CN2407899Y - High speed three freedom paralleled robot arm - Google Patents
High speed three freedom paralleled robot arm Download PDFInfo
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- CN2407899Y CN2407899Y CN 00210985 CN00210985U CN2407899Y CN 2407899 Y CN2407899 Y CN 2407899Y CN 00210985 CN00210985 CN 00210985 CN 00210985 U CN00210985 U CN 00210985U CN 2407899 Y CN2407899 Y CN 2407899Y
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- rod piece
- branches
- utility
- lower platform
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Abstract
The utility model belongs to the technical field of a robot mechanism. More specially, the utility model relates to a high speed three freedom parallelly connected robot arm which is composed of an upper platform, a lower platform and branches. Three branches are parallelly connected and installed between the upper and the lower platforms which are triangular. A ball pair on the three branches is positioned between a rod piece A and a rod piece B. The rod piece B is connected with a rod piece B through a movable pair. The rod piece C is fixed on the lower platform. The utility model has the advantages of lightness and high stiffness, and is suitable for high-speed movement.
Description
The utility model belongs to the robot mechanism technical field, specifically a kind of high speed 3-dof parallel robot arm.
For improving the operating efficiency of robot, all in the robot of research high-speed motion, the rigidity of robot arm mechanism is that robot realizes key at a high speed in countries in the world.Thereby high rigidity robots arm has become one of problem of current robot primary study solution.Because good rigidity, parallel institution is applied as the robots arm, but its rigidity difference of different types of parallel institution.As shown in Figure 1, be 3-freedom parallel mechanism in a kind of prior art, and obtain effect as the robots arm.It has three branches 3, and each branch 3 has five frees degree, and revolute pair 4 is installed on it successively, moving sets 6, ball pair 5.Moving sets 6 is a drive part.When 6 motions of three moving sets, fixedly lower platform 2, can make upper mounting plate 1 that three degrees of freedom of movement output is arranged.Because moving sets 6 except that moving, also must be swung when this parallel institution motion simultaneously, thereby, integral rigidity influenced, uncomfortable cooperation high-speed motion.
For solving above-mentioned deficiency, the purpose of this utility model provides a kind of 3-dof parallel robot arm that is applicable to the high rigidity of high-speed motion.
The technical solution of the utility model is: be made up of upper mounting plate, lower platform, three branches, three branches are installed in parallel between upper and lower platform, wherein each branch has 3 rod piece A, B, C, install successively from top to bottom, being specially rod piece A is connected with upper mounting plate by revolute pair, it is characterized in that: described ball pair is between rod piece A and rod member B, and rod member B links to each other with rod member C by moving sets, and described rod member C is fixed on the lower platform;
Described rod piece A, B, C adopt the thin-wall box body structure.
The utlity model has following advantage:
1. high rigidity.The utility model is fixed together moving sets and lower platform, thereby when upper mounting plate moved, moving sets did not need to swing simultaneously again, improved the integral rigidity of parallel arm mechanism, having good anti-twisting property, is not load separately between the moving sets of three branches, has reduced the driving general power.
2. own wt is light.Between the revolute pair and ball pair of three branches of the utility model, between ball pair and the moving sets and moving sets all adopted the rod member of thin-wall box body structure to link to each other with rod piece A, B, C between the lower platform, thereby when improving integral rigidity and anti-twisting property, greatly alleviated own wt.
3. reliable.The utility model is secondary and the mounting structure of moving sets and the use of thin-wall box body owing to the above-mentioned ball of employing, thereby can satisfy the job requirements of high-speed motion.
Description of drawings:
Fig. 1 is a 3-freedom parallel mechanism schematic diagram in the prior art.
Fig. 2 is the utility model schematic diagram.
Fig. 3 is the utility model front view.
Fig. 4 is the utility model left view.
Below in conjunction with accompanying drawing the utility model structure and principle are described in further detail.
