CN206048179U - A kind of linear type parallel robot - Google Patents
A kind of linear type parallel robot Download PDFInfo
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- CN206048179U CN206048179U CN201621074085.9U CN201621074085U CN206048179U CN 206048179 U CN206048179 U CN 206048179U CN 201621074085 U CN201621074085 U CN 201621074085U CN 206048179 U CN206048179 U CN 206048179U
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- side chain
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- universal joint
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Abstract
This utility model provides a kind of linear type parallel robot, including moving platform, the rotation side chain that action coordinates, first movement side chain and the second movement side chain, one end of three side chains is rotated with moving platform by universal joint and is connected, also include first straight line drive mechanism, second straight line drive mechanism and rotating drive mechanism, first movement side chain, second movement side chain and rotate side chain three the other end pass through universal joint respectively with first straight line drive mechanism, the outfan of second straight line drive mechanism and rotating drive mechanism rotates connection, so that the first movement side chain and first straight line drive mechanism form the first moving sets, second movement side chain and second straight line drive mechanism form the second moving sets, rotate side chain and rotating drive mechanism is formed and rotates secondary.This utility model from two moving sets and one rotate secondary three coordinate simultaneously universal joint drive moving platform it is determined that spatial dimension in flexible motion so that angle changing and distance while adapting to property of robot, acquisition displacement spatially.
Description
Technical field
This utility model belongs to industrial robot field, is related to a kind of linear type parallel robot, and in particular to a kind of
Delta linear type parallel robots.
Background technology
Delta parallel robots are developed so far the history of existing more than 100 years, Delta parallel robots light industry, food,
Extensive application in the industry such as medicine and electronics, which is used for sorting, packs, encapsulates, welding etc. and performs motion.Traditional
Delta parallel robots are in del in its mechanism, and its kinematic pair is made up of three rotation pairs or three rotate pair and
Individual revolute composition, compared to serial manipulator, traditional Delta parallel robots have advantages below：
1. rigidity mass ratio is big；
2. dynamic property is superior；
3. kinematic accuracy is high；
4. compact conformation motility is strong；
5. long service life.
Based on the intrinsic advantages such as high accuracy, quick, Delta parallel robots are extensively applied, but have these at which
While advantage, traditional Delta parallel robots also have that work space is little, development difficulty is big, motion coupling is complicated, structure
Analysis difficulty, the less limitation of crawl load.
The content of the invention
To solve above-mentioned technical problem, this utility model provides a kind of linear type parallel robot, with conventional parallel
While robot intrinsic advantages, work space is improve, simplify structure, be easy to analysis, reduce development difficulty, enhance crawl
Load capacity.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：A kind of linear type parallel robot, including dynamic flat
The side chain of platform and moving platform connection, outfan connection side chain, the drive mechanism for driving the moving platform action, the driving machine
Structure is fixed on a silent flatform, and the moving platform is provided with executive item, it is characterised in that：The side chain has turning for action cooperation
Dynamic side chain, the first movement side chain and the second movement side chain, the rotation side chain, the first movement side chain and the second movement side chain three
One end rotated by universal joint and the moving platform and be connected, which also includes three groups of drive mechanisms, respectively first straight line drive
Motivation structure, second straight line drive mechanism and rotating drive mechanism, the first movement side chain, the second movement side chain and rotation side chain
The other end of three by universal joint respectively with first straight line drive mechanism, second straight line drive mechanism and rotating drive mechanism
Outfan rotate connection so that first movement side chain and first straight line drive mechanism cooperatively form the first moving sets, second move
Dynamic side chain and second straight line drive mechanism cooperatively form the second moving sets, rotation side chain and rotating drive mechanism and cooperatively form rotation
It is secondary.
In a preferred embodiment of the present utility model, further include that the universal joint is cross universal coupling.
In a preferred embodiment of the present utility model, further include that the first straight line drive mechanism includes that screw mandrel drives
Dynamic device, which has the first output slide block moved linearly along X-direction or Y direction, the end of the first movement side chain
It is rotatably connected on the first output slide block by universal joint.
In a preferred embodiment of the present utility model, further include that the second straight line drive mechanism includes that screw mandrel drives
Dynamic device, which has the second output slide block moved linearly along Y direction or X-direction, the end of the second movement side chain
It is rotatably connected on the second output slide block by universal joint, the shifting of both the second output slide block and the first output slide block
Dynamic direction is different.
