CN207983338U - A kind of Three Degree Of Freedom high speed conveying robot mechanism - Google Patents
A kind of Three Degree Of Freedom high speed conveying robot mechanism Download PDFInfo
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- CN207983338U CN207983338U CN201820071841.5U CN201820071841U CN207983338U CN 207983338 U CN207983338 U CN 207983338U CN 201820071841 U CN201820071841 U CN 201820071841U CN 207983338 U CN207983338 U CN 207983338U
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- China
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- branch
- driving device
- moving platform
- connecting rod
- master arm
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Abstract
The utility model is related to a kind of Three Degree Of Freedom high speed conveying robot mechanisms, including, the executing agency of fixed frame, moving platform, connection frame and moving platform, the executing agency includes, branch and driving device, the branch include the master arm being installed in rotation in rack, and master arm one end is connected with the output shaft of driving device, the other end of master arm is connect with cradle head connecting rod by revolute pair；The both ends of the cradle head connecting rod are rotatablely connected with two parallel rods of slave arm respectively, and described slave arm one end is connected by revolute pair with cradle head connecting rod, and the other end is connect by flexural pivot with fixed ball cover on moving platform；The branch is three, and every branch is each configured with a driving device, and to drive moving platform to be moved in three dimensions, the utility model has preferable space stiffness, while can meet the work requirements 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 mechanism.
Background technology
Nowadays, high speed conveying robot becomes more and more important in production application, can not only reduce the physical labor of people
It is dynamic, the waste of human resources is reduced, and working efficiency can be effectively improved.The industries such as food, electronics, light industry, medicine from
Dynamicization production line is often related to isometric small, the light weight product of some such as biscuits, resin lens between two points
Transport operation, this transport operation generally requires high speed, to meet the beat of production line.Existing underloading is removed
Fortune manipulator is broadly divided into two kinds of configurations of parallel institution and serial mechanism, and to be mostly motor be directly installed on existing serial mechanism turns
On axis, moving component weight is set to increase, it is difficult to realize high-speed motion.
The Chinese invention patent of Publication No. CN102380771B discloses a kind of lower-mobility robot mechanism.Including dynamic
Platform, rack and the first branch, the second branch and third branch；In first branch and the second branch, each branch connects successively
It is connected to secondary the first single dof mobility, the second single dof mobility pair and universal hinge；It is characterized in that it is two that third branch, which is divided into,
A parallel connection branch, each branch are sequentially connected secondary the first single dof mobility, the second single dof mobility pair and a revolute pair；
First shaft axis of the universal hinge of the first branch and first shaft axis of the universal hinge of the second branch are conllinear and pass through
The central point of third branch T words hinge；First shaft axis of the T words hinge of third branch is vertical or parallel to the first branch
First shaft axis of first shaft axis of universal hinge and the universal hinge of the second branch.The present invention has actuation redundancy
Structure is complex, and centre is prismatic pair and is not suitable for high-speed motion.
Given this utility model is proposed.
Invention content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide that a kind of intensity is high, speed is fast, stability
It is good, and a kind of Three Degree Of Freedom high speed conveying robot mechanism easy to control.
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 mechanism, including, fixed frame, moving platform, connection frame and moving platform
Executing agency, the executing agency includes branch and driving device, and the branch includes being installed in rotation on fixed machine
Master arm on frame, and the output axis connection of one end of master arm and driving device；The other end of master arm connects with cradle head
Bar is connected by revolute pair；The both ends of the cradle head connecting rod are rotatablely connected with two parallel rods of slave arm respectively, institute
It states slave arm one end by revolute pair to be connected with cradle head connecting rod, the other end is connected by the ball cover on flexural pivot and moving platform
It connects；The ball cover is fixedly connected with moving platform, and the branch is three, and every branch is respectively configured there are one driving device,
To drive moving platform to be moved in three dimensions.
Further, three branches are respectively the first branch, the second branch, third branch, and the driving device includes
First driving means, the second driving device, 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
In the top same level height of fixed frame, the third driving device is mounted on for driving device, the second drive arrangement
The medium position of fixed frame side.
Further, the slave arm is the parallelogram mechanism with double leval jib, upper end and the active of the double leval jib
Two angles similar in arm connect for revolute pair, and lower end is that flexural pivot is connect with two angles similar in moving platform, and the double leval jib is wherein
One connecting rod of upper end is connect with master arm by revolute pair, and another connecting rod opposite with the connecting rod is fixedly connected with moving platform.
Further, first branch, the second branch master arm be arranged in the top of fixed frame, third branch
Master arm be arranged in the medium position of fixed frame side, can effectively improve the space stiffness of device, avoid stress collection
In, increase the overall stability of device.
After technical solution described in the utility model, following advantageous effect is brought：
1, the utility model overall structure is simple while can meet the demands such as high speed, large carrying capacity.
2, one-movement-freedom-degree of the utility model device only with 3 directions in space avoids unnecessary 3 rotations
Degree of freedom increases the stability of moving platform.
3, two branches of the utility model are arranged in the top of fixed frame, and a branch is arranged in the one of fixed frame
Middle side part position is conducive to that rack is avoided to concentrate stress, and bearing capacity is good, and stability is high.
Description of the drawings
Fig. 1：The isometric side view of the utility model embodiment one.
Fig. 2：Isometric side view above and below the utility model.
Fig. 3：The vertical view of the utility model.
Fig. 4：The lower view of the utility model.
Fig. 5：The axis side view of the utility model moving platform.
Fig. 6：The axis side view of the utility model cradle head connecting rod.
Wherein：1, the first branch 2, the second branch 3, third branch 4, cradle head connecting rod 5, fixed frame
6, moving platform 7, master arm 8, slave arm 9, driving device 9-1, first driving means 9-2, the second driving device
9-3, third driving device 10, ball cover.
Specific implementation mode
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of Three Degree Of Freedom high speed conveying robot mechanism, including, Gu
Determine rack 5, moving platform 6 and connection frame 5 and moving platform 6 executing agency, the executing agency includes branch and driving
Device 9, the branch include the first branch 1, the second branch 2, third branch 3；First branch 1, the second branch 2, third
Branch 3 is mounted on fixed frame 5.
First branch 1, the second branch 2, third branch 3 respectively include, and are installed in rotation on fixed frame 5
Master arm 7, and the output axis connection of one end of master arm 7 and driving device 9；The other end of master arm 7 and cradle head connecting rod 4
It is connected by revolute pair；The both ends of the cradle head connecting rod 4 are rotatablely connected with two parallel rods of slave arm 8 respectively, institute
It states 8 one end of slave arm by revolute pair to be connected with cradle head connecting rod 4, the other end passes through the ball cover on flexural pivot and moving platform 6
10 connections；The ball cover 10 is fixedly connected with moving platform 6.The moving platform 6 is horizontally disposed, is driven jointly by three branches, and
It is moved in a manner of being parallel to horizontal plane in three dimensions.
Specifically, the driving device 9 includes first driving means 9-1, the second driving device 9-2, third driving device
9-3, first driving means 9-1 are connect with the master arm 7 of the first branch 1, the active of the second driving device 9-2 and the second branch 2
Arm 7 connects, and third driving device 9-3 is connect with the master arm 7 of third branch 3, the first driving means 9-1, the second driving
Device 9-2 is mounted on the top same level height of fixed frame 5, and third driving device 9-3 is mounted on 5 side of fixed frame
Medium position.
The slave arm 8 is the parallelogram mechanism with double leval jib, and the upper end of the double leval jib is close with master arm 7
Two angles be revolute pair connection, lower end is connect with two angles similar in moving platform 6 for flexural pivot, the double leval jib wherein upper end one
Connecting rod is connect with master arm 7 by revolute pair, and another connecting rod opposite with the connecting rod is fixedly connected with moving platform 6, such as Fig. 1, figure
2, shown in Fig. 3, Fig. 4.
As shown in Figure 1 and Figure 2, first branch 1, the second branch 2 master arm 7 be arranged in the top of fixed frame 5,
The master arm 7 of third branch 3 is arranged in the medium position of fixed frame side, can effectively improve the space stiffness of device, keeps away
Exempt from device and concentrated stress, increases the overall stability of device.
The above is the embodiment of the utility model, it is noted that for the ordinary skill in the art,
Under the premise of not departing from the utility model principle, various deformation and improvement can also be made, this should also be considered as the utility model
Protection domain.
Claims (3)
1. a kind of Three Degree Of Freedom high speed conveying robot mechanism, including, fixed frame, moving platform, connection frame and moving platform
Executing agency, the executing agency include branch and driving device, it is characterised in that：The branch includes being rotatably mounted
Master arm in rack, and one end of master arm is fixedly connected with the output shaft of driving device；The other end of master arm with turn
Movable joint connecting rod is connected by revolute pair；The both ends of the cradle head connecting rod are rotated with two parallel rods of slave arm respectively
Connection, described slave arm one end are connected by revolute pair with cradle head connecting rod, and the other end passes through solid on flexural pivot and moving platform
Fixed ball cover connection；The branch is three, and every branch is respectively configured there are one driving device, to drive moving platform three
It is moved in dimension space.
2. a kind of Three Degree Of Freedom high speed conveying robot mechanism according to claim 1, it is characterised in that：Three branch
Chain is respectively the first branch, the second branch, third branch, and the driving device includes first driving means, the second driving device
With third driving device, first driving means are connect with the master arm of the first branch, the master of the second driving device and the second branch
Swing arm connects, and third driving device is connect with the master arm of third branch, the first driving means, the installation of the second driving device
In the top same level height of fixed frame, third driving device is mounted on the side medium position of fixed frame.
3. a kind of Three Degree Of Freedom high speed conveying robot mechanism according to claim 1, it is characterised in that：The slave arm
For the parallelogram mechanism with double leval jib, two angles similar in the upper end of the double leval jib and master arm are that revolute pair connects
It connecing, lower end is connect with two angles similar in moving platform for flexural pivot, and the ball cover of flexural pivot connection is fixedly connected with moving platform, and
The ball cover of its middle and upper part four is in same level height, and the ball cover of side two is in vertical direction arrangement, the double leval jib wherein upper end
One connecting rod is connect with master arm by revolute pair, and another connecting rod opposite with the connecting rod is fixedly connected with moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820071841.5U CN207983338U (en) | 2018-01-17 | 2018-01-17 | A kind of Three Degree Of Freedom high speed conveying robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820071841.5U CN207983338U (en) | 2018-01-17 | 2018-01-17 | A kind of Three Degree Of Freedom high speed conveying robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983338U true CN207983338U (en) | 2018-10-19 |
Family
ID=63819477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820071841.5U Expired - Fee Related CN207983338U (en) | 2018-01-17 | 2018-01-17 | A kind of Three Degree Of Freedom high speed conveying robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983338U (en) |
-
2018
- 2018-01-17 CN CN201820071841.5U patent/CN207983338U/en not_active Expired - Fee Related
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| 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: 20181019 Termination date: 20200117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |