CN206869871U - Suitable for the silent flatform device of Shuangzi parallel robot system - Google Patents
Suitable for the silent flatform device of Shuangzi parallel robot system Download PDFInfo
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- CN206869871U CN206869871U CN201720770749.3U CN201720770749U CN206869871U CN 206869871 U CN206869871 U CN 206869871U CN 201720770749 U CN201720770749 U CN 201720770749U CN 206869871 U CN206869871 U CN 206869871U
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Abstract
The utility model discloses a kind of silent flatform device suitable for Shuangzi parallel robot system, it is related to parallel robot machinery technical field.The utility model includes mounting platform, and two groups of mounting assemblies are provided with the mounting platform, and the mounting assembly includes installed part A, installed part B and installed part C, and installed part A is parallel with installed part B or overlaps；Two groups of mounting assemblies are oppositely arranged, and the installed part A and installed part B of two groups of mounting assemblies are symmetrical, and the installed part C of two groups of mounting assemblies is respectively positioned at the installing space both sides that the installed part A and installed part B of two groups of mounting assemblies are formed.The utility model can realize that installing space is small, the features such as the big effect of working space, being rapidly completed operation, and can show high speed, high accuracy, flexibility.
Description
Technical field
Parallel robot technical field is the utility model is related to, more specifically to a kind of parallel robot system.
Background technology
Complementary with conventional serial robot, parallel robot expands whole robot field, it has also become current research
One of focus.However, most parallel institutions can not extensive use because of the problems such as design is difficult, working space is small, positive solution is difficult.
1985, Polytechnics of Lausanne, SUI federation（EPFL）A kind of 3DOF spatial translation of doctor's Clavel utility model simultaneously
Join robot, i.e., famous Delta manipulators.Delta overcomes parallel institution shortcomings, has that bearing capacity is strong, motion
The advantages that weak, power control is easy, installation driving is simple is coupled, thus enjoys the favor of industrial quarters and academia.
From the 1980s, Delta robots update out a variety of derived types, and Clavel is successively proposed will be outer
Revolute pair be changed to prismatic pair 3 in variant form, show the flexibility that mechanism is related to；Meanwhile can be dynamic flat for convenience of operation
Install retractility rotating shaft between platform and silent flatform additional；Tsai replaces ball pivot to simplify the internal structure of an organization with Hooke's hinge；Pierrot et al. is by Delta
The Hexa high speed machine hands of 6 side chains are improved to, it is this kind of to be inspired by Delta mechanisms, there is the machine of similar structure and motion mode
Device people can generally be referred to as class Delta Series machine people.Since 21 century, Delta Series machines people more show at a high speed, it is high-precision
The developing direction such as degree, flexibility.In recent years, industrial requirement stimulate with patent protection solution limit, flexible dynamics development with it is light
Quantizing structure application, virtual platform and multi-field new technology etc. cause Delta Series machine people to increasingly constitute study hotspot.
State Intellectual Property Office discloses a Publication No. CN102837308A on December 26th, 2012, entitled
The patent of invention of " a kind of robot ", the patent of invention include at least three the first horizontal driving dresses for being fixed on pedestal bottom
Put, rocking arm has been respectively fixedly connected in the rotating shaft of each first driving means, and rotating shaft can drive rocking arm to exist around the axis of its rotating shaft when rotating
Perpendicular is swung, and the one end of each rocking arm away from rotating shaft is connected by the upper end of oscillating bearing and connecting rod, under all connecting rods
End is connected with the handgrip mounting assembly for installing handgrip by oscillating bearing jointly.
Although above-mentioned Delta Series machines people of the prior art can show the spies such as high speed, high accuracy, flexibility
Point, but still have the problem of certain：
1st, 3-dof parallel robot of the prior art is uniformly divided in circumference range according to three active branched chains
Cloth, be in circumference range, three active branched chains of 3-dof parallel robot are equally distributed according to 120 °, in reality
Installation footprint shared by its in the installation process of border is larger, can increase the floor space of integral device.
2nd, 3-dof parallel robot of the prior art, it with the length of its side chain connecting rod is in inverse ratio that its working space, which is,
, such as《Delta robots dimension synthesis and optimization based on maximum working space》Research point out, existing Three Degree Of Freedom work
Make the spatial volume V and long L of feature bar to be inversely proportional, L is bigger, and V is smaller；When the timing of L mono-, working space volume V, radius of gyration R=
At 33.33, maximum is presented in V, and in the both sides of radius of gyration R=33.33, V values reduce；It is by the studies above it is known that existing
3-dof parallel robot especially side chain distributed layout feels the limitation suffered by its working space.
