CN207309936U - 3-dof parallel robot - Google Patents
3-dof parallel robot Download PDFInfo
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- CN207309936U CN207309936U CN201721430297.0U CN201721430297U CN207309936U CN 207309936 U CN207309936 U CN 207309936U CN 201721430297 U CN201721430297 U CN 201721430297U CN 207309936 U CN207309936 U CN 207309936U
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- frame
- moving platform
- parallel robot
- swing
- branched chain
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Abstract
The utility model discloses a kind of 3-dof parallel robot, including frame, at least four silent flatforms, swing driving mechanism and the movement executing mechanism that are fixed on frame, a swing driving mechanism is fixedly mounted on each silent flatform, movement executing mechanism includes a moving platform and an executive item, swing driving mechanism is all connected on moving platform, and kinetic energy is provided for moving platform；Executive item one end is fixedly linked with moving platform, and the other end is connected with frame, and kinetic energy is passed to executive item by moving platform.The utility model has the advantages that stabilized structure, simplifies structural analysis, increase load.
Description
Technical field
Industrial robot field is the utility model is related to, more particularly, to a kind of 3-dof parallel robot.
Background technology
Since first generation Delta robots come out, existing more than 100 years history, existing Delta machines have been developed so far
Artificial three bars Three Degree Of Freedom structure, shape are in up-side down triangle, which has the advantage that：1st, rigidity mass ratio is big；2nd, dynamic
Superior performance；3rd, kinematic accuracy is high；4th, compact-sized flexibility is strong；5th, service life is grown.
The industries such as industry, medical treatment are widely used in based on intrinsic advantages, the parallel robot such as above-mentioned high accuracy, quick.
But while it has the advantages that these, existing Delta parallel robots also there is it to be applicable in working space is small, development difficulty
Greatly, movement coupling complexity, the limitation of structural analysis difficulty.
Utility model content
The purpose of the utility model is to overcome the defects of the prior art, there is provided a kind of stabilized structure, structural analysis are simple
3-dof parallel robot.
To achieve the above object, the utility model proposes following technical solution：A kind of 3-dof parallel robot, including
Frame, at least four silent flatforms, swing driving mechanism and the movement executing mechanism being fixed on frame, each on the silent flatform
A swing driving mechanism is fixedly mounted, the movement executing mechanism includes a moving platform and an executive item, the wobble drive machine
Structure is all connected on the moving platform, and kinetic energy is provided for moving platform；Described executive item one end is fixedly linked with moving platform, the other end
It is connected with frame, kinetic energy is passed to executive item by the moving platform.
Preferably, the swing driving mechanism includes gear reducer, driving motor, swing connecting bar and movement branched chain, described to subtract
Fast machine is installed on the silent flatform, and the driving motor is connected with gear reducer, and the movement branched chain is by swing connecting bar with subtracting
Fast machine is connected.
Preferably, the frame includes outer rim, and the executive item fixed part formed that is recessed downwards by frame mid portion, described
Silent flatform is fixed in the outer rim.
Preferably, the frame is in a flat rectangular-shape, and it is quiet to fix one on the surface on every one side of the outer rim
Platform.
Preferably, the silent flatform includes a platform fixed part and swing mechanism mounting portion, and the platform fixed part is fixed
Formed on frame, the swing mechanism mounting portion is extended vertically upwards by the upper surface of platform fixed part.
Preferably, a perforation for gear reducer through installation is opened up on the swing mechanism mounting portion.
Preferably, the movement branched chain includes the first branched chain, the second branched chain and a connection piece, and the connector passes through
The end of swing connecting bar, one end of first branched chain and the second branched chain are connected respectively to the both ends of connector, the other end
It is all connected on moving platform.
Preferably, first branched chain, the second branched chain are parallel.
Preferably, the movement branched chain is connected to the end of moving platform and is circumferentially uniformly distributed along moving platform.
Preferably, described executive item one end is connected to the center of moving platform, and the executive item that the other end is fixed to frame is fixed
In portion.
The beneficial effects of the utility model are：Based on existing Delta parallel robots, by its kinematic pair by original three
A revolute pair is changed into the cooperation of four revolute pairs, is had the following advantages on the premise of function is met：1st, stabilized structure；2nd, simplify
Structural analysis；3rd, load balancing is changed into four bars, increase load from three bars.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model；
Reference numeral：
1st, frame, 11, outer rim, 12, executive item fixed part, 2, silent flatform, 21, platform fixed part, 22, swing mechanism peace
Dress portion, 23, perforation, 3, swing driving mechanism, 31, gear reducer, 32, driving motor, 33, swing connecting bar, 34, movement branched chain,
341st, the first branched chain, the 342, second branched chain, 343, connector, 4, movement executing mechanism, 41, moving platform, 42, executive item.
Embodiment
Below in conjunction with the attached drawing of the utility model, the technical solution of the utility model embodiment is carried out clear, complete
Description.
As shown in Figure 1, a kind of revealed 3-dof parallel robot of the utility model, including：Frame 1, at least four
A silent flatform 2, swing driving mechanism 3 and movement executing mechanism 4, silent flatform 2 are fixed on frame 1, and swing driving mechanism 3 is installed
In on silent flatform 2, movement executing mechanism 4 is connected with swing driving mechanism 3, and swing driving mechanism 3 and movement executing mechanism 4 are machine
Device people provides the free degree on three dimensions, makes robot flexible motion in definite spatial dimension.
Specifically, fixed platform of the frame 1 as robot, it includes outer rim 11 and executive item fixed part 12, performs
Part fixed part 12 is recessed downwards what is formed by frame mid portion, and outer rim 11 is distributed in the outside of executive item fixed part 12.This implementation
In example, overall frame 1 is in a flat rectangular-shape, and the executive item fixed part 12 formed thereon is also in the cuboid of upper end opening
Shape.In this way, outer rim 11 there are four sides, a silent flatform 2 is fixed on the upper surface on every one side, that is to say, that the present embodiment
Four silent flatforms 2 have been fixedly mounted on frame 1, but the utility model is not limited to install four silent flatforms 2 on frame 1, can root
Increased according to needs.
Each silent flatform 2 includes a platform fixed part 21 and swing mechanism mounting portion 22, and wherein platform fixed part 21 is tight
Paste the upper surface of outer rim 11 and be fixed on by some fixing pieces (such as screw) in outer rim 11.Swing mechanism mounting portion 22
Extended vertically upwards and formed by the upper surface of platform fixed part 21, and a perforation 23 is also formed on swing mechanism mounting portion 22, supplied
Swing driving mechanism 3 is installed.In the present embodiment, the shape of the perforation 23 is round hole, is alternatively other shapes, this practicality certainly
The new shape to perforation 23 does not limit.
Swing driving mechanism 3 is installed on silent flatform 2, is provided kinetic energy for movement executing mechanism 4, is consolidated on each silent flatform 2
A fixed swing driving mechanism 3, i.e., be provided with four swing driving mechanisms 3 in the present embodiment.Specifically, each swing driving mechanism
3 include gear reducer 31, driving motor 32, swing connecting bar 33 and movement branched chain 34, wherein, gear reducer 31 is installed on silent flatform 2,
In the present embodiment, gear reducer 31 is through the above-mentioned perforation 23 on silent flatform 2, and it is exposed at the both ends outside perforation 23, and a termination is driven
Dynamic motor 32, another termination swing connecting bar 33.The other end of swing connecting bar 33 then connects movement branched chain 34, i.e. gear reducer 31 passes through
Swing connecting bar 33 is connected with movement branched chain 34.Each driving motor 32 provides power by gear reducer 31 for swing connecting bar 33, into
One step swing connecting bar 33 transfer power to movement branched chain 34, further, movement branched chain 34 is provided for movement executing mechanism 4
Kinetic energy.Namely it is dynamic for the offer of movement executing mechanism 4 from different directions to use four swing driving mechanisms 3 for the utility model
Energy.Each swing driving mechanism 3 cooperatively forms a revolute pair of robot, that is, forms four revolute pairs.
In the present embodiment, movement branched chain 34 includes the first branched chain 341, the second branched chain 342 and a connection piece 343, its
In, connector 343 passes through the end of swing connecting bar 33, in the present embodiment, direction and the institute of swing connecting bar 33 where connector 343
Direction it is vertical.Connector 343 is pierced by the both ends of swing connecting bar 33, first branched chain 341 of termination, another second point of termination
Side chain 342.In the present embodiment, the first branched chain 341 is parallel with the second branched chain 342, but the utility model does not limit first,
The location status of two branched chains 341,342, you can be other not parallel states.First and second branched chains 341,342
The other end is connected with movement executing mechanism 4, and kinetic energy is passed to movement executing mechanism 4.
