CN105583810A - Parallel robot provided with swing arm-connecting rod driving mechanisms - Google Patents
Parallel robot provided with swing arm-connecting rod driving mechanisms Download PDFInfo
- Publication number
- CN105583810A CN105583810A CN201610141972.1A CN201610141972A CN105583810A CN 105583810 A CN105583810 A CN 105583810A CN 201610141972 A CN201610141972 A CN 201610141972A CN 105583810 A CN105583810 A CN 105583810A
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- swing arm
- arm
- bar
- principal arm
- parallel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a parallel robot provided with swing arm-connecting rod driving mechanisms. The parallel robot comprises a fixed frame, a movable platform, main arms, parallel branch chains and the three swing arm-connecting rod driving mechanisms. The three main arms are distributed on the circumferential edge of the fixed frame. The tail end of each main arm is connected with the movable platform through one parallel branch chain. Each main arm is provided with one swing arm-connecting rod driving mechanism. The parallel robot is simple in structure; compared with a conventional parallel robot of a motor direct-driving structure, the parallel robot enables the impact force borne by the main arms to be small and can operate more stably and reliably in a high-speed state or in a high acceleration state or in a frequent steering state, and thus high-precision operation is achieved. In addition, due to the fact that collision or interference is avoided even under the condition that swing arms in the swing arm-connecting rod driving mechanisms are driven by servo motors to rotate by any angles, the phenomena that accidents are caused or important components such as speed reducers, the servo motors and the main arms are damaged due to collision of the components of a robot body under abnormal conditions are avoided, and the using safety of the parallel robot is improved.
Description
Technical field
The present invention relates to Industrial Robot Technology field, particularly a kind of with swing arm-bar-link driveParallel robot.
Background technology
Parallel robot can complete at full speed, accurately various shape type miscellaneous goods pick up andPlace action, be widely used in the industrial circles such as electronics, medicine, food. Industrial machine with serial configuredDevice people compare, and it is high, at a high speed and the feature such as high acceleration that parallel robot has good rigidity, precision, Zhong DuoyanStudy carefully mechanism and manufacturing enterprise and all have an optimistic view of its application prospect in the field of manufacture.
But in traditional parallel robot, its drive unit generally comprises servomotor and decelerator,Change and regulate the velocity of rotation of principal arm by decelerator, and servomotor connection reducer directly drives masterArm, driving moment is large, rotary inertia is large. When parallel robot at a high speed, when high acceleration operation to mechanismThere is very large impulsive force, easily produce vibrations, affect robot running precision, reduced in robot and slowed downThe service life of the important spare parts such as device, servomotor, principal arm. Pacify although have in parallel robot at presentThe hard stopping means of stroke limit sensor and machinery is housed, but in motor, limit sensors abnormal feelings out of controlUnder condition, still the danger of body mechanical collision can occur, therefore, the use of parallel robot still can be restricted.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of with swing arm-connecting rod driving machineThe parallel robot of structure, the driving moment of this robot is little, operational shock power is little, and safety in utilization is also higher.
Technical scheme of the present invention is: a kind of parallel robot with swing arm-bar-link drive, comprisesFixed mount, moving platform, principal arm, parallel side chain and three groups of swing arm-bar-link drive, the circumference of fixed mountEdge is distributed with three principal arms, and the end of each principal arm is connected with moving platform by a parallel side chain, eachPrincipal arm is provided with one group of swing arm-bar-link drive. By every group of swing arm-bar-link drive drive oneIndividual principal arm and the action of parallel side chain, thus drive moving platform to move, finally realize moving platform X, Y, Z tri-The space displacement of axle, wherein, because the tie point of swing arm-bar-link drive and principal arm is positioned at the hinge of principal armChain far-end, can reduce its rotary inertia, makes this parallel robot have higher transmission stability, raising machineDevice people's running precision. Because three groups of swing arm-bar-link drive are separate, even if swing arm-connecting rod drivesMechanism drives swing arm not limit angle rotation, also can not bump or interfere (its principle is: by swing arm andThe effect of connecting rod, swing arm rotating 360 degrees, but principal arm can only swing in predetermined angular (as 0～120 °)One is back and forth, and therefore, in use procedure, swing arm is ceaselessly rotated, but principal arm only does the action swinging back and forth),Therefore also improve safety in utilization, avoided body part collision generation accident or damage under abnormal conditionsThe important spare parts such as decelerator, servomotor or principal arm.