In a preferred embodiment of the present utility model, further include the rotating drive mechanism include pivot link,
The power source for driving pivot link to rotate, the pivot link are provided with the 3rd side chain installing plate, the end of the rotation side chain
It is rotatably connected on the 3rd side chain installing plate by universal joint.
In a preferred embodiment of the present utility model, further include that the power source is motor and speed reducer, it is described
Both motor and speed reducers are each attached on silent flatform, and the reductor connects motor, and the pivot link is connected to reductor
On.
In a preferred embodiment of the present utility model, further include that the motor is servomotor.
In a preferred embodiment of the present utility model, further include that the first output slide block is provided with the first side chain
Installing plate, the end of the first movement side chain are rotatably connected on the first side chain installing plate by universal joint.
In a preferred embodiment of the present utility model, further include that the second output slide block is provided with the second side chain
Installing plate, the end of the second movement side chain are rotatably connected on the second side chain installing plate by universal joint.
In a preferred embodiment of the present utility model, further include that the power source of the screw mandrel driver is servo electricity
Machine.
The beneficial effects of the utility model are：
One, a kind of linear type parallel robot of the present utility model, rotate matching somebody with somebody for secondary and two moving sets using one
Conjunction rotates the dynamic moving platform action of subband for traditional three, while conventional parallel robot intrinsic advantages are retained, improves
Work space, simplifies structure, is easy to analysis, reduce development difficulty, enhance crawl load capacity, can be widely used in work
In the industries such as industry production, medical industry, packaging for foodstuff；
Two, from two moving sets and one rotate secondary three simultaneously with universal joint drive moving platform it is determined that space
In the range of flexible motion so that angle changing and distance while adapting to property of robot, obtain displacement spatially, carried with this
High workload space；
Three, using straight line driving mechanism as moving sets, it is possible to increase work space, while compared to traditional rotation
Auxiliary structure analysis is more simple；
Four, kinematics analyses can be carried out by basic analytical geometry and vector algebra method, reduce kinematics analyses
Difficulty, especially Forward Kinematics Analysis difficulty substantially reduce, directly reduce control difficulty；
Five, conventional parallel robot is by the common load sharing of three movement branched chains, because motor load ability and
The restriction of the factors such as chain connecting rod strength, causes its crawl load capacity weaker；Parallel robot of the present utility model adopts straight line
Drive mechanism is used as moving sets, while straight line driving mechanism improves load capacity by the mobile side chain of universal joint connection.
Description of the drawings
For the technical scheme being illustrated more clearly that in this utility model embodiment technology, embodiment technology will be retouched below
Needed for stating, accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only this utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is the schematic perspective view of this utility model preferred embodiment；
Fig. 2 is the main structure diagram of this utility model preferred embodiment.
Wherein：1- frameworks, 2- moving platforms, 4- silent flatforms, 6- executive items, 8- rotate side chain, the movement side chains of 10- first, 12-
Second movement side chain, 13- universal joints, 14- first straight line drive mechanisms, 16- second straight line drive mechanisms, 18- rotate driving machine
Structure, the output slide blocks of 20- first, the output slide blocks of 22- second, 24- pivot links, the 3rd side chain installing plates of 26-, 28- motors, 30-
Reductor, 32- the first side chain installing plates, 34- the second side chain installing plates.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Embodiment
As shown in Figure 1, 2, disclose a kind of linear type parallel robot in the present embodiment, including moving platform 2, silent flatform 4,
Be connected between moving platform 2 and silent flatform 4, and three side chains coordinating of action, respectively rotate the movement side chain of side chain 8, first
10 and second move side chain 12, and moving platform 2 is provided with executive item 6, and rotation side chain 8, the first movement side chain 10 and second is moved
One end of 12 three of dynamic side chain is rotated with the moving platform 2 by universal joint 13 and is connected, and which also includes three groups of drive mechanisms, point
Not Wei first straight line drive mechanism 14, second straight line drive mechanism 16 and rotating drive mechanism 18, first straight line drive mechanism 14,
Second straight line drive mechanism 16 is fixed on a framework 1, and a silent flatform 4 is fixed with framework 1, and rotating drive mechanism 18 is fixed on
On silent flatform 4, the other end of the first movement side chain 10, second movement side chain 12 and rotation 8 three of side chain is by universal
Section 13 is rotated with the outfan of first straight line drive mechanism 14, second straight line drive mechanism 16 and rotating drive mechanism 18 respectively and is connected
Connect so that the first movement side chain 10 and first straight line drive mechanism 14 cooperatively form the first moving sets, the second movement 12 and of side chain
Second straight line drive mechanism 16 cooperatively forms the second moving sets, rotation side chain 8 and rotating drive mechanism 18 and cooperatively forms rotation pair.