Shown in Fig. 2,3,4, the utility model is made up of upper mounting plate 1, lower platform 2, three branches 3, three branches 3 are installed in parallel between upper and lower platform 1,2, wherein each branch 3 has 3 rod piece A 31, B32, C33, install successively from top to bottom, be specially rod piece A 31 and be connected with upper mounting plate 1 by revolute pair 4, described ball pair 5 is between rod piece A 31 and rod member B32, rod member B32 links to each other with rod member C33 by moving sets 6, and described rod member C33 is fixed in lower platform 2; Described rod piece A 31, B32, C33 adopt the thin-wall box body structure; The utility model is in the experiment of 863 research topics, moving sets 6 in described three branches 3 selects for use hydraulic jack as driving element, carry out three motions of its upper mounting plate 1 of SERVO CONTROL with closed-loop control system, upper mounting plate 1 is when load 120kg, and highest movement speed can reach 2m/s.
Motion principle of the present utility model is as follows:
Upper mounting plate 1 described in the utility model is the motion output, and lower platform 2 is a pedestal, and there are five frees degree in each branch 3 between the upper and lower platform 1,2, and revolute pair 4 has one degree of freedom, and ball pair 5 has three degree of freedom, and moving sets 6 has one degree of freedom.By control device the flexible straight line of moving sets 6 works in 1 three branches of parallel institution is moved, then upper mounting plate 1 relative lower platform 2 just can be done three-dimensional motion, i.e. the position of X, Y, Z coordinate motion.
The utility model is also optional with the driving element of motor-leading screw as moving sets 6.
Claims (2)
1. high speed 3-dof parallel robot arm, by upper mounting plate (1), lower platform (2), three branches (3) form, three branches (3) are installed in parallel last, lower platform (1,2) between, wherein each branch (3) has 3 rod piece A, B, C (31,32,33), install successively from top to bottom, being specially rod piece A (31) is connected with upper mounting plate (1) by revolute pair (4), it is characterized in that: described ball pair (5) is positioned between rod piece A (31) and the rod member B (32), rod member B (32) links to each other with rod member C (33) by moving sets (6), and described rod member C (33) is fixed on the lower platform (2).
2. according to the described high speed 3-dof parallel robot of claim 1 arm, it is characterized in that: described rod piece A, B, C (31,32,33) adopt the thin-wall box body structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00210985 CN2407899Y (en) | 2000-03-03 | 2000-03-03 | High speed three freedom paralleled robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00210985 CN2407899Y (en) | 2000-03-03 | 2000-03-03 | High speed three freedom paralleled robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2407899Y true CN2407899Y (en) | 2000-11-29 |
Family
ID=33577762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00210985 Expired - Fee Related CN2407899Y (en) | 2000-03-03 | 2000-03-03 | High speed three freedom paralleled robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2407899Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101722511B (en) * | 2009-11-19 | 2011-05-11 | 天津理工大学 | Fully decoupled three-degree-of-freedom parallel robot mechanism |
| CN101791804B (en) * | 2010-01-26 | 2012-02-15 | 燕山大学 | Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism |
| CN101554727B (en) * | 2008-04-10 | 2012-10-03 | 村田机械株式会社 | Parallel mechanism |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN105108882A (en) * | 2014-06-26 | 2015-12-02 | 姚云峰 | Three-dimensional clay printer |
| CN107618023A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of light-duty Three Degree Of Freedom translational motion parallel institution |
-
2000
- 2000-03-03 CN CN 00210985 patent/CN2407899Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554727B (en) * | 2008-04-10 | 2012-10-03 | 村田机械株式会社 | Parallel mechanism |
| CN101722511B (en) * | 2009-11-19 | 2011-05-11 | 天津理工大学 | Fully decoupled three-degree-of-freedom parallel robot mechanism |
| CN101791804B (en) * | 2010-01-26 | 2012-02-15 | 燕山大学 | Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN103056870B (en) * | 2012-12-26 | 2014-12-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN105108882A (en) * | 2014-06-26 | 2015-12-02 | 姚云峰 | Three-dimensional clay printer |
| CN107618023A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of light-duty Three Degree Of Freedom translational motion parallel institution |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |