CN204076251U - For the parallel robot device containing double space side chain in parallel of 3D printer - Google Patents
For the parallel robot device containing double space side chain in parallel of 3D printer Download PDFInfo
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- CN204076251U CN204076251U CN201420532583.8U CN201420532583U CN204076251U CN 204076251 U CN204076251 U CN 204076251U CN 201420532583 U CN201420532583 U CN 201420532583U CN 204076251 U CN204076251 U CN 204076251U
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Abstract
A kind of parallel robot device containing double space side chain in parallel for 3D printer, include fixed platform, be positioned at the moving platform below fixed platform, and be separately fixed at first on fixed platform ~ the 4th motor, the upside being connected to moving platform one end that can be rotated by the first side chain and the second side chain that the output shaft of the first described motor and the output shaft of the second motor are corresponding respectively, the upside being connected to the moving platform other end can rotated by the 3rd side chain and the 4th side chain that the output shaft of described 3rd motor and the 4th motor is corresponding respectively.It is simple that the utility model has structure, the features such as kinematic accuracy is high, fast response time.Rotate a movement four-freedom parallel robot relative to existing three and there is moving platform structure simply, the advantages such as control algolithm is easy.
Description
Technical field
The utility model relates to a kind of industrial robot.Particularly relate to a kind of parallel robot device containing double space side chain in parallel for 3D printer.
Background technology
Parallel institution refers to the close loop mechanism being provided with multiple side chain formation between fixed platform and moving platform, has two or more frees degree.Parallel institution is compared conventional serial mechanism and is had the features such as compact conformation, stiffness/weight ratio is high, dynamic property is good, is widely used in the industries such as electronics, light industry, medical treatment and food.
At present, apply parallel institution the most ripe and surely belong to the Delta mechanism (US4976582) that can realize three-dimensional translating, but this mechanism then needs to be connected in series a rotating end effector on moving platform for needing the operation of end effector one-dimensional rotation, add the quality of moving platform, the dynamic property of this mechanism is had an impact.Afterwards, in order to solve the limitation of the free degree at some different areas of activity of Delta mechanism, Pierrot etc. propose have four side chains, two moving platform feature realized SCARA motion H4 type parallel institution, the commercially produced product Adept Quatrro of this mechanism
tMs650 manipulator is used successfully to production line.This H4 mechanism adopts Double tabletop structure, and complex structure, has a negative impact to its high speed dynamic response characteristic, is unfavorable for the further raising of production efficiency.
Summary of the invention
Technical problem to be solved in the utility model is, provides a kind of drawback that can overcome described H4 mechanism Double tabletop structure, has the parallel robot device containing double space side chain in parallel for 3D printer that three move one turn of four-degree-of-freedom.
The technical scheme that the utility model adopts is: a kind of parallel robot device containing double space side chain in parallel for 3D printer, include fixed platform, be positioned at the moving platform below fixed platform, and be separately fixed at first on fixed platform ~ the 4th motor, the upside being connected to moving platform one end that can be rotated by the first side chain and the second side chain that the output shaft of the first described motor and the output shaft of the second motor are corresponding respectively, the upside being connected to the moving platform other end can rotated by the 3rd side chain and the 4th side chain that the output shaft of described 3rd motor and the 4th motor is corresponding respectively.
Be fixedly installed on first on fixed platform ~ the 4th motor parallelogram layout.
The first described side chain, the second side chain, the 3rd side chain are identical with the 4th branched structure, the drive connecting rod that the output shaft including one end and the first described motor or the second motor or the 3rd motor or the 4th motor is fixedly connected with, the upper connecting rod of the connection parallel-crank mechanism that the other end of described drive connecting rod can rotate, the one end of the described moving platform of connection that the lower link of parallel-crank mechanism can be rotated by connector.
Described parallel-crank mechanism includes the first side lever and second side lever of two parallel edges forming parallel-crank mechanism, described upper connecting rod and lower link are connected between the first side lever and two ends of the second side lever both sides, form two other parallel edges of parallel-crank mechanism, described upper connecting rod is identical with lower link structure, include two columns being connected to described first side lever and the second side lever end and the rotating shaft be connected between two columns that can rotate that can rotate respectively, the end of described drive connecting rod is formed with through hole, described upper connecting rod is the connection rotated by enabling rotating shaft run through the through hole of described drive connecting rod and described drive connecting rod.
Described connector includes the joint pin be vertically connected on moving platform, the lower spill spin block being connected to described joint pin bottom that can rotate respectively and the upper spill spin block being connected to described joint pin top, the side of the corresponding described parallel-crank mechanism of described lower spill spin block and upper spill spin block is formed with through hole, and the lower link of described parallel-crank mechanism is the connection rotated by enabling rotating shaft run through the through hole of lower spill spin block in described connector or upper spill spin block and described connector.
