CN207747051U - A kind of double-deck layout Three Degree Of Freedom high speed machine arm device - Google Patents
A kind of double-deck layout Three Degree Of Freedom high speed machine arm device Download PDFInfo
- Publication number
- CN207747051U CN207747051U CN201820032862.6U CN201820032862U CN207747051U CN 207747051 U CN207747051 U CN 207747051U CN 201820032862 U CN201820032862 U CN 201820032862U CN 207747051 U CN207747051 U CN 207747051U
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- China
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- moving platform
- holder
- axis
- motor
- driving lever
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Abstract
The utility model is related to a kind of double-deck layout Three Degree Of Freedom high speed machine arm devices, including：Three branches of holder, moving platform, connecting bracket and moving platform, each branch includes the motor being installed on holder, driving lever motor-driven, parallelogram levers group between driving lever and moving platform, and the axis of connection parallelogram levers group and driving lever and moving platform, the parallelogram levers group is hinged with axis using Hooke, and one of axis is fixedly connected with driving lever, another described axis is with moving platform using rotation connection.Three motors are mounted on three orthogonal bars of holder, there are two types of mounting means for the motor in holder vertical bar, first, motor shaft is horizontally mounted, second is that motor shaft vertical is installed, two kinds of mounting means of transformation can adjust the working space of manipulator.This bilayer layout Three Degree Of Freedom high speed machine arm device is simple in structure, and rigidity is big, and applicability is wide.
Description
Technical field
The utility model is related to manipulator technical fields, and in particular to a kind of double-deck layout Three Degree Of Freedom high speed machine hand dress
It sets.
Background technology
Parallel manipulator is a kind of parallel drive close loop mechanism, and generally conventional industry mechanical arm is typically all cascade machine
Structure, i.e. Open Loop Mechanism, generally an only kinematic chain, in contrast, the branch of parallel manipulator is typically greater than two, degree of freedom
General also more than two.Meanwhile each kinematic chain is driven by unique prismatic pair or revolute pair.With traditional cascade machine
Structure is compared, and the component number of parallel institution is relatively fewer and is all some very general parts.Parallel institution relative to
Serial mechanism, has that high precision machining, light-weight, speed is high, the distinguishing features such as compact-sized.Parallel institution nowadays Successful utilization
In the industry relatively high to processing and performance requirement such as aerospace, the parallel machine especially rapidly developed in the industrial production
Bed, greatly improves the processing efficiency and machining accuracy of product.
In general, the servo motor of parallel manipulator is all located at same level, such as Delta parallel robots, this kind of machine
The rigidity of device people is smaller, and working space does not allow malleable.
Invention content
It is a kind of simple in structure that in order to overcome the deficiencies of the prior art, the utility model provides, and rigidity is big and the sky that works
Between the adjustable double-deck layout Three Degree Of Freedom high speed machine arm device.
Technical solution used by the utility model：A kind of double-deck layout Three Degree Of Freedom high speed machine arm device, including：Branch
Three branches of frame, moving platform, connecting bracket and moving platform, each branch includes the motor being installed on holder, by motor band
Dynamic driving lever, the parallelogram levers group being set between driving lever and moving platform, and connection parallelogram levers group and master
The axis of lever and moving platform, the parallelogram levers group are hinged with axis using Hooke, one of axis and driving lever
It is fixedly connected, another described axis is with moving platform using rotation connection.
Three motors are mounted on three orthogonal bars of holder.The motor in holder vertical bar
There are two types of mounting means, first, motor shaft is horizontally mounted, second is that motor shaft vertical is installed, two kinds of mounting means of transformation can adjust
The working space of manipulator.
The beneficial effects of the utility model：
The utility model is simple in structure, by the way that three motors are mounted on three orthogonal bars of holder, Ke Yi great
The big rigidity for increasing manipulator can adjust the work of manipulator by converting the mounting means of the motor in holder vertical bar
Space.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model mounting means one.
Fig. 2 is the structural schematic diagram of the utility model mounting means two.
Fig. 3 is the utility model Hooke's hinge structural schematic diagram.
In figure：4 be holder, and 5 be moving platform, and 1-1,2-1,3-1 are motor, and 1-2,2-2,3-2 are driving lever, 1-3,1-7,
2-3,2-7,3-3,3-7 are axis, and 1-4,1-6,2-4,2-6,3-4,3-6 are Hooke's hinge, and 1-5,2-5,3-5 are parallelogram levers
Group.
Specific implementation mode
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Referring to Figure 1 and Figure 3, a kind of double-deck layout Three Degree Of Freedom high speed machine arm device, including：Holder 4, connects moving platform 5
Three branches of holder 4 and moving platform 5 are connect, each branch includes motor 1-1,2-1, the 3-1 being installed on holder 4, by motor
Driving lever 1-2,2-2,3-2 that 1-1,2-1,3-1 drive, parallel four be set between driving lever 1-2,2-2,3-2 and moving platform 5
Side shape bar group 1-5,2-5,3-5, and connect parallelogram levers group 1-5,2-5,3-5 and driving lever 1-2,2-2,3-2 and move
Axis 1-3,1-7,2-3,2-7,3-3,3-7 of platform 5, described parallelogram levers group 1-5,2-5,3-5 and axis 1-3,1-7,2-
3,2-7,3-3,3-7 are using Hooke's hinge 1-4,1-6,2-4,2-6,3-4,3-6 connection, described one of axis 1-3,2-3,3-3
It is fixedly connected with driving lever 1-2,2-2,3-2, described another axis 1-7,2-7,3-7 and moving platform 5 are using rotation connection.
Described three motors 1-1,2-1,3-1 are mounted on 4 three orthogonal bars of holder.It is described to be mounted on holder 4
There are two types of mounting means by motor 3-1 in vertical bar, first, motor shaft is horizontally mounted, i.e., shown in Fig. 1, second is that motor shaft vertical is pacified
Dress, i.e., shown in Fig. 2, two kinds of mounting means of transformation can adjust the working space of manipulator, and this bilayer is laid out Three Degree Of Freedom
High speed machine arm device rigidity is big, can be adapted for more occasions.
Claims (2)
1. a kind of double-deck layout Three Degree Of Freedom high speed machine arm device, including：Holder, moving platform, connecting bracket and moving platform
Three branches, it is characterised in that：Each branch includes the motor being installed on holder, and driving lever motor-driven is set to master
Parallelogram levers group between lever and moving platform, and the axis of parallelogram levers group and driving lever and moving platform is connected,
The parallelogram levers group is hinged with axis using Hooke, and one of axis is fixedly connected with driving lever, described another
A axis is with moving platform using rotation connection.
2. the double-deck layout Three Degree Of Freedom high speed machine arm device according to claim 1, it is characterised in that：Three electricity
Machine is mounted on three orthogonal bars of holder, and the motor in the holder vertical bar is there are two types of mounting means, and one
It is that motor shaft is horizontally mounted, second is that motor shaft vertical is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820032862.6U CN207747051U (en) | 2018-01-09 | 2018-01-09 | A kind of double-deck layout Three Degree Of Freedom high speed machine arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820032862.6U CN207747051U (en) | 2018-01-09 | 2018-01-09 | A kind of double-deck layout Three Degree Of Freedom high speed machine arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207747051U true CN207747051U (en) | 2018-08-21 |
Family
ID=63152741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820032862.6U Expired - Fee Related CN207747051U (en) | 2018-01-09 | 2018-01-09 | A kind of double-deck layout Three Degree Of Freedom high speed machine arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207747051U (en) |
-
2018
- 2018-01-09 CN CN201820032862.6U patent/CN207747051U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 Termination date: 20190109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |