CN204868856U - Delta parallel robot - Google Patents
Delta parallel robot Download PDFInfo
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- CN204868856U CN204868856U CN201520616365.7U CN201520616365U CN204868856U CN 204868856 U CN204868856 U CN 204868856U CN 201520616365 U CN201520616365 U CN 201520616365U CN 204868856 U CN204868856 U CN 204868856U
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- connecting rod
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- parallel robot
- bearing assembly
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Abstract
The utility model provides a delta parallel robot, three group's connecting rod links difference includes two short connecting rods, two length of branch connecting rods, 2 joint bearing assemblies, two the 2nd joint bearing assemblies and 4 extension spring, short connecting rod and quiet platform pin joint, the one end of motor and reduction gear and short connecting rod joins, the other end of short connecting rod is articulated with the one end of long connecting rod through a joint bearing assembly, and the other end of long connecting rod is through the 2nd joint bearing assembly and move the platform pin joint, 4 two length of branch connecting rods of extension spring binding. Its advantage is that simple structure, dynamic response are fast, the precision is high, the control of being convenient for, and the swing space is big.
Description
Technical field
The utility model relates to robot, and relating to modular construction is the sequence controlled machine hand of feature, espespecially a kind of Delta parallel robot.
Background technology
The high speed 3 that Delta robot can realize end effector ties up translation.At present, this kind of robot is applied in electronics, food, medicine and other fields, completes the operation such as high speed sorting, plug-in mounting, encapsulation, packaging to slight small item material.This kind of robot is generally made up of frame, moving platform, silent flatform, short connecting rod, long connecting rod, oscillating bearing assembly etc.Its power source is three motors, and after motor carries out moment amplification by decelerator, drive link is moved, thus makes moving platform realize the motion of XYZ three degree of freedom.There is following shortcoming in the Delta robot of prior art:
(1) demand realizing oscillating bearing assembly big swing angle is difficult to: the maximum pendulum angle of oscillating bearing assembly is +/-25 degree on the market, and in order to meet the needs of space, its movement swing angle needs +/-35 degree usually, need to solve this problem by design large scale connecting rod, this must cause, for realizing little space, being designed to huge frame for movement.
(2) characteristic of Delta high-speed cruising will be realized, need the rod member selecting light-high-strength, bear a heavy burden to reduce it, current domestic manufacturer generally selects carbon fibre material, but this its cause Delta robot cost to increase further, and can powder be produced in its motion process, cause it can not apply in very large occasion.
Summary of the invention
For the shortcoming of prior art, the purpose of this utility model is to provide that a kind of structure is simple, dynamic response is fast, precision is high, be convenient to the Delta parallel robot that controls.
The utility model solves the technical scheme that its technical problem adopts: provide a kind of Delta parallel robot, comprise moving platform, silent flatform, three groups of connecting rod links and three groups of motors and decelerator, executing agency is positioned over moving platform end, moving platform is linked by three groups of connecting rod links and silent flatform, three groups of motors and decelerator are installed on silent flatform, it is characterized in that: described three groups of connecting rod links comprise two short connecting rods respectively, article two, long connecting rod, 2 the first oscillating bearing assemblies, two second joint bearing assemblies and 4 extension springs, described short connecting rod and silent flatform pivot joint, one end of described motor and decelerator and short connecting rod links, the other end of described short connecting rod is hinged by one end of the first oscillating bearing assembly and long connecting rod, the other end of long connecting rod is by second joint bearing assembly and moving platform pivot joint, 4 extension springs link two long connecting rods.
Further, described three groups of connecting rod links difference 120 degree.To make whole device uniform force.
Described first oscillating bearing assembly and second joint bearing assembly can be made up of oscillating bearing, bearing catch and joint shaft respectively, and wherein joint shaft 33 carries out axial restraint through after oscillating bearing 31 by bearing catch 32, and its swing space is +/-35 degree.
Motor and decelerator make short connecting rod realize swinging, and make parallel robot under the coordinative role of three groups of connecting rod links, three translational motions of implementation space.
The beneficial effects of the utility model are: structure is simple, dynamic response is fast, precision is high, be convenient to control, and swing space is large.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model will be further described.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is that master of the present utility model looks projection intention.
Fig. 3 is big swing angle oscillating bearing assembly structure schematic diagram of the present utility model.
In Fig. 1: 1 be silent flatform, 2 be moving platform, 3 be long connecting rod for short connecting rod, 4 is the first oscillating bearing assembly, 5,6 be bearing pin, 7 be extension spring, 8 be bearing catch, 9 be adpting flange, 10 be catch, 11 be sensing chip, 12 be origin switch, 13 be second joint bearing assembly, 14 for motor and decelerator.
In Fig. 2: 21 be first group of connecting rod link, 22 be second group of connecting rod link, 23 is the 3rd group of connecting rod link.
In Fig. 3: 31 be oscillating bearing, 32 be bearing catch, 33 for joint shaft.
Detailed description of the invention
See accompanying drawing, a kind of Delta parallel robot of the utility model, comprise moving platform 2, silent flatform 1, three groups of connecting rod links 21, 22, 23 and three groups of motors and decelerator 14, executing agency is positioned over moving platform 2 end, moving platform 2 is by three groups of connecting rod links 21, 22, 23 link with silent flatform 1, three groups of motors and decelerator 14 are installed on silent flatform 1, it is characterized in that: described three groups of connecting rod links 21, 22 or 23 comprise two short connecting rods 3 respectively, article two, long connecting rod 5, 2 the first oscillating bearing assemblies 4, two second joint bearing assemblies 13 and 4 extension springs 7, described short connecting rod 3 and silent flatform 1 pivot joint, described motor and decelerator 14 link with one end of short connecting rod 3, the other end of described short connecting rod 3 is hinged with one end of long connecting rod 5 by the first oscillating bearing assembly 4, the other end of long connecting rod 5 is by second joint bearing assembly 13 and moving platform 2 pivot joint, 4 extension springs 7 link two long connecting rods 5.
In embodiment of the present utility model:
Described three groups of connecting rod links 21,22,23 differ 120 degree.To make whole device uniform force.
Described first oscillating bearing assembly 4 and second joint bearing assembly 13 are made up of oscillating bearing 31, bearing catch 32 and joint shaft 33 respectively, wherein joint shaft 33 carries out axial restraint through after oscillating bearing 31 by bearing catch 32, and its swing space is +/-35 degree.
Motor and decelerator 14 make short connecting rod 3 realize swinging, and make parallel robot under the coordinative role of three groups of connecting rod links 21,22,23, three translational motions of implementation space.
In embodiment of the present utility model, silent flatform 1 is connected with flange seat 9 by counter sink, motor and decelerator 14 are installed on flange seat 9, and short connecting rod 3 is fixed by keyway and holding screw and motor and decelerator 14 output shaft, and carries out axial restraint by back-up ring.Short connecting rod 3 is connected by joint shaft with the first oscillating bearing assembly 4, and wherein short connecting rod 3 and joint shaft are fixed by shaft block ring.Joint shaft and oscillating bearing are fixed by bearing catch.Second joint bearing assembly 13 is connected by screw thread with long connecting rod 5, and oscillating bearing 31 is connected with moving platform 2 by joint shaft 33.And carry out precompressed by extension spring 7, the gap of oscillating bearing 31 can be adjusted.Its reset is undertaken by origin switch 12.
Described long connecting rod 5 adopts the solid aluminium bar of minor diameter, and its advantage is as follows: quality is light, intensity is relatively high, motion time produce without powder.
Motor in described motor and decelerator 14 is closed loop stepper motor, because closed loop stepper motor is with encoder, can prevent from losing step, and its price is cheap compared with other motors simultaneously.
Claims (5)
1. a Delta parallel robot, comprise moving platform, silent flatform, three groups of connecting rod links and three groups of motors and decelerator, executing agency is positioned over moving platform end, moving platform is linked by three groups of connecting rod links and silent flatform, three groups of motors and decelerator are installed on silent flatform, it is characterized in that: described three groups of connecting rod links comprise two short connecting rods respectively, article two, long connecting rod, 2 the first oscillating bearing assemblies, two second joint bearing assemblies and 4 extension springs, described short connecting rod and silent flatform pivot joint, one end of described motor and decelerator and short connecting rod links, the other end of described short connecting rod is hinged by one end of the first oscillating bearing assembly and long connecting rod, the other end of long connecting rod is by second joint bearing assembly and moving platform pivot joint, 4 extension springs link two long connecting rods.
2. Delta parallel robot according to claim 1, is characterized in that: described three groups of connecting rod links difference 120 degree.
