CN207495497U - A kind of Three Degree Of Freedom high speed conveying robot - Google Patents
A kind of Three Degree Of Freedom high speed conveying robot Download PDFInfo
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- CN207495497U CN207495497U CN201721695556.2U CN201721695556U CN207495497U CN 207495497 U CN207495497 U CN 207495497U CN 201721695556 U CN201721695556 U CN 201721695556U CN 207495497 U CN207495497 U CN 207495497U
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Abstract
The utility model is related to a kind of Three Degree Of Freedom high speed conveying robots, including, rack, moving platform, the executing agency of connection frame and moving platform, the executing agency includes, and branch and driving device, the branch include, the master arm being installed in rotation in rack, and the output axis connection of master arm and driving device；One end is connect with master arm, the slave arm that the other end is connect with moving platform, and the slave arm is configured to opposite master arm and moving platform is respectively provided at least two degree of freedom；The branch is three, and every branch is each configured with a driving device, moving platform to be driven to be moved in three dimensions.Utility model has preferable lateral rigidity, and overall structure is simple while can meet the demands such as high speed, large carrying capacity.
Description
Technical field
The utility model is related to industry mechanical arm field, especially a kind of Three Degree Of Freedom high speed conveying robot.
Background technology
With China's expanding economy, high speed conveying robot becomes more and more important in production application, in many
Industrial circle can replace manual labor, realize production automation.The use of high speed conveying robot can not only reduce the body of people
Power is worked, and reduces the waste of human resources, and can effectively improve working efficiency.In industries such as food, electronics, light industry, medicine
Automation production flow line, be often related to isometric small, the light weight product of some such as biscuits, resin lens at 2 points
Between transport operation, this transport operation generally requires high speed, to meet the beat of production line.It is existing light
It carries conveying robot and is broadly divided into two kinds of configurations of parallel institution and serial mechanism, and to be mostly motor be mounted directly existing serial mechanism
In shaft, increase moving component weight, it is difficult to realize high-speed motion.The China of Publication No. CN100446941 is practical new
Type patent discloses a kind of three-translational freedom degree parallel connection mechanism with asymmetric branch.It by rack, be provided with the dynamic of main shaft
Platform and three movement branched chains being arranged between the rack and moving platform are formed；Three movement branched chains include
The parallel active branched chain that two flexible active branched chains for being separately positioned on mechanism both sides are arranged on mechanism lower part with one；Described
Two flexible active branched chains respectively by upper Hooke's hinge, the telescopic rod being hinged with the upper Hooke, be arranged on telescopic rod lower part
Motor and be arranged on outside motor lower Hooke's hinge form；The parallel active branched chain is two connected by stent
The plane linkwork of parallelogram sturcutre composition；The junction of three movement branched chains and rack is respectively positioned under mechanism
Side.Asymmetric branch in the utility model easily causes single direction unbalance stress, the stability for reducing device entirety.
Given this utility model is proposed.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of intensity height, stability is good, and controls
Make convenient Three Degree Of Freedom high speed conveying robot.
In order to realize the purpose, the utility model adopts the following technical solution：
A kind of Three Degree Of Freedom high speed conveying robot, including, rack, moving platform, the execution machine of connection frame and moving platform
Structure, the executing agency include, and branch and driving device, the branch include, the master arm being installed in rotation in rack,
And the output axis connection of master arm and driving device；One end is connect with master arm, the slave arm that the other end is connect with moving platform, institute
Slave arm is stated to be configured to be respectively provided at least two degree of freedom with respect to master arm and moving platform；The branch is three, and every
Branch is each configured with a driving device, moving platform to be driven to be moved in three dimensions.
Further, the rack includes, fixing bracket and the movable support that is slidably mounted on fixing bracket and
Driving movable support is relatively fixed the screw drive mechanism of bracket slide；Two of which branch is mounted on fixing bracket, another
Branch is mounted on movable support.Branch on movable support can be adjusted to according to the needs in real work space
Lateral arrangement is longitudinally arranged, to obtain more preferably working space.
