CN205363883U - High -speed heavily loaded serial -type parallel robot - Google Patents
High -speed heavily loaded serial -type parallel robot Download PDFInfo
- Publication number
- CN205363883U CN205363883U CN201620059363.7U CN201620059363U CN205363883U CN 205363883 U CN205363883 U CN 205363883U CN 201620059363 U CN201620059363 U CN 201620059363U CN 205363883 U CN205363883 U CN 205363883U
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- China
- Prior art keywords
- connecting rod
- arm
- arm mechanism
- mounting seat
- parallel robot
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Abstract
The utility model discloses high -speed heavily loaded serial -type parallel robot, include the mount pad, be located the same a plurality of arm mechanisms of structure on the mount pad, arm mechanism includes drive assembly and flange, flange joint has the main arm, be equipped with the pivot on the main arm, be equipped with the connecting rod in the pivot, drive assembly is connected with the transfer line, the transfer line with the connecting rod is articulated, the main arm is connected with the connecting rod, the bottom of connecting rod is connected with instrument control center. The utility model discloses a series system that connecting rod and transfer line constitute comes the driven robot main arm, and the main arm still moves for the wave, and the concentrated wear is avoided in motor and the operation of speed reducer syntropy among the drive assembly, and in the improve equipment life -span, when the set point was arrived in the connecting rod downstream, the motor stopped, the repayment of TCP end energy to make the load improve 50%, what the motor lasted operates at a high speed, can make the speed of TCP end effectively promote.
Description
Technical field
This utility model relates to industrial robot field, specifically a kind of high-speed overload tandem parallel robot.
Background technology
Parallel architecture equipment has become one of current study hotspot of manufacturing industry.Compared with serial configured, parallel architecture has the features such as good rigidity, precision height, high speed and high acceleration, parallel architecture is equipped in the application of robot field and is concentrated mainly on two aspects, and one is to provide high acceleration and high speed, and two are to provide the bearing capacity higher than serial manipulator and rigidity.Parallel robot traditional at present adopts parallel institution, and full symmetric parallel institution is driven by the supporting reductor of the servomotor being placed on fixed platform, and the other end constitutes instrument control centre TCP.Parallel robot work space is less, is used widely in the high rigidity of needs, high accuracy and high speed field.The reductor of parallel robot and robot principal arm are by Flange joint, and robot principal arm does waveform within the scope of-90 ° to 90 ° and moves back and forth, thus causing reductor and the positive and negative operating of motor altofrequency.
Traditional parallel robot has the disadvantages that
1) reductor partial gear abrasion, motor is positive and negative operating repeatedly, affects equipment life；
2) acceleration and deceleration performance of motor must be responsive to soon, error is little and stablizes；
3) servomotor constantly brakes, and causes energy loss, thus causing that load and speed all cannot be significantly improved.
Utility model content
The purpose of this utility model is to provide a kind of high-speed overload tandem parallel robot little, that speed is fast, energy consumption is low that weares and teares.
This utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of high-speed overload tandem parallel robot, including mounting seat, multiple arm mechanisms that to be positioned in described mounting seat structure identical, described arm mechanism includes driving assembly and flange, described Flange joint has principal arm, described principal arm to be provided with rotating shaft, and described rotating shaft is provided with connecting rod, described driving assembly is connected to drive link, described drive link and described rod hinge connection, described principal arm is connected to connecting rod, and the bottom of described connecting rod is connected to instrument control centre.
Further, described arm mechanism includes first-hand arm mechanism, second-hand's arm mechanism and the 3rd arm mechanism, and described first-hand arm mechanism, described second-hand's arm mechanism and described 3rd arm mechanism are according to three vertex position distributions of equilateral triangle.
Further, the top of described principal arm is provided with along the through mounting groove of described principal arm thickness direction, and the inwall of described mounting groove is provided with the described rotating shaft along the distribution of described principal arm length direction.
Further, described connecting rod is parallel with described drive link, and described connecting rod is all vertical with described principal arm with described drive link.
Further, described first-hand arm mechanism includes driving assembly mounting seat, and the inside of described driving assembly mounting seat is provided with described driving assembly, and described driving assembly mounting seat is provided with flange mounting seat, and the bottom of described flange mounting seat is provided with described flange.
Compared with prior art, this utility model high-speed overload tandem parallel robot provides the benefit that: the series system consisted of connecting rod and drive link carrys out driven machine people's principal arm, and principal arm still moves for waveform, drives the motor in assembly and reductor to operate in the same direction, avoid concentrated wear, improving equipment life, when connecting rod is moved downwardly to set point, motor stops, TCP end energy feedback, so that load improves 50%, lasting the running up of motor, it is possible to make the speed of TCP end effectively promote.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic diagram of first-hand arm mechanism in Fig. 1.
Fig. 3 is the left view of Fig. 2.
Detailed description of the invention
Refer to Fig. 1 to Fig. 3, a kind of high-speed overload tandem parallel robot, including mounting seat 4, it is positioned in mounting seat 4 multiple arm mechanisms, in the present embodiment, the quantity of arm mechanism is three, respectively first-hand arm mechanism 1, second-hand's arm mechanism 2 and the 3rd arm mechanism 3, first-hand arm mechanism 1, second-hand's arm mechanism 2 and the 3rd arm mechanism 3 are according to three vertex position distributions of equilateral triangle, and the bottom of first-hand arm mechanism 1, second-hand's arm mechanism 2 and the 3rd arm mechanism 3 is all connected with instrument control centre 5.
