CN205438543U - Parallel robot of three degrees of freedom - Google Patents
Parallel robot of three degrees of freedom Download PDFInfo
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- CN205438543U CN205438543U CN201620220574.4U CN201620220574U CN205438543U CN 205438543 U CN205438543 U CN 205438543U CN 201620220574 U CN201620220574 U CN 201620220574U CN 205438543 U CN205438543 U CN 205438543U
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- pulley
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- timing belt
- idle pulley
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Abstract
The utility model relates to a parallel robot of three degrees of freedom, including allocating the platform, move the platform, three vertical tracks of group and three parallelogram linkage of group, whole parallel robot appearance frame becomes positive triangular prism shape form, and the vertical track of three groups be three arriss of positive triangular prism, and fixed mounting is allocating the bench, three parallelogram linkage of group one end respectively with the vertical between tracks connection of three groups, other end evenly distributed with move the platform and be connected, move the platform be located the frame outside, unsettled above the working face, according to work post's on the production line different demands, install corresponding end effector on moving the platform. The robot mechanism that should connect in parallel is simple, and manufacturing, installation are easily, and be with low costs, adopts the feasible platform precision height that moves of hold -in range and servo actuating mechanism transmission, and the drive characteristic is good.
Description
Technical field
This utility model belongs to parallel robot field, the parallel robot of a kind of Three Degree Of Freedom.
Background technology
Parallel robot mechanism, is defined as between moving platform and fixed platform being connected at least through two independent kinematic chains, has two or more degree of freedom, and a kind of close loop mechanism driven with parallel way.Compared with traditional serial manipulator, parallel robot has that the rigidity of structure is big, bearing capacity is strong, cumulative error is little, output accuracy is high, and dynamic inertia is low, from a series of advantages such as heavy load are little.The concern and research causing all circles in 20 years is being entered with the using value that has of himself.
The such as crawl that generally exists in the industry such as conditional electronic, food and medicine, sorting and a large amount of repetitive operations such as packaging, generally by manually completing, this duplication of labour not only intensity is big, and food, medicine can be caused pollution in various degree.For this situation, high speed parallel robot successfully instead of conventional manual operation with its high speed, the advantage of cleaning.In the middle of this kind of high speed parallel robot, the most representational Clavel of surely belonging to teaches the space three-freedom Delta parallel mechanism proposed in 1985.
Delta robot is the parallel robot of most typical space three-freedom.Belong to high speed, the parallel machine people of underloading.Overall structure is accurate, compact, and drive part is distributed in fixed platform, these features make it have the property that bearing capacity is strong, rigidity big, duty ratio is little, dynamic property good in deadweight, repetitive positioning accuracy is high.Delta robot is widely used in the processing such as food, medicine and electronic product, assembling in recent years.
Structure and feature in conjunction with Delta, using the teaching of the invention it is possible to provide the organization plan of a kind of low-cost high-efficiency has the biggest practicality and economic benefit.
Utility model content
This utility model purpose is, it is provided that a kind of simple in construction, easy to manufacture, easy for installation, low cost, and the 3-dof parallel robot that transmission performance is good.
To achieve these goals, this utility model is solved by the following technical solutions.
The parallel robot of a kind of Three Degree Of Freedom, including fixed platform, moving platform, three groups of vertical rails and three groups of parallelogram linkages；Whole parallel robot profile frame becomes regular triangular prism shape, three groups of vertical rails are three ribs of regular triangular prism, it is fixedly mounted on fixed platform, three groups of parallelogram linkage one end are connected with three groups of vertical rails respectively, the other end is uniformly distributed and is connected with moving platform, moving platform is positioned at outside frame, is suspended on above work surface, according to the different demands of work post on production line, installs corresponding end effector on moving platform.
Three groups of described identical upright guide rails are by section bar, slide rail installing plate, slide rail, slide block, pulley assembly, electric machine assembly, pulley assemblies and Timing Belt composition, described slide rail is arranged on section bar by slide rail installing plate, slide block is connected with slide rail and can move at vertical direction along slide rail, described electric machine assembly is fixedly mounted on the top of section bar by two pieces of connecting plate for electric motor and is connected with fixed platform, pulley assemblies is fixedly mounted on bottom section bar by two pieces of belt wheel connecting plates, described pulley assembly is fixedly mounted on slide block, electric machine assembly is connected by Timing Belt, pulley assembly and pulley assemblies, realize transmission.