Lower link and the described connector of the parallel-crank mechanism in the first side chain and the second side chain form revolute pair structure, the dead in line of the described revolute pair structure formed respectively respectively; Lower link and the described connector of the parallel-crank mechanism in the 3rd side chain and the 4th side chain form revolute pair structure, the dead in line of the described revolute pair structure formed respectively respectively.
The first described side chain, the second side chain, the 3rd side chain are identical with the 4th branched structure, include: the drive connecting rod that the output shaft of one end and the first described motor or the second motor or the 3rd motor or the 4th motor is fixedly connected with, the other end of described drive connecting rod is by one end of the first spherical pair anatomical connectivity two follow-up connecting rods be arranged in parallel, and the other end of two follow-up connecting rods be arranged in parallel is by one end of the moving platform described in the second spherical pair anatomical connectivity.
The first described spherical pair structure includes: the through hole being formed in drive connecting rod end, run through the rotating shaft of described through hole, correspondence is connected to two spherical bearings on described rotating shaft terminal, and two described spherical bearing correspondences are fixedly connected on one end of two described follow-up connecting rods be arranged in parallel; The second described spherical pair structure includes: be vertically connected on the joint pin on moving platform, be fixedly connected with the lower connecting axle being connected to described joint pin bottom that maybe can rotate and the upper connecting axle being connected to described joint pin top, the two ends of described lower connecting axle and upper connecting axle are respectively connected with a spherical bearing respectively, and described each spherical bearing is fixedly connected with the other end of corresponding two follow-up connecting rods be arranged in parallel respectively.
The parallel robot device containing double space side chain in parallel for 3D printer of the present utility model, has structure simple, the features such as kinematic accuracy is high, fast response time.Rotate a movement four-freedom parallel robot relative to existing three and there is moving platform structure simply, the advantages such as control algolithm is easy.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the utility model first embodiment;
Fig. 2 is the syndeton schematic diagram at parallel-crank mechanism two ends in Fig. 1;
Fig. 3 is the structural representation of parallel-crank mechanism in Fig. 1;
Fig. 4 is the overall structure schematic diagram of the utility model second embodiment.
In figure
1: the first motor 2: the second motor
3: the three motor 4: the four motors
5: fixed platform 6: moving platform
7: drive connecting rod 8: parallel-crank mechanism
9: connector 10: drive connecting rod
11: follow-up connecting rod 12: follow-up connecting rod
13: joint pin 14: rotating shaft
15: spherical bearing 16: lower connecting axle
17: upper connecting axle 18: spherical bearing
81: the first side lever 82: the second side levers
83: upper connecting rod 84: lower link
85: column 86: rotating shaft
91: joint pin 92: lower spill spin block
93: upper spill spin block
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the parallel robot device containing double space side chain in parallel for 3D printer of the present utility model is described in detail.
As Figure 1 and Figure 4, the parallel robot device containing double space side chain in parallel for 3D printer of the present utility model, include fixed platform 5, be positioned at the moving platform 6 below fixed platform 5, and the first ~ four motor 1,2,3,4 be separately fixed on fixed platform 5, be fixedly installed on the first ~ four motor 1,2,3,4 parallelogram layout on fixed platform 5, described moving platform 6 is in rectangular structure.The upside being connected to moving platform 6 one end that can be rotated by the first side chain I and the second side chain II that the output shaft of the first described motor 1 and the output shaft of the second motor 2 are corresponding respectively, the upside being connected to moving platform 6 other end can rotated by the 3rd side chain III and the 4th side chain IV that the output shaft of described 3rd motor 3 and the 4th motor 4 is corresponding respectively.First ~ four motor 1,2,3,4 drives the first side chain I, second side chain II, the 3rd side chain III and the 4th side chain IV respectively, realizes three-dimensional translating and the one-dimensional rotation free degree.
As shown in Figure 1 and Figure 2, the first described side chain I, second side chain II, the 3rd side chain III are identical with the 4th side chain IV structure, the drive connecting rod 7 that the output shaft including one end and the first described motor 1 or the second motor 2 or the 3rd motor 3 or the 4th motor 4 is fixedly connected with, the upper connecting rod 83 of the connection parallel-crank mechanism 8 that the other end of described drive connecting rod 7 can rotate, the one end of the described moving platform 6 of connection that the lower link 84 of parallel-crank mechanism 8 can be rotated by connector 9.
As shown in Figure 3, described parallel-crank mechanism 8 includes the first side lever 81 and the second side lever 82 of two parallel edges forming parallel-crank mechanism 8, described upper connecting rod 83 and lower link 84 are connected between the first side lever 81 and two ends of the second side lever 82 both sides, form two other parallel edges of parallel-crank mechanism 8, described upper connecting rod 83 is identical with lower link 84 structure, include two columns 85 being connected to described first side lever 81 and the second side lever 82 end and the rotating shaft 86 be connected between two columns 85 that can rotate that can rotate respectively, the end of described drive connecting rod 7 is formed with through hole, described upper connecting rod 83 is the connections that can rotate by making rotating shaft 86 run through the through hole of described drive connecting rod 7 and described drive connecting rod 7.