Utility model content
In order to overcome defect present in above-mentioned prior art and deficiency, the utility model provides one kind and is applied to Shuangzi
The silent flatform device of parallel robot system, purpose of utility model of the present utility model are intended to solve parallel machine in the prior art
Device people's installation footprint is big, and integral device floor space is big, and the problem of limited working space.It is provided by the utility model
Suitable for Shuangzi parallel robot system silent flatform device not in accordance with equally distributed in circumference, in equal circumference range
Interior, the utility model can realize that installing space is small, the big effect of working space, can be rapidly completed operation, and can present
The features such as going out high speed, high accuracy, flexibility.
In order to solve above-mentioned problems of the prior art, the utility model is achieved through the following technical solutions：
Suitable for the silent flatform device of Shuangzi parallel robot system, it is characterised in that：Including mounting platform, the installation
Two groups of mounting assemblies are provided with platform, the mounting assembly includes installed part A, installed part B and installed part C, installed part A and peace
Piece installing B is parallel or overlaps；Two groups of mounting assemblies are oppositely arranged, and the installed part A and installed part B of two groups of mounting assemblies are symmetrical, and two
The installed part C of group mounting assembly is respectively positioned at the installing space both sides that the installed part A and installed part B of two groups of mounting assemblies are formed.
The installation direction of the installed part C is perpendicular to installed part A and installed part B installation direction.
The installed part A and installed part B are overlapped, and form monoblock installing plate, the installation that installed part A and installed part B are formed
The different installation stations of two of plate.
Gap, axis and the installed part A and installed part B of the installed part C between the installed part A and installed part B be present
Between center line it is parallel or overlap.
The installed part C is fixed on installed part A and installs B side.
The installed part C is fixed on above or below installed part A and installed part B.
Compared with prior art, technique effect beneficial caused by the utility model is shown：
1st, compared with prior art, in same circumference range, the silent flatform dress of sub- parallel robot disclosed in the present application
The set-up mode put determines the topology layout mode of Shuangzi parallel robot, because installed part A is parallel with installed part B or again
Closing, the angle having led between the straight line that the projection of active branched chain A and active branched chain B in the horizontal plane is formed is in 180 °,
In the installing space of the same radius of gyration, sub- parallel robot disclosed in the present application can install two, and in the prior art by
Determine that it can only install one in the same radius of gyration in the layout type of its active branched chain, according to of the prior art
Parallel robot installs two parallel robots in same circumference range, then its working space occurs simultaneously less, and the application will
Angle between the straight line that the projections of active branched chain A and active branched chain B in the horizontal plane are formed is in 180 ° of layout type, so that it may
With in existing circumference range install two parallel robots, and install two parallel robots working space occur simultaneously compared with
Greatly, control two parallel robots to prevent it from interfering by controller, then effectively can significantly improve in working space
Operating efficiency.
2nd, compared with prior art, such as《Workspace calculation algorithm research it is expected by Delta robots》It is existing shown in open
The working spaces of Three Degree Of Freedom Delta robots be in semi-round ball shape, the maximum gauge of its working space is by Three Degree Of Freedom
What the radius of gyration of Delta robots determined, and the silent flatform device that the application is applied to Shuangzi parallel robot system is final
It is spherical for semiellipse that sub- parallel robot its working space that is formed formed is installed, the application changes in the prior art three
The conventional distribution mode of DOF parallel robot, so as to change the shape of its working space, and changing by layout type
Become, in the case of identical branch lengths, the working space of the application is greater than 3-dof parallel robot in the prior art
Working space so that the sub- parallel robot of the application increases working space while installing space is reduced.
3rd, 3-dof parallel robot of the prior art, it with the length of its side chain connecting rod is in inverse ratio that its working space, which is,
, such as《Delta robots dimension synthesis and optimization based on maximum working space》Research point out, existing Three Degree Of Freedom work
Make the spatial volume V and long L of feature bar to be inversely proportional, L is bigger, and V is smaller；And the sub- parallel robot of the application and prior art phase
Than situation of the prior art not being presented, side chain connecting rod of the prior art is equal, and used by the application and main
The length of the driven side chain connecting rod of dynamic side chain A, B connection is less than the length for the driven side chain connecting rod being connected with active branched chain C, and it connects
Ratio between pole length and working space be not limited with proportionate relationship of the prior art, broken the routine of prior art
Design.