From two moving sets and one rotate secondary three simultaneously with universal joint 13 drive moving platform 2 it is determined that space model
Enclose interior flexible motion so that angle changing and distance while adapting to property of robot, obtain displacement spatially, improved with this
Work space.
The preferred universal joint 13 of this utility model be cross universal coupling, simple structure, transmission efficiency, after use, when
Driving shaft rotate when, driven shaft both can concomitant rotation, can be rotated around the spider center of Hooks coupling universal coupling in any direction again, be made
Angle changing and distance while obtaining the robot property of can adapt to.
Specifically, the first straight line drive mechanism 14 includes screw mandrel driver, and which has along X-direction or Y-axis side
To the first output slide block 20 of rectilinear movement, the described first end for moving side chain 10 is rotatably connected on described by universal joint 13
On first output slide block 20；In order to improve the stability of connection, the installation of the first side chain can be set on the first output slide block 20
Plate 32, the end of the first movement side chain 10 are rotatably connected on the first side chain installing plate 32 by universal joint 13.Silk
Bar driver provides power by the motor being fixed on framework 1, and the rotation of motor is converted into rectilinear movement by screw mandrel driver,
Drive first to export slide block 20 therewith to move linearly along X-direction or Y direction, be further driven to the first side chain installing plate 32
Mobile, the movement of the first side chain installing plate 32 is transferred power on the first movement side chain 10, and the first movement side chain 10 is moving platform 2
The kinetic energy of X-direction or Y direction is provided.
Specifically, the second straight line drive mechanism 16 includes screw mandrel driver, and which has along Y direction or X-axis side
To the second output slide block 22 of rectilinear movement, the described second end for moving side chain 12 is rotatably connected on described by universal joint 13
On second output slide block 22；In order to improve the stability of connection, the installation of the second side chain can be set on the second output slide block 22
Plate 34, the end of the second movement side chain 12 are rotatably connected on the second side chain installing plate 34 by universal joint 13.Silk
Bar driver provides power by the motor being fixed on framework 1, and the rotation of motor is converted into rectilinear movement by screw mandrel driver,
Drive second to export slide block 22 therewith to move linearly along X-direction or Y direction, be further driven to the second side chain installing plate 34
Mobile, the movement of the second side chain installing plate 34 is transferred power on the second movement side chain 12, and the second movement side chain 12 is moving platform 2
The kinetic energy of X-direction or Y direction is provided.
First movement side chain 10 and the second movement side chain 12 coordinate to moving platform 2 while providing the kinetic energy and Y-axis of X-direction
The kinetic energy in direction, can change both according to actual needs and provide the direction of kinetic energy, the movement of this utility model preferably first
Chain 10 provides the kinetic energy of X-direction to moving platform 2, and the second movement side chain 12 provides the kinetic energy of Y direction to moving platform 2.
Specifically, the rotating drive mechanism 18 includes pivot link 24, drives pivot link 24 (being changed to rotate) to swing
Power source, the pivot link 24 is provided with the 3rd side chain installing plate 26, and the end for rotating side chain 8 passes through universal joint 13
It is rotatably connected on the 3rd side chain installing plate 26.The preferred power source of this utility model is servomotor 28 and reductor 30,
Both the motor 28 and reductor 30 are each attached on silent flatform 4, the connection motor 28 of the reductor 30, the pivot link
24 are connected on reductor 30.Servomotor 28 is used to drive reductor 30, and reductor 30 is that pivot link 24 provides power, band
Dynamic pivot link 24 is rotated, and is transferred power on moving platform 2 by rotating side chain 8, provides the dynamic of Z-direction to moving platform 2
Energy.
Motor of the present utility model 28 be servomotor, and the power source of screw mandrel driver be servomotor, servomotor
Can be easy to be docked with other robots with the precise control anglec of rotation and rotating speed.