First-hand arm mechanism 1, second-hand's arm mechanism 2 is identical with the structure of the 3rd arm mechanism 3, for first-hand arm mechanism 1, first-hand arm mechanism 1 includes driving assembly mounting seat 11, the inside driving assembly mounting seat 11 is provided with driving assembly (not shown), assembly is driven to include motor and the reductor being connected with motor, assembly mounting seat 11 is driven to be provided with flange mounting seat 12, the bottom of flange mounting seat 12 is provided with flange 13, flange 13 is connected to principal arm 14, principal arm 14 rotates around flange 13, the top of principal arm 14 is provided with along the through mounting groove 141 of principal arm thickness direction, the inwall of mounting groove 141 is provided with the rotating shaft 142 along the distribution of principal arm length direction, rotating shaft 142 is provided with connecting rod 15, assembly is driven to be connected to drive link 16, drive link 16 is hinged with connecting rod 15.Connecting rod 15 is parallel with drive link 16, and connecting rod 15 and drive link 16 are all vertical with principal arm 14, and principal arm 14 is connected to two parallel connecting rods 17, and the bottom of connecting rod 17 is connected with instrument control centre 5.
During use, first-hand arm mechanism 1, second-hand's arm mechanism 2 and the 3rd arm mechanism 3 are respectively according to respective Sequence motion, driving assembly to drive drive link 16 to rotate, drive link 16 drives principal arm 14 to move by connecting rod 15, and principal arm 14 is again through the motion of connecting rod 17 band power driven tools control centre.In this mode, the series system consisted of connecting rod and drive link carrys out driven machine people's principal arm, and principal arm still moves for waveform, drives the motor in assembly and reductor to operate in the same direction, avoid concentrated wear, improving equipment life, when connecting rod is moved downwardly to set point, motor stops, TCP end energy feedback, so that load improves 50%, lasting the running up of motor, it is possible to make the speed of TCP end effectively promote.
Above-described is only embodiments more of the present utility model.For the person of ordinary skill of the art, under the premise creating design without departing from this utility model, it is also possible to making some deformation and improvement, these broadly fall into protection domain of the present utility model.
Claims (5)
1. high-speed overload tandem parallel robot, it is characterized in that: include mounting seat, multiple arm mechanisms that to be positioned in described mounting seat structure identical, described arm mechanism includes driving assembly and flange, described Flange joint has principal arm, described principal arm to be provided with rotating shaft, and described rotating shaft is provided with connecting rod, described driving assembly is connected to drive link, described drive link and described rod hinge connection, described principal arm is connected to connecting rod, and the bottom of described connecting rod is connected to instrument control centre.
2. high-speed overload tandem parallel robot according to claim 1, it is characterized in that: described arm mechanism includes first-hand arm mechanism, second-hand's arm mechanism and the 3rd arm mechanism, described first-hand arm mechanism, described second-hand's arm mechanism and described 3rd arm mechanism are according to three vertex position distributions of equilateral triangle.
3. high-speed overload tandem parallel robot according to claim 1, it is characterized in that: the top of described principal arm is provided with along the through mounting groove of described principal arm thickness direction, and the inwall of described mounting groove is provided with the described rotating shaft along the distribution of described principal arm length direction.
4. high-speed overload tandem parallel robot according to claim 1, it is characterised in that: described connecting rod is parallel with described drive link, and described connecting rod is all vertical with described principal arm with described drive link.
5. high-speed overload tandem parallel robot according to claim 2, it is characterized in that: described first-hand arm mechanism includes driving assembly mounting seat, the inside of described driving assembly mounting seat is provided with described driving assembly, described driving assembly mounting seat is provided with flange mounting seat, and the bottom of described flange mounting seat is provided with described flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620059363.7U CN205363883U (en) | 2016-01-21 | 2016-01-21 | High -speed heavily loaded serial -type parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620059363.7U CN205363883U (en) | 2016-01-21 | 2016-01-21 | High -speed heavily loaded serial -type parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205363883U true CN205363883U (en) | 2016-07-06 |
Family
ID=56273972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620059363.7U Expired - Fee Related CN205363883U (en) | 2016-01-21 | 2016-01-21 | High -speed heavily loaded serial -type parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205363883U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583810A (en) * | 2016-03-11 | 2016-05-18 | 广州数控设备有限公司 | Parallel robot provided with swing arm-connecting rod driving mechanisms |
| CN110524514A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of high speed parallel robot driven indirectly with energy regenerating |
| CN113172609A (en) * | 2021-05-17 | 2021-07-27 | 勃肯特(镇江)机器人技术有限公司 | High-speed parallel robot with cam arm indirect drive |
-
2016
- 2016-01-21 CN CN201620059363.7U patent/CN205363883U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583810A (en) * | 2016-03-11 | 2016-05-18 | 广州数控设备有限公司 | Parallel robot provided with swing arm-connecting rod driving mechanisms |
| CN110524514A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of high speed parallel robot driven indirectly with energy regenerating |
| CN113172609A (en) * | 2021-05-17 | 2021-07-27 | 勃肯特(镇江)机器人技术有限公司 | High-speed parallel robot with cam arm indirect drive |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160706 Termination date: 20210121 |