4th, the silent flatform device of the present utility model suitable for Shuangzi parallel robot system, including two groups of mounting assemblies,
The layout type of each group of mounting assembly determines the layout type for the sub- parallel robot that final installation is formed, can be effective
Shorten the distance between two sub- parallel robots, reduce the space required for installation equipment, also just reduce the occupation of land of equipment
Area, in same working region, the Shuangzi parallel manipulator task efficiency of the application significantly improves, and the Shuangzi of the application
The working space of parallel robot can be shared, and can complete multiple actions simultaneously in a station, without influenceing operating efficiency,
And the parallel robot of prior art is to need to complete different work in two stations, the occupation of land of equipment is further reduced
Space, improve operating efficiency.
5th, the setting of the mounting platform of the application can simplify the installation to parallel robot, while the layout of mounting platform
Mode can also reduce the installing space of parallel robot.
Brief description of the drawings
Fig. 1 is the application main structure diagram；
Fig. 2 is the application side structure schematic view；
Fig. 3 is the structural representation for the Shuangzi parallel robot system that the application silent flatform device ultimately forms；
Fig. 4 is the dimensional structure diagram of the sub- parallel robot that one group of mounting assembly is formed in the application silent flatform；
Reference：1st, sub- parallel robot, 2, active branched chain A, 3, active branched chain B, 4, active branched chain C, 5, driving machine
Structure, 6, moving platform, 7, driven side chain A, 8, driven side chain B, 9, driven side chain C, 10, mounting platform, 11, installed part A, 12, peace
Piece installing B, 13, installed part C, 14, working space.
Embodiment
Embodiment 1
As the preferred embodiment of the utility model one, with reference to Figure of description 1-2, present embodiment discloses：
Suitable for the silent flatform device of Shuangzi parallel robot system, including mounting platform 10, on the mounting platform 10
Be provided with two groups of mounting assemblies, the mounting assembly includes installed part A11, installed part B12 and installed part C13, installed part A11 and
Installed part B12 is parallel or overlaps；Two groups of mounting assemblies are oppositely arranged, B12 pairs of the installed part A11 and installed part of two groups of mounting assemblies
Claim, and the installed part C13 of two groups of mounting assemblies is located at installed part A11 and installed part the B12 formation of two groups of mounting assemblies respectively
Installing space both sides.
Embodiment 2
As the utility model another embodiment, with reference to Figure of description 1-2, present embodiment discloses：
Suitable for the silent flatform device of Shuangzi parallel robot system, including mounting platform 10, on the mounting platform 10
Be provided with two groups of mounting assemblies, the mounting assembly includes installed part A11, installed part B12 and installed part C13, installed part A11 and
Installed part B12 is parallel or overlaps；Two groups of mounting assemblies are oppositely arranged, B12 pairs of the installed part A11 and installed part of two groups of mounting assemblies
Claim, and the installed part C13 of two groups of mounting assemblies is located at installed part A11 and installed part the B12 formation of two groups of mounting assemblies respectively
Installing space both sides；The installation direction of the installed part C13 is perpendicular to installed part A11 and installed part B12 installation direction；It is described
Installed part A11 and installed part B12 is overlapped, and forms monoblock installing plate, the installing plate that installed part A11 and installed part B12 are formed
Two different installation stations.
Embodiment 3
As the utility model another embodiment, with reference to Figure of description 1-2, present embodiment discloses：
Suitable for the silent flatform device of Shuangzi parallel robot system, including mounting platform 10, on the mounting platform 10
Be provided with two groups of mounting assemblies, the mounting assembly includes installed part A11, installed part B12 and installed part C13, installed part A11 and
Installed part B12 is parallel or overlaps；Two groups of mounting assemblies are oppositely arranged, B12 pairs of the installed part A11 and installed part of two groups of mounting assemblies
Claim, and the installed part C13 of two groups of mounting assemblies is located at installed part A11 and installed part the B12 formation of two groups of mounting assemblies respectively
Installing space both sides；The installation direction of the installed part C13 is perpendicular to installed part A11 and installed part B12 installation direction；It is described
Installed part A11 and installed part B12 is overlapped, and forms monoblock installing plate, the installing plate that installed part A11 and installed part B12 are formed
Two different installation stations.Gap, the axis and peace of the installed part C13 between the installed part A11 and installed part B12 be present
Center line between piece installing A11 and installed part B12 is parallel or overlaps.