3. Delta parallel robot according to claim 1, it is characterized in that: described first oscillating bearing assembly and second joint bearing assembly are made up of oscillating bearing, bearing catch and joint shaft respectively, wherein joint shaft carries out axial restraint through after oscillating bearing by bearing catch, and its swing space is +/-35 degree.
4. Delta parallel robot according to claim 1, is characterized in that: described long connecting rod adopts the solid aluminium bar of minor diameter.
5. Delta parallel robot according to claim 1, is characterized in that: the motor in described motor and decelerator is closed loop stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520616365.7U CN204868856U (en) | 2015-08-14 | 2015-08-14 | Delta parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520616365.7U CN204868856U (en) | 2015-08-14 | 2015-08-14 | Delta parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204868856U true CN204868856U (en) | 2015-12-16 |
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| CN201520616365.7U Active CN204868856U (en) | 2015-08-14 | 2015-08-14 | Delta parallel robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN105926518A (en) * | 2016-06-23 | 2016-09-07 | 安庆市蒲公英水电安装工程有限公司 | Automatic device for cleaning ditch walls of residential housing water supply and drainage ditches |
| CN105952842A (en) * | 2016-06-28 | 2016-09-21 | 安庆市佰斯特电子科技有限公司 | Damping device for charging base station of power line patrol unmanned aerial vehicle |
| CN106003082A (en) * | 2016-06-23 | 2016-10-12 | 安徽扫宝智能科技有限公司 | Environment-friendly large-area sewage purification robot |
| CN106002941A (en) * | 2016-06-23 | 2016-10-12 | 姚海丽 | Manipulator special for six-degree-of-freedom one-way paper inserting industrial robot |
| CN106002946A (en) * | 2016-06-23 | 2016-10-12 | 安徽扫宝智能科技有限公司 | Operating manipulator for environment-friendly large-area sewage purification robot |
| CN106041887A (en) * | 2016-06-23 | 2016-10-26 | 安徽扫宝智能科技有限公司 | Manipulator for lake sewage purification treatment intelligent robot |
| CN107538466A (en) * | 2016-06-23 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Parallel robot |
| CN109625404A (en) * | 2019-02-13 | 2019-04-16 | 健松智能技术（嘉兴）有限公司 | A kind of article identification stack device |
-
2015
- 2015-08-14 CN CN201520616365.7U patent/CN204868856U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN105926518A (en) * | 2016-06-23 | 2016-09-07 | 安庆市蒲公英水电安装工程有限公司 | Automatic device for cleaning ditch walls of residential housing water supply and drainage ditches |
| CN106003082A (en) * | 2016-06-23 | 2016-10-12 | 安徽扫宝智能科技有限公司 | Environment-friendly large-area sewage purification robot |
| CN106002941A (en) * | 2016-06-23 | 2016-10-12 | 姚海丽 | Manipulator special for six-degree-of-freedom one-way paper inserting industrial robot |
| CN106002946A (en) * | 2016-06-23 | 2016-10-12 | 安徽扫宝智能科技有限公司 | Operating manipulator for environment-friendly large-area sewage purification robot |
| CN106041887A (en) * | 2016-06-23 | 2016-10-26 | 安徽扫宝智能科技有限公司 | Manipulator for lake sewage purification treatment intelligent robot |
| CN106041887B (en) * | 2016-06-23 | 2017-12-19 | 哈工大机器人集团（哈尔滨）资产经营管理有限公司 | A kind of lake sewage purified treatment intelligent robot manipulator |
| CN107538466A (en) * | 2016-06-23 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Parallel robot |
| CN107538466B (en) * | 2016-06-23 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Parallel robot |
| CN105952842A (en) * | 2016-06-28 | 2016-09-21 | 安庆市佰斯特电子科技有限公司 | Damping device for charging base station of power line patrol unmanned aerial vehicle |
| CN109625404A (en) * | 2019-02-13 | 2019-04-16 | 健松智能技术（嘉兴）有限公司 | A kind of article identification stack device |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 Guangdong city of Shenzhen province Baoan District manhole Street sand Emperor Tang Lu first Dong Industrial Zone B11 Patentee after: BANDP Automation Dynamics Ltd. Address before: 518000 Guangdong city of Shenzhen province Baoan District manhole Street sand Emperor Tang Lu first Dong Industrial Zone B11 Patentee before: SHENZHEN DEFULAI AUTOMATION EQUIPMENT CO., LTD. |