A kind of linear type parallel robot of this utility model has conventional parallel robot intrinsic advantages, including rigidity quality
, kinematic accuracy more superior than big, dynamic property is high, compact conformation is flexible, long service life the advantages of.Compared with conventional parallel,
With advantages below：
1. work space is big；
2. structure simplifies, and development difficulty is reduced；
3. simple structure, it is easy to analyze；
4. moving sets load sharing, load capacity strengthen.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use that this practicality is new
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determined herein
The General Principle of justice can be realized in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause
This, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (10)
1. the side chain of a kind of linear type parallel robot, including moving platform and moving platform connection, outfan connection side chain, driving
The drive mechanism of the moving platform action, the drive mechanism are fixed on a silent flatform, and the moving platform is provided with executive item,
It is characterized in that：The side chain has rotation side chain, the first movement side chain and the second movement side chain that action coordinates, the rotation
One end of side chain, the first movement side chain and the second movement side chain three is rotated with the moving platform by universal joint and is connected, its
Also include three groups of drive mechanisms, respectively first straight line drive mechanism, second straight line drive mechanism and rotating drive mechanism, it is described
The other end of the first movement side chain, the second movement side chain and rotation side chain three is driven with first straight line respectively by universal joint
The outfan of mechanism, second straight line drive mechanism and rotating drive mechanism rotates connection so that the first movement side chain and first straight
Line drive mechanism cooperatively forms the first moving sets, the second movement side chain and second straight line drive mechanism and cooperatively forms the second movement
It is secondary that secondary, rotation side chain and rotating drive mechanism cooperatively form rotation.
2. a kind of linear type parallel robot according to claim 1, it is characterised in that：The universal joint is cross universal
Shaft coupling.
3. a kind of linear type parallel robot according to claim 1 and 2, it is characterised in that：The first straight line drives
Mechanism includes screw mandrel driver, and which has a first output slide block moved linearly along X-direction or Y direction, described first
The end of mobile side chain is rotatably connected on the first output slide block by universal joint.
4. a kind of linear type parallel robot according to claim 3, it is characterised in that：The second straight line drive mechanism
Including screw mandrel driver, which has the second output slide block moved linearly along Y direction or X-direction, second movement
The end of side chain is rotatably connected on the second output slide block by universal joint, and the second output slide block and the first output are slided
The moving direction of both blocks is different.
5. a kind of linear type parallel robot according to claim 1 and 2, it is characterised in that：The rotating drive mechanism
Including pivot link, the power source that pivot link rotates, the pivot link is driven to be provided with the 3rd side chain installing plate, described turn
The end of dynamic side chain is rotatably connected on the 3rd side chain installing plate by universal joint.
6. a kind of linear type parallel robot according to claim 5, it is characterised in that：The power source is motor and subtracts
Both fast machine, described motor and speed reducer are each attached on silent flatform, and the reductor connects motor, the pivot link connection
On reductor.
7. a kind of linear type parallel robot according to claim 6, it is characterised in that：The motor is servomotor.
8. a kind of linear type parallel robot according to claim 3, it is characterised in that：Set on the first output slide block
The end for having the first side chain installing plate, the first movement side chain is rotatably connected on the first side chain installing plate by universal joint
On.
9. a kind of linear type parallel robot according to claim 4, it is characterised in that：Set on the second output slide block
The end for having the second side chain installing plate, the second movement side chain is rotatably connected on the second side chain installing plate by universal joint
On.
10. a kind of linear type parallel robot according to claim 4, it is characterised in that：The screw mandrel driver it is dynamic
Power source is servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621074085.9U CN206048179U (en) | 2016-09-23 | 2016-09-23 | A kind of linear type parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621074085.9U CN206048179U (en) | 2016-09-23 | 2016-09-23 | A kind of linear type parallel robot |
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| Publication Number | Publication Date |
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| CN206048179U true CN206048179U (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621074085.9U Active CN206048179U (en) | 2016-09-23 | 2016-09-23 | A kind of linear type parallel robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166739A (en) * | 2016-09-23 | 2016-11-30 | 苏州哈工海渡工业机器人有限公司 | A kind of linear type parallel robot |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
-
2016
- 2016-09-23 CN CN201621074085.9U patent/CN206048179U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166739A (en) * | 2016-09-23 | 2016-11-30 | 苏州哈工海渡工业机器人有限公司 | A kind of linear type parallel robot |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
| CN107081672B (en) * | 2017-06-26 | 2019-10-22 | 北京交通大学 | A kind of parallel grinding device |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215000 Suzhou Industrial Park, Jiangsu, Suzhou Exhibition Road, No. 8 Patentee after: Jiangsu Harbin Industrial Robot Co. Ltd. Shanghai Du Address before: 215000 Suzhou science and Technology Industrial Park, Jiangsu Industrial Park, No. 8 in the new science and Technology Industrial Park, building 3 Patentee before: SUZHOU HAGONG HAIDU INDUSTRIAL ROBOT CO., LTD. |
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| CP03 | Change of name, title or address |