Described swing arm-bar-link drive comprises the servomotor, decelerator, swing arm and the connecting rod that connect successively,The end face of connecting rod end and principal arm is hinged; Servomotor and decelerator are mounted on fixed mount top, swing armOne end be connected with the output of decelerator, the other end of swing arm and rod hinge connection. Wherein, servomotor is logicalCross decelerator and drive swing arm to swing, swing arm drivening rod swings, thereby drives principal arm to rotate. By servo electricityBeing used in conjunction with of machine and decelerator, for swing arm provides a rotational freedom, subtracts the suffered impulsive force of principal armLittle, make parallel robot operation under the state of high-speed, high acceleration or frequent commutation more steadily reliable,To improve running precision.
Described fixed mount is integral type structure, and the middle part of fixed mount is a platform, and the end face of platform upwards extendsHave three decelerator mounting blocks, the decelerator in swing arm-bar-link drive and decelerator mounting blocks are fixing to be connectedConnect, the bottom surface of platform is extended with three principal arm installing ports downwards, and each principal arm is by principal arm connecting axle and correspondingPrincipal arm installing port connects.
On described fixed mount, each principal arm installing port comprises two side plates, and one end of principal arm arranges principal arm connecting axle,The two ends of principal arm connecting axle are connected with two side plates respectively; The side plate end face of principal arm installing port and platform phaseFlat, the end face of another side plate upwards extends to form decelerator mounting blocks.
Described platform is circle or triangle, according to actual needs, also can be designed to other shapes, but forCoordinate the use of three principal arms, be designed to circle or triangle, its stressed more balance, is conducive to parallel connectionThe stable operation of robot.
One end and the fixed mount of described principal arm are hinged, and the other end of principal arm is hinged with parallel side chain, principal arm end faceBe provided with connecting rod connecting portion, the connecting rod end in swing arm-bar-link drive is connected with connecting rod connecting portion.
Described parallel side chain comprises that be arranged in parallel two swing poles, and two swing upper between polesLower two ends connect by pole connecting axle respectively, and the pole connecting axle place that is positioned at upper end is connected with principal arm, is positioned atThe pole connecting axle place of lower end is connected with moving platform.
Described moving platform is hexagon, and the edge of moving platform is evenly distributed with three parallel side chain connecting portions, eachParallel side chain connecting portion place embeds a pole connecting axle that is positioned at parallel side chain lower end.
When above-mentioned parallel robot uses, its principle is: the power of servomotor output after decelerator,Drive swing arm swings, and swing arm drives principal arm to rotate around the principal arm installing port place of fixed mount by connecting rod, principal armRotate and drive parallel side chain to swing, the swing of three parallel side chains drives moving platform to carry out with respect to fixed supportIn space, move, finally realize the space displacement of moving platform X, Y, Z tri-axles.
The present invention, with respect to prior art, has following beneficial effect:
This is simple in structure with the parallel robot of swing arm-bar-link drive, by each principal arm and flatRow side chain configures one group of swing arm-bar-link drive, compared with traditional motor-direct-drive type structure, and principal arm instituteThe impulsive force being subject to is little, and operation is more under the state of high-speed, high acceleration or frequent commutation to make parallel robotSteadily reliable, to realize high accuracy operation. In addition, in this swing arm-bar-link drive, due to servo electricityMachine drives swing arm not limit angle rotation also can not to bump or interfere, and has avoided robot under abnormal conditionsBody part collision and generation accident or damage showing of the important spare parts such as decelerator, servomotor or principal armResemble, improved the safety in utilization of parallel robot.
Brief description of the drawings
Fig. 1 is this structural representation with swing arm-bar-link drive.
Fig. 2 is the structural representation that single group swing arm-bar-link drive connects with corresponding principal arm, parallel side chainFigure.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present inventionBe not limited to this.