In the present embodiment, movement executing mechanism 4 specifically includes a moving platform 41 and an executive item 42, wherein, moving platform 41
Overall discoid in one, the movement branched chain 34 of swing driving mechanism 3 is all connected on the circumference of moving platform 41.In the present embodiment,
Moving platform 41 is located at the central part of the executive item fixed part 12 of frame 1, and four movement branched chains 34 so can be achieved and gather in a frame
At the center of frame 1.Executive item 42 is located at the lower section of moving platform 41, and its one end is connected to dynamic put down by fixing piece (such as screw)
The center of platform 41, the other end are fixed on the executive item fixed part 12 of frame.Moving platform 41 transfers power to executive item 42, this
Sample, with four revolute pairs drive the flexible motion in three dimensions of moving platform 41 so that adapting to property of robot at the same time
Angle changing and distance, obtain displacement spatially, are acted with this to complete a variety of carryings, realize every work(of parallel robot
Can, it can be applied well in industrial production and medical industry.
The technology contents and technical characteristic of the utility model have revealed that as above, but those skilled in the art still may be used
Teaching and announcement that can be based on the utility model and make a variety of replacements and modification without departing substantially from the utility model spirit, therefore, this
Utility model protection scope should be not limited to the revealed content of embodiment, and should include the various replacements without departing substantially from the utility model
And modification, and covered by present patent application claim.
Claims (10)
- A kind of 1. 3-dof parallel robot, it is characterised in that including frame, be fixed on frame it is at least four quiet flat Platform, swing driving mechanism and movement executing mechanism, are each fixedly mounted a swing driving mechanism, the movement on the silent flatform Executing agency includes a moving platform and an executive item, and the swing driving mechanism is all connected on the moving platform, is moving platform Kinetic energy is provided；Described executive item one end is fixedly linked with moving platform, and the other end is connected with frame, and the moving platform transmits kinetic energy To executive item.
- 2. 3-dof parallel robot according to claim 1, it is characterised in that the swing driving mechanism includes subtracting Fast machine, driving motor, swing connecting bar and movement branched chain, the gear reducer are installed on the silent flatform, the driving motor with Gear reducer is connected, and the movement branched chain is connected by swing connecting bar with gear reducer.
- 3. 3-dof parallel robot according to claim 1, it is characterised in that the frame includes outer rim, and Be recessed downwards the executive item fixed part formed by frame mid portion, and the silent flatform is fixed in the outer rim.
- 4. 3-dof parallel robot according to claim 3, it is characterised in that the frame is flat rectangular in one Body shape, fixes a silent flatform on the surface on every one side of the outer rim.
- 5. 3-dof parallel robot according to claim 1, it is characterised in that the silent flatform is consolidated including a platform Determine portion and swing mechanism mounting portion, the platform fixed part is fixed on frame, and the swing mechanism mounting portion is fixed by platform The upper surface in portion extends vertically upwards to be formed.
- 6. 3-dof parallel robot according to claim 5, it is characterised in that opened on the swing mechanism mounting portion If a perforation for gear reducer through installation.
- 7. 3-dof parallel robot according to claim 2, it is characterised in that the movement branched chain includes first point Side chain, the second branched chain and a connection piece, the connector pass through the end of swing connecting bar, first branched chain and second point One end of side chain is connected respectively to the both ends of connector, and the other end is all connected on moving platform.
- 8. 3-dof parallel robot according to claim 7, it is characterised in that first branched chain, second point Side chain is parallel.
- 9. 3-dof parallel robot according to claim 2, it is characterised in that the movement branched chain is connected to dynamic flat The end of platform and circumferentially it is uniformly distributed along moving platform.
- 10. 3-dof parallel robot according to claim 3, it is characterised in that described executive item one end is connected to The center of moving platform, the other end are fixed on the executive item fixed part of frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721430297.0U CN207309936U (en) | 2017-10-30 | 2017-10-30 | 3-dof parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721430297.0U CN207309936U (en) | 2017-10-30 | 2017-10-30 | 3-dof parallel robot |
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| Publication Number | Publication Date |
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| CN207309936U true CN207309936U (en) | 2018-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721430297.0U Active CN207309936U (en) | 2017-10-30 | 2017-10-30 | 3-dof parallel robot |
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| CN (1) | CN207309936U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571249A (en) * | 2017-10-30 | 2018-01-12 | 江苏哈工海渡工业机器人有限公司 | 3-dof parallel robot |
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2017
- 2017-10-30 CN CN201721430297.0U patent/CN207309936U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571249A (en) * | 2017-10-30 | 2018-01-12 | 江苏哈工海渡工业机器人有限公司 | 3-dof parallel robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 215000 No. 8 Exhibition Road, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: Jiangsu Harbin Industrial Robot Co. Ltd. Shanghai Du Address before: 215126 No. 8 Exhibition Road, Nantong Industrial Park, Jiangsu Province Patentee before: Jiangsu Harbin Industrial Robot Co. Ltd. Shanghai Du |