Described electric machine assembly includes active synchronization belt wheel, the first tensioning idle pulley, and Timing Belt fixes bar, servomotor, motor mounting plate, described active synchronization belt wheel, the first tensioning idle pulley, and Timing Belt fixes bar, and servomotor is all arranged on motor mounting plate；Described pulley assembly includes idle pulley installing plate and idle pulley, equipped with two identical idle pulleys on idle pulley installing plate；Described pulley assemblies includes that Timing Belt fixes bar, driven synchronous pulley, the second tensioning idle pulley, belt wheel installing plate, and described Timing Belt fixes bar, driven synchronous pulley, and the second tensioning idle pulley is all arranged on belt wheel installing plate；Described active synchronization belt wheel, the first tensioning idle pulley, two idle pulleys, driven synchronous pulley, the center of circle of the second tensioning idle pulley is located along the same line and end face is same plane；One end of described Timing Belt is fixed on the Timing Belt of electric machine assembly and fixes on bar, the other end walks around the idle pulley of pulley assembly upper end, by walking around active synchronization belt wheel after the first tensioning idle pulley, further around crossing driven synchronous pulley, by the second tensioning idle pulley and the idle pulley of pulley assembly lower end, the Timing Belt being finally fixed on pulley assemblies is fixed on bar.
Described parallelogram linkage is connected and composed by spherical linkage by two, left and right carbon fiber pipe and upper and lower two axles；Wherein an axle is fixed with the pulley assembly on vertical rail and is connected, and another root axle is fixing with moving platform to be connected.
Compared with prior art, this utility model has the advantage that
This utility model 3-dof parallel robot, the framework of its regular triangular prism profile so that stabilized structure.Using Timing Belt and servo-actuating device transmission to make this structure moving platform precision high, drive characteristic is good, it is possible to be substantially reduced manufacturing cost, has the strongest practicality and economic benefit.This parallel robot mechanism is simple, manufactures, installs easily, low cost.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is upright slide rail structural representation of the present utility model.
Fig. 3 is motor component structure schematic diagram of the present utility model.
Fig. 4 is electric machine assembly sectional view of the present utility model.
Fig. 5 is pulley block structure schematic diagram of the present utility model.
Fig. 6 is pulley assembly sectional view of the present utility model.
Fig. 7 is pulley assemblies structural representation of the present utility model.
Fig. 8 is pulley assemblies sectional view of the present utility model.
Fig. 9 is Timing Belt connected mode schematic diagram of the present utility model.
Figure 10 is parallelogram linkage structural representation of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described in further detail.
As it is shown in figure 1, the parallel robot of a kind of Three Degree Of Freedom, including fixed platform 1, moving platform 2, three groups of vertical rails 3 and three groups of parallelogram linkages 4；Whole parallel robot profile frame becomes regular triangular prism shape, three groups of vertical rails 3 are three ribs of regular triangular prism, it is fixedly mounted on fixed platform 1, three groups of parallelogram linkage 4 one end are connected with three groups of vertical rails 3 respectively, the other end is uniformly distributed and is connected with moving platform 2, moving platform 2 is positioned at outside frame, is suspended on above work surface, according to the different demands of work post on production line, installs corresponding end effector on moving platform 2.
As shown in Figure 2, three groups of described identical upright guide rails 3 are by section bar 31, slide rail installing plate 32, slide rail 33, slide block 34, pulley assembly 35, electric machine assembly 36, pulley assemblies 37 and Timing Belt 38 form, described slide rail 33 is arranged on section bar 31 by slide rail installing plate 32, slide block 34 is connected with slide rail 33 and can move at vertical direction along slide rail 33, described electric machine assembly 36 is fixedly mounted on the top of section bar 31 by two pieces of connecting plate for electric motor 39 and is connected with fixed platform 1, pulley assemblies 37 is fixedly mounted on bottom section bar 31 by two pieces of belt wheel connecting plates 30, described pulley assembly 35 is fixedly mounted on slide block 34, electric machine assembly 36 is connected by Timing Belt 38, pulley assembly 35 and pulley assemblies 37, realize transmission.
As shown in Fig. 3 to Fig. 9, described electric machine assembly 36 includes active synchronization belt wheel 361, first tensioning idle pulley 362, Timing Belt fixes bar 363, servomotor 364, motor mounting plate 365, described active synchronization belt wheel 361, first tensioning idle pulley 362, Timing Belt fixes bar 363, and servomotor 364 is all arranged on motor mounting plate 365；Described pulley assembly 35 includes idle pulley installing plate 351 and idle pulley 352, equipped with two identical idle pulleys 352 on idle pulley installing plate 351；Described pulley assemblies 37 includes that Timing Belt fixes bar 363, driven synchronous pulley 371, the second tensioning idle pulley 372, belt wheel installing plate 373, and described Timing Belt fixes bar 363, driven synchronous pulley 371, and the second tensioning idle pulley 372 is all arranged on belt wheel installing plate 373；Described active synchronization belt wheel 361, the first tensioning idle pulley 362, two idle pulleys 352, driven synchronous pulley 371, the center of circle of the second tensioning idle pulley 372 is located along the same line and end face is same plane；One end of described Timing Belt 38 is fixed on the Timing Belt of electric machine assembly 36 and fixes on bar 363, the other end walks around the idle pulley 352 of pulley assembly 35 upper end, by walking around active synchronization belt wheel 361 after the first tensioning idle pulley 362, further around crossing driven synchronous pulley 371, by the second tensioning idle pulley 372 and the idle pulley 352 of pulley assembly 35 lower end, the Timing Belt being finally fixed on pulley assemblies 37 is fixed on bar 363.
As shown in Figure 10, described parallelogram linkage 4 is connected and composed by spherical linkage 43 by two, left and right carbon fiber pipe 41 and upper and lower two axles 42；Wherein an axle 42 is fixed with the pulley assembly 35 on vertical rail 3 and is connected, and another root axle 42 is fixing with moving platform 2 to be connected.
At work, servomotor 364 drive main synchronous pulley 361, transmitted by the motion of Timing Belt 38 so that slide block 34 is for linear motion on slide rail 33.Final drive three groups of parallelogram linkages 4 to move, at the volley moving platform 2 all the time with horizontal plane keeping parallelism.On moving platform 2 can according to equipment application scenario, need installation manipulator pawl, sucker or welding gun etc. according to client.Fixed platform 1 uses installation of ceiling formula, thus fixes whole parallel robot.
Claims (4)
1. the parallel robot of a Three Degree Of Freedom, it is characterised in that include fixed platform (1), moving platform (2), three groups of vertical rails (3) and three groups of parallelogram linkages (4)；Whole parallel robot profile frame becomes regular triangular prism shape, three groups of vertical rails (3) are three ribs of regular triangular prism, it is fixedly mounted on fixed platform (1), three groups of parallelogram linkage (4) one end are connected with three groups of vertical rails (3) respectively, the other end is uniformly distributed and is connected with moving platform (2), moving platform (2) is positioned at outside frame, is suspended on above work surface, according to the different demands of work post on production line, at moving platform (2) the corresponding end effector of upper installation.
null3-dof parallel robot the most according to claim 1，It is characterized in that，Three groups of described identical upright guide rails (3) are by section bar (31)，Slide rail installing plate (32)，Slide rail (33)，Slide block (34)，Pulley assembly (35)，Electric machine assembly (36)，Pulley assemblies (37) and Timing Belt (38) composition，Described slide rail (33) is arranged on section bar (31) by slide rail installing plate (32)，Slide block (34) is connected with slide rail (33) and can move at vertical direction along slide rail (33)，Described electric machine assembly (36) is fixedly mounted on the top of section bar (31) by two pieces of connecting plate for electric motor (39) and is connected with fixed platform (1)，Pulley assemblies (37) is fixedly mounted on section bar (31) bottom by two pieces of belt wheel connecting plates (30)，Described pulley assembly (35) is fixedly mounted on slide block (34)，Electric machine assembly (36) is connected by Timing Belt (38)、Pulley assembly (35) and pulley assemblies (37)，Realize transmission.
3-dof parallel robot the most according to claim 2, it is characterized in that, described electric machine assembly (36) includes active synchronization belt wheel (361), the first tensioning idle pulley (362), and Timing Belt fixes bar (363), servomotor (364), motor mounting plate (365), described active synchronization belt wheel (361), the first tensioning idle pulley (362), Timing Belt fixes bar (363), and servomotor (364) is all arranged on motor mounting plate (365)；Described pulley assembly (35) includes idle pulley installing plate (351) and idle pulley (352), equipped with two identical idle pulleys (352) on idle pulley installing plate (351)；Described pulley assemblies (37) includes that Timing Belt fixes bar (363), driven synchronous pulley (371), second tensioning idle pulley (372), belt wheel installing plate (373), described Timing Belt fixes bar (363), driven synchronous pulley (371), the second tensioning idle pulley (372) is all arranged on belt wheel installing plate (373)；Described active synchronization belt wheel (361), the first tensioning idle pulley (362), two idle pulleys (352), driven synchronous pulley (371), the center of circle of the second tensioning idle pulley (372) is located along the same line and end face is same plane；One end of described Timing Belt (38) is fixed on the Timing Belt of electric machine assembly (36) and fixes on bar (363), the other end walks around the idle pulley (352) of pulley assembly (35) upper end, by walking around active synchronization belt wheel (361) after the first tensioning idle pulley (362), further around crossing driven synchronous pulley (371), by the second tensioning idle pulley (372) and the idle pulley (352) of pulley assembly (35) lower end, the Timing Belt being finally fixed on pulley assemblies (37) is fixed on bar (363).
3-dof parallel robot the most according to claim 1, it is characterised in that described parallelogram linkage (4) is connected and composed by spherical linkage (43) by two, left and right carbon fiber pipe (41) and upper and lower two axles (42)；Wherein an axle (42) is fixed with the pulley assembly (35) on vertical rail (3) and is connected, and another root axle (42) is fixing with moving platform (2) to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620220574.4U CN205438543U (en) | 2016-03-19 | 2016-03-19 | Parallel robot of three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620220574.4U CN205438543U (en) | 2016-03-19 | 2016-03-19 | Parallel robot of three degrees of freedom |
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| Publication Number | Publication Date |
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| CN205438543U true CN205438543U (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620220574.4U Expired - Fee Related CN205438543U (en) | 2016-03-19 | 2016-03-19 | Parallel robot of three degrees of freedom |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493953A (en) * | 2016-12-15 | 2017-03-15 | 广州中国科学院先进技术研究所 | A kind of parallel arm 3D printer and control system |
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN109955225A (en) * | 2019-03-28 | 2019-07-02 | 东南大学 | A kind of force feedback hand controlled device of parallel Three Degree Of Freedom and its control method |
| CN110007164A (en) * | 2019-03-21 | 2019-07-12 | 岭南师范学院 | A kind of mouse track device for detecting performance based on delta parallel-connection structure |
| CN113606466A (en) * | 2021-10-08 | 2021-11-05 | 成都理工大学 | Portable binocular photogrammetry device |
| CN113623506A (en) * | 2021-10-08 | 2021-11-09 | 成都理工大学 | Rotary scanning type binocular photogrammetry device |
-
2016
- 2016-03-19 CN CN201620220574.4U patent/CN205438543U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493953A (en) * | 2016-12-15 | 2017-03-15 | 广州中国科学院先进技术研究所 | A kind of parallel arm 3D printer and control system |
| CN106493953B (en) * | 2016-12-15 | 2019-08-27 | 广州中国科学院先进技术研究所 | A kind of parallel arm 3D printer and control system |
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN107497706B (en) * | 2017-08-07 | 2023-11-07 | 华中农业大学 | Chinese chestnut sorting device and method |
| CN110007164A (en) * | 2019-03-21 | 2019-07-12 | 岭南师范学院 | A kind of mouse track device for detecting performance based on delta parallel-connection structure |
| CN109955225A (en) * | 2019-03-28 | 2019-07-02 | 东南大学 | A kind of force feedback hand controlled device of parallel Three Degree Of Freedom and its control method |
| CN113606466A (en) * | 2021-10-08 | 2021-11-05 | 成都理工大学 | Portable binocular photogrammetry device |
| CN113623506A (en) * | 2021-10-08 | 2021-11-09 | 成都理工大学 | Rotary scanning type binocular photogrammetry device |
| CN113623506B (en) * | 2021-10-08 | 2022-01-04 | 成都理工大学 | Rotary scanning type binocular photogrammetry device |
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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 |
Granted publication date: 20160810 Termination date: 20170319 |
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| CF01 | Termination of patent right due to non-payment of annual fee |