CN209453603U - 3-RRR planar parallel robot performance testing device - Google Patents

3-RRR planar parallel robot performance testing device Download PDF

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Publication number
CN209453603U
CN209453603U CN201920094448.2U CN201920094448U CN209453603U CN 209453603 U CN209453603 U CN 209453603U CN 201920094448 U CN201920094448 U CN 201920094448U CN 209453603 U CN209453603 U CN 209453603U
Authority
CN
China
Prior art keywords
connecting rod
pin
outside connecting
inner link
rrr
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201920094448.2U
Other languages
Chinese (zh)
Inventor
王永强
高洪
高吟
孙孟洋
代贡献
叶凯强
方啸宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Polytechnic University
Original Assignee
Anhui Polytechnic University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Polytechnic University filed Critical Anhui Polytechnic University
Priority to CN201920094448.2U priority Critical patent/CN209453603U/en
Application granted granted Critical
Publication of CN209453603U publication Critical patent/CN209453603U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of 3-RRR planar parallel robot performance testing devices, it connect including pedestal, moving platform, three movement branched chains being connect with moving platform and with movement branched chain and for providing the driving device of driving force, movement branched chain includes the inner link with the outside connecting rod of moving platform rotation connection and with outside connecting rod rotation connection, outside connecting rod and inner link is between moving platform and pedestal and inner link is located at the lower section of outside connecting rod.The 3-RRR planar parallel robot performance testing device of the utility model, realize simulation 3-RRR planar parallel robot, necessary hardware facility can be provided to carry out the performance test of 3-RRR planar parallel robot, and be not in movement interference phenomenon between outside connecting rod, inner link and moving platform in test process.

Description

3-RRR planar parallel robot performance testing device
Technical field
The utility model belongs to robotic technology field, specifically, the utility model relates to a kind of 3-RRR plane-parallel types Robot performance's test device.
Background technique
Mature at home and abroad and widely applied parallel robot is simultaneously few, 3-RRR planar parallel robot be it is a kind of at Ripe parallel robot, can be used for micromotion platform, the occasions such as Precision Machining, also to its kinematics, dynamic (dynamical) theoretical research There are many important achievements, but lack the device for realizing its performance test and theoretical validation in the prior art.
Utility model content
The utility model aims to solve at least one of the technical problems existing in the prior art.For this purpose, the utility model mentions For a kind of 3-RRR planar parallel robot performance testing device, it is therefore an objective to realize that the performance of 3-RRR planar parallel robot is surveyed Examination provides necessary hardware facility.
To achieve the goals above, the technical solution that the utility model is taken are as follows: 3-RRR planar parallel robot performance is surveyed Trial assembly is set, and is connect including pedestal, moving platform, three movement branched chains connecting with moving platform and with movement branched chain and for providing drive The driving device of power, movement branched chain include with moving platform rotation connection outside connecting rod and with outside connecting rod rotation connection in connect Bar, outside connecting rod and inner link are between moving platform and pedestal and inner link is located at the lower section of outside connecting rod.
The driving device includes power source, the retarder connecting with power source and connects with retarder and the inner link The torque speed sensor connect, power source are motor.
The inner link is connect with the outside connecting rod by pin, and outside connecting rod has the first pin hole for allowing pin to be inserted into, interior Connecting rod has the mounting hole for accommodating guide, and guide has the second pin hole for allowing pin to be inserted into.
The outside connecting rod has the counterbore on the head for accommodating the pin, and counterbore is located at the top of first pin hole and sinks The diameter in hole is greater than the diameter of the first pin hole, the top surface on the head of pin and the either flush of outside connecting rod.
The 3-RRR planar parallel robot performance testing device of the utility model realizes simulation 3-RRR plane-parallel type machine People can provide necessary hardware facility, and test process China and foreign countries to carry out the performance test of 3-RRR planar parallel robot It is not in movement interference phenomenon between connecting rod, inner link and moving platform.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram of the utility model 3-RRR planar parallel robot performance testing device;
Fig. 2 is the bottom substance schematic diagram of the utility model 3-RRR planar parallel robot performance testing device;
Fig. 3 is the structural schematic diagram of inner link;
Fig. 4 is the structural schematic diagram of outside connecting rod;
Fig. 5 is the structural schematic diagram of pin;
Fig. 6 is the structural schematic diagram of guide;
In the figure, it is marked as 1, bottom plate;2, bracket;3, retarder;4, power source;5, torque speed sensor;6, pin; 601, head;602, bar portion;7, outside connecting rod;701, the first pin hole;702, counterbore;703, axis hole;8, inner link;801, it installs Hole;802, axis hole;9, guide;901, the second pin hole;10, shaft;11, moving platform.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to specific embodiment of the present utility model further detailed Thin explanation, it is therefore an objective to help those skilled in the art to the design of the utility model, technical solution have it is more complete, accurate and Deep understanding, and facilitate its implementation.
As depicted in figs. 1 and 2, the utility model provides a kind of 3-RRR planar parallel robot performance testing device, packet It includes pedestal, moving platform 11, three movement branched chains connecting with moving platform 11 and is connect with movement branched chain and be used to provide driving force Driving device, driving device is set on pedestal, movement branched chain include the outside connecting rod 7 being rotatablely connected with moving platform 11 and with it is outer The inner link 8 that connecting rod 7 is rotatablely connected, outside connecting rod 7 and inner link 8 are between moving platform 11 and pedestal and inner link 8 is positioned at outer The lower section of connecting rod 7.
Specifically, as depicted in figs. 1 and 2, pedestal includes bottom plate 1 and the bracket being fixedly connected with bottom plate 12, and bottom plate 1 is Horizontally disposed and bottom plate 1 is circle, and the axis of bottom plate 1 is located in vertical plane, and bracket 2 is vertically arranged, the upper end and bottom of bracket 2 Plate 1 is fixedly connected, and it is to be uniformly distributed circumferentially that multiple and all brackets 2, which are arranged, in bracket 2, stablizes support to provide bottom plate 1.It is dynamic Platform 11 and movement branched chain are located at the top of bottom plate 1, and movement branched chain is between moving platform 11 and bottom plate 1, bottom plate 1 and moving platform 11 is parallel, outside connecting rod 7 and inner link 8 between bottom plate 1 and moving platform 11, inner link 8 be located at outside connecting rod 7 and bottom plate 1 it Between, there is a certain distance between inner link 8 and the top surface of bottom plate 1.
As depicted in figs. 1 and 2, driving device includes power source 4, the retarder connecting with power source 43 and and retarder 3 and inner link 8 connect torque speed sensor 5, power source 4 be motor.Retarder 3 plays the role of deceleration increment, moves Power source 4 is arranged in motor cabinet (not shown), motor cavity in bottom plate 1 lower section and motor cabinet be fixedly connected with bottom plate 1, Power source 4 is vertically arranged.The input terminal of retarder 3 and the motor axis connection of power source 4, the output end and torque of retarder 3 Speed probe 5 connects, and torque speed sensor 5 is arranged on bottom plate 1 and torque speed sensor 5 is located at the lower section of bottom plate 1, Torque speed sensor 5 is connect by shaft 10 with inner link 8, and the power that power source 4 generates is transferred to movement branched chain.Bottom plate 1 has the through-hole for allowing shaft 10 to pass through, and the axis of shaft 10 is parallel with the axis of bottom plate 1, the upper end of shaft 10 and inner link 8 It is fixedly connected, the lower end of shaft 10 is fixedly connected with torque speed sensor 5, and the end of inner link 8, which has, allows shaft 10 to be inserted into Axis hole 802.
As depicted in figs. 1 and 2, three movement branched chains be the top of bottom plate 1 using the axis of bottom plate 1 as center line circumferentially It is uniformly distributed, correspondingly, driving device is arranged three, each driving device is connect with the inner link 8 of a movement branched chain respectively, After motor operation, moving platform 11 is driven to move by movement branched chain.Torque speed sensor 5 may be implemented to input motion branch The torque and rotary speed parameter of chain are detected, and realize the acquisition of related data in robot performance's test process.Torque revolving speed passes The model of sensor 5 is JN338-V.
As shown in Figures 1 to 6, inner link 8 and outside connecting rod 7 are connect by pin 6, and outside connecting rod 7, which has, allows the pin 6 to be inserted into First pin hole 701, inner link 8 have the mounting hole 801 for accommodating guide 9, and guide 9 has the second pin hole for allowing pin 6 to be inserted into 901.Mounting hole 801 and axis hole 802 are separately positioned on the both ends on the length direction of inner link 8, and the length direction of inner link 8 is Horizontal direction, mounting hole 801 and axis hole 802 are the through-hole in the end of inner link 8 through setting.Guide 9 be both ends open and The cylindrical body of inner hollow, guide 9 is inserted into mounting hole 801 and guide 9 is fixedly connected with inner link 8.The axis of pin 6 and bottom Plate 1 is parallel with the axis of shaft 10, and pin 6 includes the head 601 being connected and bar portion 602, and head 601 is discoid knot Structure, bar portion 602 are cylindrical body, and the thickness on head 601 is less than the length of bar portion 602, and bar portion 602 and head 601 are coaxial arrangement, The diameter on head 601 is greater than the diameter of bar portion 602, and bar portion 602 is inserted into the first pin hole 701 and the second pin hole 901, bar portion 602 Diameter be not more than the first pin hole 701 and the second pin hole 901 diameter.
As shown in Figures 1 to 6, outside connecting rod 7 is horizontally disposed, and the length direction of outside connecting rod 7 is horizontal direction, outside connecting rod 7 Length be greater than the length of inner link 8, one end and moving platform 11 on the length direction of outside connecting rod 7 are rotatablely connected, outside connecting rod 7 The other end on length direction is rotatablely connected by pin 6 and inner link 8.The end of outside connecting rod 7 is arranged in first pin hole 701, Outside connecting rod 7 has the counterbore 702 on the head 601 for accommodating pin 6, and the same of outside connecting rod 7 is arranged in counterbore 702 and the first pin hole 701 One end, counterbore 702 and the first pin hole 701 are circular hole and counterbore 702 and the first pin hole 701 for coaxial arrangement, and counterbore 702 is located at The diameter of the top of first pin hole 701 and counterbore 702 is greater than the diameter of the first pin hole 701, the top surface on the head 601 of pin 6 with The head 601 of the either flush of outside connecting rod 7, the diameter on the head 601 of pin 6 pin 6 roughly the same with the diameter of counterbore 702 is complete At in insertion counterbore 702.After the bar portion 602 of pin 6 is passed down through the second pin hole 901, pin 6 is fixed with bolt, will be inserted The bar portion 602 and bolt of pin insertion pin 6 are located at the lower section of guide 9, and the bar portion 602 of pin 6 has the through-hole for allowing bolt to pass through, The length of bolt is greater than the diameter of the second pin hole 901, realizes the axial limiting of pin 6, the bar portion 602 of pin 6 and the top of bottom plate 1 There is a certain distance between face.
Connection between outside connecting rod 7 and inner link 8 uses " guide 9+ pin 6 " structure, constitutes the hinge rotated freely and connects It connects, to solve the problems, such as movement portability.By inner link 8, outside connecting rod 7 be arranged through-hole, 702 structure of counterbore, avoid pin and Movement interference between bar.The outside connecting rod 7 of three movement branched chains is in same plane, at the inner link 8 of three movement branched chains In in same plane, moving platform 11 is in another plane, by being arranged in 8 groups of inner link, 7 groups of outside connecting rod with moving platform 11 In plane parallel to each other, hierarchical motion avoids the movement interference between bar and bar.
The utility model is exemplarily described in conjunction with attached drawing above.Obviously, the utility model implements not It is limited by aforesaid way.As long as the various unsubstantialities that the method concept and technical solution that use the utility model carry out Improvement;Or it is not improved, the above-mentioned conception and technical scheme of the utility model are directly applied into other occasions, at this Within the protection scope of utility model.

