CN205630608U - Delta robot master arm - Google Patents
Delta robot master arm Download PDFInfo
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- CN205630608U CN205630608U CN201620405819.0U CN201620405819U CN205630608U CN 205630608 U CN205630608 U CN 205630608U CN 201620405819 U CN201620405819 U CN 201620405819U CN 205630608 U CN205630608 U CN 205630608U
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- master arm
- delta robot
- arm
- robot master
- curved tube
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Abstract
The utility model discloses a delta robot master arm, wherein, delta robot master arm is curved tube structure arm, the axis of curved tube structure arm is curve type, the material of curved tube structure arm is in carbon fiber, aluminum alloy or the titanium alloy any one. The embodiment of the utility model provides an in, through using curved tube type delta robot master arm, improved the atress circumstances of robot master arm at the operation in -process, use its performance to be superior to straight tube type delta robot master arm, life is for more than the straight tube type delta robot master arm twice reaches.
Description
Technical field
This utility model relates to intelligent robot technology field, particularly relates to a kind of Delta robot actively
Arm.
Background technology
Delta robot is a kind of parallel robot with 3 translational degree of freedom, is also current business
Applying one of most successful parallel robot, Delta robot is by Lausanne, SUI engineering college (EPFL)
Clavel proposed in 1985, owing to base platform and motion platform are all triangular shaped and gain the name,
Originally during design Delta robot, it is the structure expecting a kind of miniaturization, it is achieved fast to wisp
Speed captures and places, and can complete the circulation operation of more than twice per second.
Along with the progress of technology, the parallel machine that present Delta robot belongs at a high speed, bearing capacity is big
Device people, is mainly used in the processing such as food, medicine and electronic product, assembling.And Delta robot master
Swing arm is to realize at a high speed and the critical component of big bearing capacity.In terms of average tempo 1kg-0.5s, accelerate
Angle value reaches more than 6g, though master arm and servomotor union end produce up to more than 50N m from
Heart moment of torsion, puts on master arm substantially；The master arm of tradition straight pipe type delta robot is in operation
Cheng Zhong, centrifugal load all acts on master arm radially, bears big shearing force and cause to increase fracture
Probability, it is impossible to meet long-time, intensive work.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, this utility model to provide one
Delta robot master arm, improves robot master arm stressing conditions in operation process, uses
Its performance is better than straight pipe type Delta robot master arm, and service life is straight pipe type Delta robot master
Swing arm twice and more than.
In order to solve the problems referred to above, the utility model proposes a kind of Delta robot master arm, described
Delta robot master arm is curved tube structural arm, the curved type in axis of described curved tube structural arm, institute
Stating the material of curved tube structural arm is any one in carbon fiber, aluminium alloy or titanium alloy.
Preferably, described curved tube structural arm is hollow tubular.
Preferably, the angle of circular curve two ends and circle center line connecting that described axis is formed be 15 °～
25°。
Preferably, the circular curve two ends that described axis is formed are 20 ° with the angle of circle center line connecting.
In this utility model embodiment, by using curved pipe-type Delta robot master arm, improve machine
Device people's master arm stressing conditions in operation process, its serviceability is better than straight pipe type Delta robot
Master arm, service life be straight pipe type Delta robot master arm twice and more than.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below
The accompanying drawing used required in embodiment or description of the prior art will be briefly described, it is clear that
, the accompanying drawing in describing below is only embodiments more of the present utility model, common for this area
From the point of view of technical staff, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Other accompanying drawing.
Fig. 1 is the cross section structure composition signal of the Delta robot master arm in this utility model embodiment
Figure；
Fig. 2 is the 3D structural representation of the Delta robot master arm in this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the skill in this utility model embodiment
Art scheme is clearly and completely described, it is clear that described embodiment is only this utility model
A part of embodiment rather than whole embodiments.Based on the embodiment in this utility model, ability
All other embodiments that territory those of ordinary skill is obtained under not making creative work premise,
Broadly fall into the scope of this utility model protection.
Fig. 1 is the cross section structure composition signal of the Delta robot master arm in this utility model embodiment
Figure, as it is shown in figure 1, this Delta robot master arm is curved tube structural arm (1), curved tube structural arm (1)
Axis (2) curved type, the material of curved tube structural arm (1) is carbon fiber, aluminium alloy or titanium
Any one in alloy.
In specific implementation process, use the curved tube knot that carbon fiber, aluminium alloy or titanium alloy material are made
Structure arm (1), as the master arm of Delta robot, so just can subtract when same load
The master arm weight of light Delta robot, also ensures that the intensity of the master arm of Delta robot simultaneously
And resistance to impact, can effectively alleviate the overall weight of Delta robot, moreover it is possible to ensure Delta machine
People ensures the ability to bear of master arm in the working environment of high intensity.
Fig. 2 is the 3D structural representation of the Delta robot master arm in this utility model embodiment,
As in figure 2 it is shown, in specific implementation process, curved tube structural arm (1) is hollow tubular；Use hollow
The curved tube structural arm (1) of tubulose is to meet Delta machine as the master arm of Delta robot
After the working strength of Delta robot master arm is required by people, further alleviate Delta robot
The weight of master arm, economizes on resources.
In specific implementation process, the circular curve two ends that axis (2) are formed and the folder of circle center line connecting
Angle is 15 °～25 °；Straight pipe type master arm Delta robot work when, centrifugal load is all made
For master arm, bear big shearing force and increase the probability of fracture, it is impossible to meet for a long time,
High intensity operating mode, uses and becomes the curved tube structural arm (1) of 15 °～25 ° angles as Delta with circle center line connecting
Robot master arm, can effectively decompose centrifugal load so that Delta robot master arm
Not easy fracture.
In specific implementation process, the circular curve two ends of axis (2) with the angle of circle center line connecting are
20°；Through test of many times, use this curved tube structural arm (1) as Delta robot master arm, energy
Efficient decomposition is in the centrifugal load of Delta robot master arm.
In this utility model embodiment, by using curved pipe-type Delta robot master arm, improve machine
Device people's master arm stressing conditions in operation process, uses its performance to be better than straight pipe type Delta robot
Master arm, service life be straight pipe type Delta robot master arm twice and more than.
The Delta robot master arm provided this utility model embodiment above has carried out detailed Jie
Continue, literary composition have employed specific case principle of the present utility model and embodiment are set forth, with
The explanation of upper embodiment is only intended to help to understand method of the present utility model and core concept thereof；Meanwhile,
For one of ordinary skill in the art, according to thought of the present utility model, in detailed description of the invention and
All will change in range of application, in sum, this specification content should not be construed as this reality
With novel restriction.
Claims (4)
1. a Delta robot master arm, it is characterised in that described Delta robot master arm is
Curved tube structural arm, the curved type in axis of described curved tube structural arm, the material of described curved tube structural arm
For any one in carbon fiber, aluminium alloy or titanium alloy.
Delta robot the most according to claim 1 master arm, it is characterised in that described song
Tubular construction arm is hollow tubular.
Delta robot the most according to claim 1 master arm, it is characterised in that in described
The two ends of circular curve that axis is formed and the angle of circle center line connecting are 15 °～25 °.
Delta robot the most according to claim 3 master arm, it is characterised in that in described
The two ends of circular curve that axis is formed and the angle of circle center line connecting are 20 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620405819.0U CN205630608U (en) | 2016-05-05 | 2016-05-05 | Delta robot master arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620405819.0U CN205630608U (en) | 2016-05-05 | 2016-05-05 | Delta robot master arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630608U true CN205630608U (en) | 2016-10-12 |
Family
ID=57050471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620405819.0U Active CN205630608U (en) | 2016-05-05 | 2016-05-05 | Delta robot master arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN205630608U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834729A (en) * | 2017-11-29 | 2019-06-04 | 沈阳新松机器人自动化股份有限公司 | Parallel robot abnormity main mechanical arm |
-
2016
- 2016-05-05 CN CN201620405819.0U patent/CN205630608U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834729A (en) * | 2017-11-29 | 2019-06-04 | 沈阳新松机器人自动化股份有限公司 | Parallel robot abnormity main mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 510000 Building No. 15, compound 100, martyrs Road, Guangzhou, Guangdong Co-patentee after: SOUTH CHINA ROBOTICS INNOVATION Research Institute Patentee after: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address before: 510070 Building No. 13, compound 100, martyrs Road, Guangzhou, Yuexiu District, Guangdong Co-patentee before: SOUTH CHINA ROBOTICS INNOVATION RESEARCH INSTITUTE Patentee before: Guangdong Institute of Automation |
|
| CP03 | Change of name, title or address | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 510000 building 15, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Patentee after: SOUTH CHINA ROBOTICS INNOVATION Research Institute Address before: 510000 building 15, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Patentee before: SOUTH CHINA ROBOTICS INNOVATION Research Institute |
|
| CP01 | Change in the name or title of a patent holder |