Embodiment
A kind of parallel robot with swing arm-bar-link drive of the present embodiment, as shown in Figure 1, comprisesFixed mount 1, moving platform 2, principal arm 3, parallel side chain 4 and three groups of swing arm-bar-link drive, fixed mountCircumferential edge along being distributed with three principal arms, the end of each principal arm is by a parallel side chain and moving platform companyConnect, each principal arm is provided with one group of swing arm-bar-link drive. Only by every group of swing arm-bar-link driveVertical drive a principal arm and the action of parallel side chain, thereby drive moving platform to move, finally realize moving platform X,The space displacement of Y, Z tri-axles, wherein, because the tie point of swing arm-bar-link drive and principal arm is positioned at masterThe hinge far-end of arm, can reduce its rotary inertia, makes this parallel robot have higher transmission stability,Improve the running precision of robot. Because three groups of swing arm-bar-link drive are separate, even swing arm-LianBar driving mechanism drives swing arm not limit angle rotation, also can not bump or interfere that (its principle is: pass throughThe effect of swing arm and connecting rod, swing arm rotating 360 degrees, but principal arm can only be at predetermined angular (as 0～120 °)Therefore, in use procedure, swing arm is ceaselessly rotated back and forth in one of interior swing, but principal arm only swings back and forthAction), therefore also improved safety in utilization, avoided under abnormal conditions body part collision to produceThe important spare parts such as accident or damage decelerator, servomotor or principal arm.
The structure of three groups of swing arm-bar-link drive is identical, as shown in Figure 2, and each swing arm-bar-link driveComprise the servomotor 5, decelerator 6, swing arm 7 and the connecting rod 8 that connect successively, connecting rod end and principal armEnd face is hinged; Servomotor and decelerator are mounted on fixed mount top, one end of swing arm and deceleratorOutput connects, the other end of swing arm and rod hinge connection. Wherein, servomotor drives swing arm by deceleratorSwing, swing arm drivening rod swings, thereby drives principal arm to rotate. By the cooperation of servomotor and deceleratorUse, for swing arm provides a rotational freedom, the suffered impulsive force of principal arm is reduced, make parallel robotUnder the state of high-speed, high acceleration or frequent commutation, operation is more steadily reliable, to improve running precision.
Fixed mount is integral type structure, and the middle part of fixed mount is a platform, and the end face of platform is upwards extended with threeIndividual decelerator mounting blocks 1-1, the decelerator in swing arm-bar-link drive and decelerator mounting blocks are fixing to be connectedConnect, the bottom surface of platform is extended with three principal arm installing port 1-2 downwards, and each principal arm is by principal arm connecting axle and phaseThe principal arm installing port of answering connects. On fixed mount, each principal arm installing port comprises two side plates, and establish one end of principal armPut principal arm connecting axle 3-1, the two ends of principal arm connecting axle are connected with two side plates respectively; One of principal arm installing portSide plate end face is equal with platform, and the end face of another side plate upwards extends to form decelerator mounting blocks. Platform can beCircle or triangle (in this enforcement, adopting circular configuration), according to actual needs, also can be designed to other shapesShape, but in order to coordinate the use of three principal arms, be designed to circle or triangle, its stressed more balance,Be conducive to the stable operation of parallel robot.
One end and the fixed mount of principal arm are hinged, and the other end of principal arm is hinged with parallel side chain, and principal arm end face is provided withConnecting rod connecting portion 3-2, the connecting rod end in swing arm-bar-link drive is connected with connecting rod connecting portion.
Parallel side chain comprises that be arranged in parallel two swing poles, and two swing up and down two between polesEnd connects by pole connecting axle respectively, and the pole connecting axle place that is positioned at upper end is connected with principal arm, is positioned at lower endPole connecting axle place be connected with moving platform.
Moving platform is hexagon, and the edge of moving platform is evenly distributed with three parallel side chain connecting portion 2-1, eachParallel side chain connecting portion place embeds a pole connecting axle that is positioned at parallel side chain lower end.
When above-mentioned parallel robot uses, its principle is: the power of servomotor output after decelerator,Drive swing arm swings, and swing arm drives principal arm to rotate around the principal arm installing port place of fixed mount by connecting rod, principal armRotate and drive parallel side chain to swing, the swing of three parallel side chains drives moving platform to carry out with respect to fixed supportIn space, move, finally realize the space displacement of moving platform X, Y, Z tri-axles.
As mentioned above, just can realize preferably the present invention, above-described embodiment is only preferred embodiment of the present invention,Not be used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modify,All by the claims in the present invention scope required for protection is contained.
