delta parallel robot is application or exploitation is all at the early-stage from 2010, the production of Delta parallel robot is in the stage at the early-stage, lower than external robot in performance, the cognition degree of domestic user is also nowhere near, industry mechanical arm market is narrow, the industrial automation development of serious obstruction China.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art and shortcoming, provide a kind of design uniqueness, rationally reliable, easy to use, hi-Fix can the Delta structure parallel manipulator of precision three-dimensional movement.
For achieving the above object, technical scheme provided by the utility model is: a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, include based on 3-RUU kinematic chain Delta type parallel manipulator body, carry main platform and the main platform support based on 3-PUU kinematic chain, wherein, described Delta type parallel manipulator body is loaded on the main platform of carrying, and is driven by transmission four-bar mechanism by the servomotor on the main platform of described carrying; The main platform of described carrying is supported by the main platform support based on 3-PUU kinematic chain, has three, space translational degree of freedom, can oscilaltion and planar movement.
Described Delta type parallel manipulator body includes dismountable final actuating element and for driving many groups mechanical arm of this final actuating element movement, wherein, often organize mechanical arm and include deep groove ball bearing, upper arm, underarm, one end of described upper arm is equipped with deep groove ball bearing, and elongation moulding has the connecting rod be connected with transmission four-bar mechanism, the first oscillating bearing that the other end of described upper arm is retrained by level Four is connected with one end of underarm, and the second joint bearing that the other end of described underarm is retrained by level Four is connected with final actuating element.
The main platform of described carrying is integrated with multiple servomotor and control system parts, wherein, the quantity of described multiple servomotor should be consistent with the mechanical arm quantity of Delta type parallel manipulator body, a driven by servomotor one group of mechanical arm, and each servomotor all connects a transmission four-bar mechanism by shaft coupling.
Described main platform support includes gap adjustable two guide rails, support arm, gripper shoe, positioning trivet, linear position actuator, wherein, described pair of guide rail has three groups of distributions triangular in shape, be located at below the main platform of carrying, and fix through positioning trivet, often the two guide rail of group is all provided with the slide block that can be free to slide along its track, described slide block is driven by respective corresponding linear position actuator and does rectilinear motion; Described gripper shoe has three pieces to be fixedly mounted on the main platform of carrying, distribution triangular in shape, and with three groups of two guide rail one_to_one corresponding; Described three groups two guide rail is supporting three groups of support arms, and one group of corresponding one group of support arm of two guide rail, the three-knuckle bearing that the one end often organizing support arm is retrained by level Four is connected with the slide block on corresponding pair of guide rail, and the 4th oscillating bearing that its other end is retrained by level Four is connected with corresponding gripper shoe.
The main platform of described carrying has load reduction groove.
Described final actuating element adopts modularized design.
Compared with prior art, tool has the following advantages and beneficial effect the utility model:
1, the utility model is simultaneously based on 3-PUU and 3-RUU kinematic chain structure, utilize the spatial three-dimensional movement characteristic of this structure, the main platform of carrying is made to have three, space translational degree of freedom, thus the range of movement of next stage mechanical arm will be expanded greatly, improve the deficiency that Delta type parallel manipulator range of movement is narrow, due to the characteristic of parallel-connection structure, make to carry main platform and can not only realize elevating movement, and the activity that can realize in horizontal plane, the closed loop characteristic of 3-PUU structure makes its motion often have the feature of fast and flexible;
2, the utility model have employed the structure strategy that unique two derivative mechanisms of Delta parallel connection combine, while guarantee kinematic system precision and stability, enable mechanism's rapid movement, if this structure is used for industrial production, then greatly will improve industrial production efficiency, reduce unit product installation time;
3, the utility model is by transmission four-bar mechanism, devise the drive mechanism crossing over load plane, adding of this transmission mechanism, all prime mover and control device thereof is enable to concentrate on the main platform of carrying, and then simplify the complexity of casting casing (top), indirectly reach such as steel wire flexible axle and control motor thereof on the main platform of protection carrying, the object of motion control board and circuit control system parts;
4, conventional post coordinate control or cartesian coordinate control system is compared, this structure can conveniently realize point-to-point rectilinear motion, the realization of three translational degree of freedom of conventional Cartesian structure generally adopts screw rod transmission, it is large that screw rod transmission has axial force, material requirements is high, speed is low, mounting structure is large, the shortcoming such as easy to wear, and due to its architectural characteristic, three translational degree of freedom can not be realized act on simultaneously, namely a bit can not be linearly moved to another point of uncorrelated with this point (altogether horizontal plane, altogether vertical plane) from space; Circular cylindrical coordinate machinery hand is due to its design feature, and to the motor power (output) controlling rotary freedom, precision aspect requires very high, and is difficult to realize high-speed motion, and inertia is large, and range of movement is little; 3-PUU structure has at a high speed feature efficiently, not only can realize point-to-point rectilinear motion, and after coordinating high accuracy prime mover, its kinematic accuracy can be guaranteed, and compares traditional structure tool and has great advantage;
5, the two guide rail structures that have employed of the utility model, six guide levels are that whole platform provides good rigidity, coordinate positioning trivet, greatly improve overall shock-resistance features and platform stabilization, expand bearing capacity, the Dual positioning function of two guide rail structure improves the positioning precision of frame, reaches the object of adjustment slight error by adjustment guide clearance simultaneously;
6, the main platform of the carrying at the utility model top has load reduction groove, not only can reduce executing agency's inertia, saves material, and cooperation drive mechanism realizes the protection to internal circuit element and motor;
7, have multiple prime mover to operate during utility model works, wherein multiple high-precision servo motor provides power for Delta type parallel manipulator body, and three linear position actuators provide power for carrying main platform; When moving, multiple prime mover cooperatively interacts, and greatly can improve mechanical flexibility, the dexterous workspace of enlarged distal tip executive component.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of Delta structure parallel manipulator described in the utility model.
Fig. 2 is the top view of Delta structure parallel manipulator described in the utility model.
Fig. 3 is the structural representation of Delta type parallel manipulator body described in the utility model.
Fig. 4 is the structural representation of the main platform of carrying described in the utility model.
Fig. 5 is the structural representation of main platform support described in the utility model.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail.
As shown in Figures 1 to 5, described in the present embodiment can the Delta structure parallel manipulator of precision three-dimensional movement, include based on 3-RUU kinematic chain Delta type parallel manipulator body 1, carry main platform 2 and the main platform support 3 based on 3-PUU kinematic chain, wherein, described Delta type parallel manipulator body 1 is loaded on the main platform 2 of carrying, and is driven by transmission four-bar mechanism 5 by the high-precision servo motor 4 on the main platform 2 of described carrying, the main platform of described carrying 2 (i.e. one-level moving platform) is supported by the main platform support 3 based on 3-PUU kinematic chain, by the checking of free degree screw theory, there is three, space translational degree of freedom, can oscilaltion and planar movement, thus the range of movement of next stage mechanical arm will be expanded greatly, secondary moving platform (final actuating element 101 of Delta type parallel manipulator body 1) is allowed to have larger Work space and dexterous workspace, improve the deficiency that Delta type parallel manipulator range of movement is narrow, its motion is made often to have the feature of fast and flexible by the closed loop characteristic of 3-PUU structure.
Described Delta type parallel manipulator body 1 includes dismountable final actuating element 101 and for driving three groups of mechanical arms of this final actuating element 101 movement, wherein, often organize mechanical arm and include deep groove ball bearing 102, upper arm 103, underarm 104, one end of described upper arm 103 is equipped with deep groove ball bearing 102, and elongation moulding has the connecting rod 103-1 be connected with transmission four-bar mechanism 5, the first oscillating bearing 105 that the other end of described upper arm 103 is retrained by level Four is connected with one end of underarm 104, the second joint bearing 106 that the other end of described underarm 104 is retrained by level Four is connected with final actuating element 101, described final actuating element 101 adopts modularized design, can convert executive component according to different task, reduces manufacturing cost, improves versatility.
The main platform of described carrying 2 is integrated with three high-precision servomotors 4 and control system parts (not shown in FIG.); this design can simplify the complexity of casting casing (top); indirectly reach protection upper end such as steel wire flexible axle (not shown in FIG.) and control motor (not shown in FIG.) thereof, the object of motion control board (not shown in FIG.) and circuit control system parts (not shown in FIG.).Wherein, three groups of mechanical arm one_to_one corresponding of described three servomotors 4 and Delta type parallel manipulator body 1, a servomotor 4 drives one group of mechanical arm, and each servomotor 4 all connects a transmission four-bar mechanism 5 by shaft coupling 7.In addition, the main platform 2 of described carrying has load reduction groove 6, not only can reduce executing agency's inertia, save material, and cooperation drive mechanism realizes the protection to internal circuit element and motor.
Described main platform support 3 includes the adjustable two guide rails 301 in gap, support arm 302, gripper shoe 303, positioning trivet 304, linear position actuator (not shown in FIG.), wherein, described pair of guide rail 301 has three groups of distributions triangular in shape, be located at below the main platform 2 of carrying, and fix through positioning trivet 304, often the two guide rail 301 of group is all provided with a slide block 305 that can be free to slide along its track, described slide block 305 is driven by respective corresponding linear position actuator and does rectilinear motion; Described gripper shoe 303 has three pieces to be fixedly mounted on the main platform 2 of carrying, distribution triangular in shape, and with three groups of two guide rail 301 one_to_one corresponding; Described three groups two guide rail 301 is supporting three groups of support arms 302, and one group of two corresponding one group of support arm 302 of guide rail 301, the three-knuckle bearing 306 that the one end often organizing support arm 302 is retrained by level Four is connected with the slide block 305 on corresponding pair of guide rail 301, and the 4th oscillating bearing 307 that its other end is retrained by level Four is connected with corresponding gripper shoe 303.Three slide blocks 305 are by corresponding linear position actuator driving separately, the space that can realize carrying main platform 2 (i.e. one-level moving platform) arbitrary trajectory is moved, by designated space two point coordinates, if the track of control system using point-to-point transmission straightway as the main platform 2 (i.e. one-level moving platform) of carrying, the various parameters then will calculating three slide blocks 305 and move, as displacement, speed, acceleration etc., by a set of algorithm, kinematic parameter is reflected into prime mover, just can realizes the accurate control to this structure.
Two guide rail structures that the utility model adopts, six guide levels are that whole platform provides good rigidity, coordinate positioning trivet 304, greatly improve overall shock-resistance features and platform stabilization, expand bearing capacity.The Dual positioning function of two guide rail structure improves the positioning precision of frame, reaches the object of adjustment slight error by adjustment guide clearance simultaneously.
In sum, after the above scheme of employing, the main platform 2 of carrying of the present utility model has three, space translational degree of freedom, utilizes three the high-precision servomotors 4 in top, and the linear position actuator on the two guide rail 301 in three groups, below realizes two-step evolution in different range.Delta type parallel manipulator body 1 provides high-precision motion among a small circle, and the motion carrying main platform 2 provides grand movement, thus the activity space of spread tips executive component 101 greatly.And based on the feature of Delta parallel mechanism, this kind of collocation in theory often has high speed characteristics, while guarantee precision and stability, high-speed motion can be realized, is very applicable to industrial translation assembly work, is worthy to be popularized.
The examples of implementation of the above are only the preferred embodiment of the utility model, not limit practical range of the present utility model with this, therefore the change that all shapes according to the utility model, principle are done, all should be encompassed in protection domain of the present utility model.