As shown in Figure 2, described connector 9 includes the joint pin 91 be vertically connected on moving platform 6, the lower spill spin block 92 being connected to described joint pin 91 bottom that can rotate respectively and the upper spill spin block 93 being connected to described joint pin 91 top, the side of described lower spill spin block 92 and the corresponding described parallel-crank mechanism 8 of upper spill spin block 93 is formed with through hole, and the lower link 84 of described parallel-crank mechanism 8 is the connections that can rotate by making rotating shaft 86 run through the through hole of lower spill spin block 92 in described connector 9 or upper spill spin block 93 and described connector 9.
Lower link 84 and the described connector 9 of the parallel-crank mechanism 8 in the first side chain I and the second side chain II form revolute pair structure, the dead in line of the described revolute pair structure formed respectively respectively; Lower link 84 and the described connector 9 of the parallel-crank mechanism 8 in the 3rd side chain III and the 4th side chain IV form revolute pair structure, the dead in line of the described revolute pair structure formed respectively respectively.
Of the present utility model in the parallel robot device containing double space side chain in parallel of 3D printer, first side chain I, second side chain II, the 3rd side chain III and the 4th side chain IV are respectively configured with four kinematic pairs respectively: be connected to the revolute pair between fixed platform 5 and drive connecting rod 7, be connected to the revolute pair between connecting rod 83 on drive connecting rod 7 and parallel-crank mechanism, the revolute pair being connected to the revolute pair between parallel-crank mechanism lower link 84 and connector 9 and being connected between moving platform 6 and connector 9.
As shown in Figure 4, the first described side chain I, second side chain II, the 3rd side chain III are identical with the 4th side chain IV structure, include: the drive connecting rod 10 that the output shaft of one end and the first described motor 1 or the second motor 2 or the 3rd motor 3 or the 4th motor 4 is fixedly connected with, the one end of the follow-up connecting rod 11,12 that the other end of described drive connecting rod 10 is be arranged in parallel by the first spherical pair anatomical connectivity two, the other end of two follow-up connecting rods be arranged in parallel 11,12 is by one end of the moving platform 6 described in the second spherical pair anatomical connectivity.
The first described spherical pair structure includes: the through hole being formed in drive connecting rod 10 end, run through the rotating shaft 14 of described through hole, correspondence is connected to two spherical bearings 15 on described rotating shaft 14 two ends, and two described spherical bearing 15 correspondences are fixedly connected on one end of described two follow-up connecting rods be arranged in parallel 11,12; The second described spherical pair structure includes: be vertically connected on the joint pin 13 on moving platform 6, be fixedly connected with the lower connecting axle 16 being connected to described joint pin 13 bottom and the upper connecting axle 17 being connected to described joint pin 13 top that maybe can rotate, the two ends of described lower connecting axle 16 and upper connecting axle 17 are respectively connected with a spherical bearing 18 respectively, and described each spherical bearing 18 is fixedly connected with the other end of corresponding two follow-up connecting rods be arranged in parallel 11,12 respectively.
Of the present utility model in the parallel robot device containing double space side chain in parallel of 3D printer, first side lever of the parallel-crank mechanism on each bar side chain and the second side lever are not limited to said structure with upper connecting rod and linking of lower link, also the first side lever and the second side lever can be adopted to be linked by ball pivot with upper connecting rod and lower link, but need to add multiple constraining rod between two side levers, constraining rod is vertically fixed between two side levers, drive connecting rod and moving platform can only be rotated relative to parallel-crank mechanism with the connector of upper connecting rod and lower link respectively, now go up the part that connecting rod and lower link deteriorate to driving lever and connector respectively.
Below be only preferred embodiment of the present utility model, it should be pointed out that above-mentioned preferred embodiment should not be considered as limitation of the present invention, protection domain of the present utility model should be as the criterion with claim limited range.For those skilled in the art, without departing from the spirit and scope of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (8)
1. the parallel robot device containing double space side chain in parallel for 3D printer, include fixed platform (5), be positioned at the moving platform (6) of fixed platform (5) below, and the first ~ four motor (1 be separately fixed on fixed platform (5), 2, 3, 4), it is characterized in that, the upside being connected to moving platform (6) one end that can be rotated by the first side chain (I) and the second side chain (II) that the output shaft of described the first motor (1) and the output shaft of the second motor (2) are corresponding respectively, the upside being connected to moving platform (6) other end can rotated by the 3rd side chain (III) and the 4th side chain (IV) of the output shaft difference correspondence of described 3rd motor (3) and the 4th motor (4).
2. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 1, it is characterized in that, be fixedly installed on the first ~ four motor (1,2,3,4) the parallelogram layout on fixed platform (5).
3. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 1, it is characterized in that, described the first side chain (I), second side chain (II), 3rd side chain (III) is identical with the 4th side chain (IV) structure, the drive connecting rod (7) that the output shaft including one end and described the first motor (1) or the second motor (2) or the 3rd motor (3) or the 4th motor (4) is fixedly connected with, the upper connecting rod (83) of the connection parallel-crank mechanism (8) that the other end of described drive connecting rod (7) can rotate, the one end of the described moving platform of connection (6) that the lower link (84) of parallel-crank mechanism (8) can be rotated by connector (9).
4. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 3, it is characterized in that, described parallel-crank mechanism (8) includes the first side lever (81) and second side lever (82) of two parallel edges forming parallel-crank mechanism (8), described upper connecting rod (83) and lower link (84) are connected between the first side lever (81) and two ends of the second side lever (82) both sides, form two other parallel edges of parallel-crank mechanism (8), described upper connecting rod (83) is identical with lower link (84) structure, include two columns (85) being connected to described first side lever (81) and the second side lever (82) end and the rotating shaft (86) be connected between two columns (85) that can rotate that can rotate respectively, the end of described drive connecting rod (7) is formed with through hole, described upper connecting rod (83) is the connection that can rotate by making rotating shaft (86) run through the through hole of described drive connecting rod (7) and described drive connecting rod (7).
5. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 3, it is characterized in that, described connector (9) includes the joint pin (91) be vertically connected on moving platform (6), what can rotate respectively is connected to the lower spill spin block (92) of described joint pin (91) bottom and is connected to the upper spill spin block (93) on described joint pin (91) top, the side of described lower spill spin block (92) and the corresponding described parallel-crank mechanism (8) of upper spill spin block (93) is formed with through hole, the lower link (84) of described parallel-crank mechanism (8) is the connection that can rotate by making rotating shaft (86) run through the through hole of lower spill spin block (92) in described connector (9) or upper spill spin block (93) and described connector (9).
6. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 5, it is characterized in that, lower link (84) and the described connector (9) of the parallel-crank mechanism (8) in the first side chain (I) and the second side chain (II) form revolute pair structure, the dead in line of the described revolute pair structure formed respectively respectively; Lower link (84) and the described connector (9) of the parallel-crank mechanism (8) in the 3rd side chain (III) and the 4th side chain (IV) form revolute pair structure, the dead in line of the described revolute pair structure formed respectively respectively.
7. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 3, it is characterized in that, described the first side chain (I), second side chain (II), 3rd side chain (III) is identical with the 4th side chain (IV) structure, include: the drive connecting rod (10) that the output shaft of one end and described the first motor (1) or the second motor (2) or the 3rd motor (3) or the 4th motor (4) is fixedly connected with, the follow-up connecting rod (11 that the other end of described drive connecting rod (10) is be arranged in parallel by the first spherical pair anatomical connectivity two, 12) one end, article two, the follow-up connecting rod (11 be arranged in parallel, 12) the other end is by one end of the moving platform (6) described in the second spherical pair anatomical connectivity.
8. the parallel robot device containing double space side chain in parallel for 3D printer according to claim 7, it is characterized in that, the first described spherical pair structure includes: the through hole being formed in drive connecting rod (10) end, run through the rotating shaft (14) of described through hole, correspondence is connected to two spherical bearings (15) on described rotating shaft (14) two ends, and two described spherical bearing (15) correspondences are fixedly connected on one end of described two follow-up connecting rods be arranged in parallel (11,12), the second described spherical pair structure includes: be vertically connected on the joint pin (13) on moving platform (6), be fixedly connected with maybe can rotate be connected to the lower connecting axle (16) of described joint pin (13) bottom and be connected to the upper connecting axle (17) on described joint pin (13) top, the two ends of described lower connecting axle (16) and upper connecting axle (17) are respectively connected with a spherical bearing (18) respectively, described each spherical bearing (18) respectively with corresponding two follow-up connecting rods be arranged in parallel (11, 12) the other end is fixedly connected with.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420532583.8U CN204076251U (en) | 2014-09-16 | 2014-09-16 | For the parallel robot device containing double space side chain in parallel of 3D printer |
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| CN201420532583.8U CN204076251U (en) | 2014-09-16 | 2014-09-16 | For the parallel robot device containing double space side chain in parallel of 3D printer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN105269559A (en) * | 2015-10-28 | 2016-01-27 | 浙江大学 | Self-adaption egg quick picking device |
-
2014
- 2014-09-16 CN CN201420532583.8U patent/CN204076251U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN105269559A (en) * | 2015-10-28 | 2016-01-27 | 浙江大学 | Self-adaption egg quick picking device |
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