Claims (4)

1.3-RRR planar parallel robot performance testing device, it is characterised in that: connect including pedestal, moving platform, with moving platform Three movement branched chains and connect with movement branched chain and for providing the driving device of driving force, movement branched chain includes and moving platform The outside connecting rod of rotation connection and the inner link being rotatablely connected with outside connecting rod, outside connecting rod and inner link are between moving platform and pedestal And inner link is located at the lower section of outside connecting rod.
2. 3-RRR planar parallel robot performance testing device according to claim 1, it is characterised in that: the driving Device includes power source, the retarder connecting with power source and the torque revolution speed sensing connecting with retarder and the inner link Device, power source are motor.
3. 3-RRR planar parallel robot performance testing device according to claim 1 or 2, it is characterised in that: in described Connecting rod is connect with the outside connecting rod by pin, and outside connecting rod has the first pin hole for allowing pin to be inserted into, and inner link, which has, accommodates pin The mounting hole of set, guide have the second pin hole for allowing pin to be inserted into.
4. 3-RRR planar parallel robot performance testing device according to claim 3, it is characterised in that: the outer company Bar has the counterbore on the head for accommodating the pin, and counterbore is located at the top of first pin hole and the diameter of counterbore is greater than first The diameter of pin hole, the top surface on the head of pin and the either flush of outside connecting rod.
CN201920094448.2U 2019-01-21 2019-01-21 3-RRR planar parallel robot performance testing device Expired - Fee Related CN209453603U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920094448.2U CN209453603U (en) 2019-01-21 2019-01-21 3-RRR planar parallel robot performance testing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920094448.2U CN209453603U (en) 2019-01-21 2019-01-21 3-RRR planar parallel robot performance testing device

Publications (1)

Publication Number Publication Date
CN209453603U true CN209453603U (en) 2019-10-01

Family

ID=68045092

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920094448.2U Expired - Fee Related CN209453603U (en) 2019-01-21 2019-01-21 3-RRR planar parallel robot performance testing device

Country Status (1)

Country Link
CN (1) CN209453603U (en)

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GR01 Patent grant
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CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20191001

Termination date: 20210121