In the present embodiment, the installed part C13 is fixed on installed part A11 and installs B side.Institute in the present embodiment
Installed part A11 and installed part B12 top can also be fixed on by stating installed part C13；The installed part C13 in the present embodiment
Installed part A11 and installed part B12 lower section can be fixed on.The installed part C13 can also be fixed on peace in the present embodiment
A piece installing A11 and installed part B12 side-lower.In the present embodiment the installed part C13 can also be fixed on installed part A11 and
Above installed part B12 side.
Embodiment 4
Present embodiment discloses a kind of Shuangzi parallel robot system suitable for the application silent flatform device, with reference to explanation
Book accompanying drawing 3-4, Shuangzi parallel robot system include two sub- parallel robots 1, and every sub- parallel robot 1 is included actively
Side chain A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 is in 180 °, described
Angle refers to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixed
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in corresponding in the horizontal plane
Distribution；The corresponding distribution refers to that active branched chain A, B projects formed straight line in the horizontal plane symmetrically and two sub- parallel machines
The active branched chain C4 of device people 1 floor projection is located at the distribution mode of straight line both sides respectively.In the case of identical branch lengths,
The working space 14 of the application is greater than the working space of 3-dof parallel robot in the prior art so that the application is simultaneously
Connection robot increases working space while installing space is reduced.
Embodiment 5
Present embodiment discloses a kind of Shuangzi parallel robot system suitable for the application silent flatform device, with reference to explanation
Book accompanying drawing 3-4, Shuangzi parallel robot system include two sub- parallel robots 1, and every sub- parallel robot 1 is included actively
Side chain A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 is in 180 °, described
Angle refers to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixed
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in corresponding in the horizontal plane
Distribution；The corresponding distribution refers to that active branched chain A, B projects formed straight line in the horizontal plane symmetrically and two sub- parallel machines
The active branched chain C4 of device people 1 floor projection is located at the distribution mode of straight line both sides respectively；Every sub- parallel robot 1 includes
Three drive mechanisms 5, drive mechanism 5 are connected with active branched chain A, B, C respectively, and drive active branched chain A, B, C to move；Per height
Parallel robot 1 includes moving platform 6, and active branched chain A, B, C pass through driven side chain A7, driven side chain B8, driven side chain respectively
C9 is connected with moving platform 6.
Embodiment 6
Present embodiment discloses a kind of Shuangzi parallel robot system suitable for the application silent flatform device, with reference to explanation
Book accompanying drawing 3-4, Shuangzi parallel robot system include two sub- parallel robots 1, and every sub- parallel robot 1 is included actively
Side chain A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 is in 180 °, described
Angle refers to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixed
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in corresponding in the horizontal plane
Distribution；The corresponding distribution refers to that active branched chain A, B projects formed straight line in the horizontal plane symmetrically and two sub- parallel machines
The active branched chain C4 of device people 1 floor projection is located at the distribution mode of straight line both sides respectively；Every sub- parallel robot 1 includes
Three drive mechanisms 5, drive mechanism 5 are connected with active branched chain A, B, C respectively, and drive active branched chain A, B, C to move；Per height
Parallel robot 1 includes moving platform 6, and active branched chain A, B, C pass through driven side chain A7, driven side chain B8, driven side chain respectively
C9 is connected with moving platform 6；Angle between active branched chain C4 and active branched chain A2 and active branched chain B3 is in 90 °, the angle
Refer to that the straight line that the projections of active branched chain C4 in the horizontal plane are formed is thrown in the horizontal plane with active branched chain A2 and active branched chain B3
Angle between the straight line that shadow is formed.