Further, the screw drive mechanism includes, and both ends and the leading screw of fixing bracket rotation connection are arranged on leading screw
One end and the leading screw driving motor that leading screw is driven to rotate, the movable support coordinates with leading screw, and drives it relatively solid by leading screw
Fixed rack slides.By adjusting the position of movable support, thus it is possible to vary the relative position of three branches so that whole device is more
Flexibly, reach preferable stressed effect.
Further, three branches are respectively the first branch, the second branch and third branch, and the driving device includes
First driving means, the second driving device and third driving device, first driving means are connect with the master arm of the first branch, the
Two driving devices are connect with the master arm of the second branch, and third driving device is connect with the master arm of third branch, and described first
Driving device and the second driving device are mounted on fixing bracket, and the third driving device is mounted on movable support.
Further, the slave arm is the parallelogram mechanism with double leval jib, and double leval jib is through revolute pair successively head and the tail
It is connected, wherein a connecting rod is rotatablely connected with master arm, another connecting rod opposite with the connecting rod is rotatablely connected with moving platform.
Further, first branch, the second branch, third branch master arm be separately positioned in different planes,
And first the free cheek of free cheek and the master arm of the second branch of master arm of branch intersect vertically.
Further, first branch, the second branch, third branch master arm be separately positioned in different planes,
And first free cheek and the free cheek of the master arm of the second branch inclination of master arm of branch intersect.
Further, the master arm of first branch and the master arm of the second branch are arranged on same plane or are mutually parallel
Two planes on, the free cheek of the master arm of the third branch tilts or perpendicular to the plane.
Further, the master arm of first branch and the master arm of the second branch are arranged on same level height, described
The master arm of third branch is set less than the master arm of the first branch.The arrangement that three branches are laid out using bilayer,
The lateral rigidity of device can be effectively improved, increases the overall stability of device.
After technical solution described in the utility model, following advantageous effect is brought：
1st, the utility model overall structure is simple while can meet the demands such as high speed, large carrying capacity.
2nd, each turning joint of the utility model device is revolute pair, and moving platform has the one-movement-freedom-degree in 3 directions, keeps away
Exempt from unnecessary rotational freedom, increase the stability of moving platform.
3rd, three branches of the utility model are arranged in the different location of rack, are conducive to that rack is avoided to concentrate stress, hold
Loading capability is good.
4th, different arrangements laterally or longitudinally may be used in the third branch of the utility model, can obtain more preferably
Working space.
Description of the drawings
Fig. 1：The structure chart of the utility model embodiment one；
Fig. 2：Y partial enlarged views for Fig. 1；
Fig. 3：The structure chart of the utility model embodiment two；
Fig. 4：The structure chart of the utility model embodiment three；
Fig. 5：The utility model changes the structure chart of example IV for improving and obtaining based on embodiment one；
Fig. 6：The utility model changes the structure chart of example IV for improving and obtaining based on embodiment two；
Fig. 7：The utility model changes the structure chart of example IV for improving and obtaining based on embodiment three；
Wherein：1st, the first branch 2, the second branch 3, third branch 4, rack 5, driving device 6, moving platform 7, silk
Thick stick driving mechanism 8, master arm 9, slave arm 41, fixing bracket 42, movable support 51, first driving means 52, second
Driving device 53, third driving device 71, leading screw 72, leading screw driving motor.
Specific embodiment
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Embodiment one
As depicted in figs. 1 and 2, a kind of Three Degree Of Freedom high speed conveying robot, including rack 4, moving platform 6 and connection
Rack 4 and the executing agency of moving platform 6, the executing agency include, and branch and driving device 5, the branch include, first
Chain 1, the second branch 2 and third branch 3.Preferably, the rack 4 includes, and fixing bracket 41 and is slidably mounted in fixation
Movable support 42 and driving movable support 42 on stent 41 are relatively fixed the screw drive mechanism 7 of the slip of stent 41.It is described
Movable support 42 is configured to slide up and down along fixing bracket 41, and the screw drive mechanism 7 includes, both ends and fixed branch
The leading screw 71 that frame 41 is rotatablely connected, and leading screw driving motor 72 is equipped in one end of leading screw 71, the leading screw 71 is propped up through activity
Frame 42, and when leading screw 71 rotates, the movable support 42 is moved axially along leading screw 71.First branch 1 and second
Chain 2 is mounted on fixing bracket 41, and the third branch 3 is mounted on movable support 42.By the height for adjusting movable support 42
Degree, makes third branch 3 be located at different location, can utilize different spatial positions, improve the applicability of mechanism.
First branch 1, the second branch 2, third branch 3 respectively include, the active being installed in rotation in rack 4
Arm 8, and master arm 8 and the output axis connection of driving device 5；One end is connect with master arm 8, and the other end is connect with moving platform 6
Slave arm 9, the slave arm 9 is configured to opposite master arm 8 and moving platform 6 is respectively provided at least two degree of freedom；It is described dynamic flat
Platform 6 is horizontally disposed, is driven jointly, and moved in a manner of being parallel to horizontal plane in three dimensions by three branches.
Specifically, the driving device 5 includes first driving means 51, the second driving device 52 and third driving device
53, first driving means 51 are connect with the master arm 8 of the first branch 1, the master arm 8 of the second driving device 52 and the second branch 2
Connection, third driving device 53 are connect with the master arm 8 of third branch 3,51 and second driving device of first driving means
52 are mounted on fixing bracket 41, and the third driving device 53 is mounted on movable support 42.
The slave arm 9 is the parallelogram mechanism with double leval jib, and double leval jib joins end to end successively through revolute pair,
In a connecting rod be rotatablely connected with master arm 8, another connecting rod opposite with the connecting rod is rotatablely connected with moving platform 6.
First branch 1, the second branch 2, third branch 3 master arm 8 be separately positioned in different planes, and
The free cheek of the master arm 8 of one branch 1 and the free cheek of the master arm 8 of the second branch 2 intersect vertically.Specifically, three
The master arm 8 of branch is separately positioned on three perpendiculars, is longitudinally disposed.
The master arm 8 of 8 and second branch 2 of master arm of first branch 1 is arranged on same level height, the third
The master arm 8 of branch 3 is set less than the master arm 8 of the first branch 1 so that and three branches are distributed in two different height,
The lateral rigidity of device is effectively improved, increases the overall stability of device.
Preferably, 51 and second driving device 52 of first driving means is separately positioned on the top of fixing bracket 41,
First branch, 1 and second branch 2 is extended downwardly by 41 upper end of fixing bracket.
Embodiment two
As shown in figure 3, the difference between this embodiment and the first embodiment lies in, the activity of the master arm 8 of first branch 1 is put down
Face is intersected with the free cheek inclination of the master arm 8 of the second branch 2, and different works can be obtained by the angle for changing two branches
Make space, expand the scope of application.
Embodiment three
As shown in figure 4, the difference between this embodiment and the first embodiment lies in, the master arm 8 of first branch 1 and second
The master arm 8 of chain 2 be arranged on same plane or two planes being mutually parallel on, the activity of the master arm 8 of the third branch 3
Plane tilts or perpendicular to the plane.
Example IV
As shown in Fig. 5, Fig. 6, Fig. 7, on the basis of embodiment one or embodiment two or embodiment three, by the third branch
The master arm 8 of chain 3 is horizontally disposed, and the free cheek of the master arm 8 is horizontal plane, and perpendicular to the active of other two branches
The free cheek of arm 8.
It should be noted that on the basis of above-described embodiment, screw drive mechanism 7, the activity branch can also be omitted
Frame 42 is an integral structure with fixing bracket 41, is formed multiple embodiments, is not described in detail herein.
The above is the embodiment of the utility model, it is noted that for the ordinary skill in the art,
Under the premise of the utility model principle is not departed from, various deformation and improvement can also be made, this should also be considered as the utility model
Protection domain.
Claims (9)
1. a kind of Three Degree Of Freedom high speed conveying robot, including, rack, moving platform, the executing agency of connection frame and moving platform,
The executing agency includes, branch and driving device, it is characterised in that：The branch includes, and is installed in rotation in rack
Master arm, and the output axis connection of master arm and driving device；One end is connect with master arm, and the other end is connect with moving platform
Slave arm, the slave arm is configured to opposite master arm and moving platform is respectively provided at least two degree of freedom；The branch is three
Item, and every branch is each configured with a driving device, moving platform to be driven to be moved in three dimensions.
2. Three Degree Of Freedom high speed conveying robot according to claim 1, it is characterised in that：The rack includes, fixed
Stent and the movable support being slidably mounted on fixing bracket and driving movable support are relatively fixed the silk of bracket slide
Thick stick driving mechanism；Two of which branch is mounted on fixing bracket, and another branch is mounted on movable support.
3. Three Degree Of Freedom high speed conveying robot according to claim 2, it is characterised in that：The screw drive mechanism packet
It includes, both ends and the leading screw of fixing bracket rotation connection, the leading screw driving motor for being arranged on one end of leading screw and leading screw being driven to rotate,
The movable support coordinates with leading screw, and it is driven to be relatively fixed bracket slide by leading screw.
4. Three Degree Of Freedom high speed conveying robot according to claim 2, it is characterised in that：Three branches are respectively
First branch, the second branch and third branch, the driving device include first driving means, the second driving device and third and drive
Dynamic device, first driving means are connect with the master arm of the first branch, and the second driving device is connect with the master arm of the second branch,
Third driving device is connect with the master arm of third branch, and the first driving means and the second driving device are mounted on fixed branch
On frame, the third driving device is mounted on movable support.
5. according to claim 1-4 any one of them Three Degree Of Freedom high speed conveying robots, it is characterised in that：The slave arm
For the parallelogram mechanism with double leval jib, double leval jib joins end to end successively through revolute pair, wherein a connecting rod turns with master arm
Dynamic connection, another connecting rod opposite with the connecting rod are rotatablely connected with moving platform.
6. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：First branch, second
Branch, third branch master arm be separately positioned in different planes, and the free cheek of the master arm of the first branch and
The free cheek of the master arm of two branches intersects vertically.
7. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：First branch, second
Branch, third branch master arm be separately positioned in different planes, and the free cheek of the master arm of the first branch and
The free cheek of the master arm of two branches tilts intersecting.
8. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：The active of first branch
The master arm of arm and the second branch be arranged on same plane or two planes being mutually parallel on, the master arm of the third branch
Free cheek tilt or perpendicular to the plane.
9. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：The active of first branch
The master arm of arm and the second branch is arranged on same level height, and the master arm of the third branch is less than the active of the first branch
Arm is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721695556.2U CN207495497U (en) | 2017-12-08 | 2017-12-08 | A kind of Three Degree Of Freedom high speed conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721695556.2U CN207495497U (en) | 2017-12-08 | 2017-12-08 | A kind of Three Degree Of Freedom high speed conveying robot |
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| Publication Number | Publication Date |
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| CN207495497U true CN207495497U (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721695556.2U Active CN207495497U (en) | 2017-12-08 | 2017-12-08 | A kind of Three Degree Of Freedom high speed conveying robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN110203300A (en) * | 2019-06-05 | 2019-09-06 | 北京交通大学 | A kind of monocycle closed chain leg mechanism with Three Degree Of Freedom |
-
2017
- 2017-12-08 CN CN201721695556.2U patent/CN207495497U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN110203300A (en) * | 2019-06-05 | 2019-09-06 | 北京交通大学 | A kind of monocycle closed chain leg mechanism with Three Degree Of Freedom |
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