Claims (6)

1. one kind can the Delta structure parallel manipulator of precision three-dimensional movement, it is characterized in that: include based on 3-RUU kinematic chain Delta type parallel manipulator body (1), carry main platform (2) and the main platform support (3) based on 3-PUU kinematic chain, wherein, described Delta type parallel manipulator body (1) is loaded in the main platform of carrying (2), and is driven by transmission four-bar mechanism (5) by the servomotor (4) on the main platform of described carrying (2); The main platform of described carrying (2) is supported by the main platform support (3) based on 3-PUU kinematic chain, has three, space translational degree of freedom, can oscilaltion and planar movement.
2. according to claim 1 a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, it is characterized in that: described Delta type parallel manipulator body (1) includes dismountable final actuating element (101) and for driving many groups mechanical arm of this final actuating element (101) movement, wherein, often organize mechanical arm and include deep groove ball bearing (102), upper arm (103), underarm (104), one end of described upper arm (103) is equipped with deep groove ball bearing (102), and elongation moulding has the connecting rod (103-1) be connected with transmission four-bar mechanism (5), the first oscillating bearing (105) that the other end of described upper arm (103) is retrained by level Four is connected with one end of underarm (104), the second joint bearing (106) that the other end of described underarm (104) is retrained by level Four is connected with final actuating element (101).
3. according to claim 1 a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, it is characterized in that: the main platform of described carrying (2) is integrated with multiple servomotor (4) and control system parts, wherein, the quantity of described multiple servomotor (4) should be consistent with the mechanical arm quantity of Delta type parallel manipulator body (1), a servomotor (4) drives one group of mechanical arm, and each servomotor (4) all connects a transmission four-bar mechanism (5) by shaft coupling (7).
4. according to claim 1 a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, it is characterized in that: described main platform support (3) includes the adjustable two guide rails (301) in gap, support arm (302), gripper shoe (303), positioning trivet (304), linear position actuator, wherein, described pair of guide rail (301) has three groups of distributions triangular in shape, be located at the main platform of carrying (2) below, and fix through positioning trivet (304), often the two guide rail (301) of group is all provided with the slide block (305) that can be free to slide along its track, described slide block (305) is driven by respective corresponding linear position actuator and does rectilinear motion, described gripper shoe (303) has three pieces to be fixedly mounted in carrying main platform (2), distribution triangular in shape, and with three groups of two guide rail (301) one_to_one corresponding, described three groups two guide rail (301) is supporting three groups of support arms (302), and one group of two corresponding one group of support arm (302) of guide rail (301), the three-knuckle bearing (306) that the one end often organizing support arm (302) is retrained by level Four is connected with the slide block (305) on corresponding pair of guide rail (301), and the 4th oscillating bearing (307) that its other end is retrained by level Four is connected with corresponding gripper shoe (303).
5. according to claim 3 a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, it is characterized in that: the main platform of described carrying (2) has load reduction groove (6).
6. according to claim 2 a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, it is characterized in that: described final actuating element (101) adopts modularized design.
CN201420427276.3U 2014-07-30 2014-07-30 A kind of can the Delta structure parallel manipulator of precision three-dimensional movement Withdrawn - After Issue CN204054063U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104149096A (en) * 2014-07-30 2014-11-19 华南理工大学 Delta structured parallel manipulator capable of moving precisely and three-dimensionally
CN106695767A (en) * 2017-03-03 2017-05-24 合肥工业大学 Parallel device based on Delta mechanism and 3D printer adopting same
CN107231891A (en) * 2017-05-11 2017-10-10 华南农业大学 A kind of tea picking machine and its implementation

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104149096A (en) * 2014-07-30 2014-11-19 华南理工大学 Delta structured parallel manipulator capable of moving precisely and three-dimensionally
CN106695767A (en) * 2017-03-03 2017-05-24 合肥工业大学 Parallel device based on Delta mechanism and 3D printer adopting same
CN107231891A (en) * 2017-05-11 2017-10-10 华南农业大学 A kind of tea picking machine and its implementation

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C25 Abandonment of patent right or utility model to avoid double patenting
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Granted publication date: 20141231

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