Embodiment 7
Present embodiment discloses a kind of Shuangzi parallel robot system suitable for the application silent flatform device, with reference to explanation
Book accompanying drawing 3-4, Shuangzi parallel robot system include two sub- parallel robots 1, and every sub- parallel robot 1 is included actively
Side chain A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 is in 180 °, described
Angle refers to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixed
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in corresponding in the horizontal plane
Distribution；The corresponding distribution refers to that active branched chain A, B projects formed straight line in the horizontal plane symmetrically and two sub- parallel machines
The active branched chain C4 of device people 1 floor projection is located at the distribution mode of straight line both sides respectively；Every sub- parallel robot 1 includes
Three drive mechanisms 5, drive mechanism 5 are connected with active branched chain A, B, C respectively, and drive active branched chain A, B, C to move；Per height
Parallel robot 1 includes moving platform 6, and active branched chain A, B, C pass through driven side chain A7, driven side chain B8, driven side chain respectively
C9 is connected with moving platform 6；Angle between active branched chain C4 and active branched chain A2 and active branched chain B3 is in 90 °, the angle
Refer to that the straight line that the projections of active branched chain C4 in the horizontal plane are formed is thrown in the horizontal plane with active branched chain A2 and active branched chain B3
Angle between the straight line that shadow is formed.The straight line that the projection of active branched chain A, B in the horizontal plane is formed overlaps.
Every sub- parallel robot 1 includes mounting platform 10, and the mounting platform 10 includes installed part A11, installed part
B12 and installed part C13, three drive mechanisms 5 are separately fixed on installed part A11, installed part B12 and installed part C13；Institute
State installed part A11 it is parallel with installed part B or overlap；The installed part C13 vertically with installed part A11 and installed part B12；The peace
Piece installing C13 be located at installed part A11 and installed part B sides or above or below.
In the present embodiment, installed part A11 and installed part B12 overlaps to form overall installed part, or installed part A11
It is be arranged in parallel with installed part B12, and certain interval between installed part A11 and installed part B12 is present, or installed part A11 and peace
Piece installing B12 dislocation arrangements.
Claims (6)
1. suitable for the silent flatform device of Shuangzi parallel robot system, it is characterised in that：Including mounting platform (10), the peace
Two groups of mounting assemblies are provided with assembling platform (10), the mounting assembly includes installed part A (11), installed part B (12) and installation
Part C (13), installed part A (11) are parallel with installed part B (12) or overlap；Two groups of mounting assemblies are oppositely arranged, two groups of mounting assemblies
Installed part A (11) and installed part B (12) symmetrically, and the installed part C (13) of two groups of mounting assemblies is located at two groups of installation groups respectively
The installing space both sides that the installed part A (11) and installed part B (12) of part are formed.
2. it is applied to the silent flatform device of Shuangzi parallel robot system as claimed in claim 1, it is characterised in that：The peace
Piece installing C (13) installation direction is perpendicular to installed part A (11) and installed part B (12) installation direction.
3. it is applied to the silent flatform device of Shuangzi parallel robot system as claimed in claim 1, it is characterised in that：The peace
Piece installing A (11) and installed part B (12) is overlapped, and forms monoblock installing plate, the peace that installed part A (11) and installed part B (12) are formed
The different installation stations of two of loading board.
4. it is applied to the silent flatform device of Shuangzi parallel robot system as claimed in claim 1 or 2, it is characterised in that：Institute
State and gap between installed part A (11) and installed part B (12) be present, axis and the installed part A (11) and peace of the installed part C (13)
Center line between piece installing B (12) is parallel or overlaps.
5. it is applied to the silent flatform device of Shuangzi parallel robot system as claimed in claim 1 or 2, it is characterised in that：Institute
Installed part C (13) is stated to be fixed on installed part A (11) and B side is installed.
6. it is applied to the silent flatform device of Shuangzi parallel robot system as claimed in claim 1 or 2, it is characterised in that：Institute
Installed part C (13) is stated to be fixed on above or below installed part A (11) and installed part B (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770749.3U CN206869871U (en) | 2017-06-29 | 2017-06-29 | Suitable for the silent flatform device of Shuangzi parallel robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770749.3U CN206869871U (en) | 2017-06-29 | 2017-06-29 | Suitable for the silent flatform device of Shuangzi parallel robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206869871U true CN206869871U (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720770749.3U Expired - Fee Related CN206869871U (en) | 2017-06-29 | 2017-06-29 | Suitable for the silent flatform device of Shuangzi parallel robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206869871U (en) |
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2017
- 2017-06-29 CN CN201720770749.3U patent/CN206869871U/en not_active Expired - Fee Related
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Granted publication date: 20180112 Termination date: 20190629 |