Claims (8)
1. with the parallel robot of swing arm-bar-link drive, it is characterized in that, comprise fixed mount, movingPlatform, principal arm, parallel side chain and three groups of swing arm-bar-link drive, the circumferential edge of fixed mount is along being distributed withThree principal arms, the end of each principal arm is connected with moving platform by a parallel side chain, and each principal arm is provided withOne group of swing arm-bar-link drive.
2. according to claim 1 with the parallel robot of swing arm-bar-link drive, its feature existsIn, described swing arm-bar-link drive comprises the servomotor, decelerator, swing arm and the connecting rod that connect successively,The end face of connecting rod end and principal arm is hinged; Servomotor and decelerator are mounted on fixed mount top, swing armOne end be connected with the output of decelerator, the other end of swing arm and rod hinge connection.
3. according to claim 2 with the parallel robot of swing arm-bar-link drive, its feature existsIn, described fixed mount is integral type structure, and the middle part of fixed mount is a platform, and the end face of platform upwards extendsHave three decelerator mounting blocks, the decelerator in swing arm-bar-link drive and decelerator mounting blocks are fixing to be connectedConnect, the bottom surface of platform is extended with three principal arm installing ports downwards, and each principal arm is by principal arm connecting axle and correspondingPrincipal arm installing port connects.
4. according to claim 3 with the parallel robot of swing arm-bar-link drive, its feature existsIn, on described fixed mount, each principal arm installing port comprises two side plates, one end of principal arm arranges principal arm connecting axle,The two ends of principal arm connecting axle are connected with two side plates respectively; The side plate end face of principal arm installing port and platform phaseFlat, the end face of another side plate upwards extends to form decelerator mounting blocks.
5. according to claim 3 with the parallel robot of swing arm-bar-link drive, its feature existsIn, described platform is circle or triangle.
6. according to claim 2 with the parallel robot of swing arm-bar-link drive, its feature existsIn, one end and the fixed mount of described principal arm are hinged, and the other end of principal arm is hinged with parallel side chain, principal arm end faceBe provided with connecting rod connecting portion, the connecting rod end in swing arm-bar-link drive is connected with connecting rod connecting portion.
7. according to claim 1 with the parallel robot of swing arm-bar-link drive, its feature existsComprise that in, described parallel side chain two of being arranged in parallel swing poles, two swing upper between polesLower two ends connect by pole connecting axle respectively, and the pole connecting axle place that is positioned at upper end is connected with principal arm, is positioned atThe pole connecting axle place of lower end is connected with moving platform.
8. according to claim 7 with the parallel robot of swing arm-bar-link drive, its feature existsIn, described moving platform is hexagon, and the edge of moving platform is evenly distributed with three parallel side chain connecting portions, eachParallel side chain connecting portion place embeds a pole connecting axle that is positioned at parallel side chain lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141972.1A CN105583810A (en) | 2016-03-11 | 2016-03-11 | Parallel robot provided with swing arm-connecting rod driving mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141972.1A CN105583810A (en) | 2016-03-11 | 2016-03-11 | Parallel robot provided with swing arm-connecting rod driving mechanisms |
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| Publication Number | Publication Date |
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| CN105583810A true CN105583810A (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610141972.1A Pending CN105583810A (en) | 2016-03-11 | 2016-03-11 | Parallel robot provided with swing arm-connecting rod driving mechanisms |
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| CN (1) | CN105583810A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172609A (en) * | 2021-05-17 | 2021-07-27 | 勃肯特(镇江)机器人技术有限公司 | High-speed parallel robot with cam arm indirect drive |
| CN113359614A (en) * | 2021-07-06 | 2021-09-07 | 广州市新豪精密科技有限公司 | Parallel robot and circular motion track interpolation method thereof |
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| JPH1190867A (en) * | 1997-09-17 | 1999-04-06 | Olympus Optical Co Ltd | Micromanipulator |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN104149096A (en) * | 2014-07-30 | 2014-11-19 | 华南理工大学 | Delta structured parallel manipulator capable of moving precisely and three-dimensionally |
| CN104265854A (en) * | 2014-08-09 | 2015-01-07 | 哈尔滨博强机器人技术有限公司 | Six-degree-of-freedom Delta robot transmission mechanism |
| CN205363883U (en) * | 2016-01-21 | 2016-07-06 | 昆山高联机器人有限公司 | High -speed heavily loaded serial -type parallel robot |
| CN205497466U (en) * | 2016-03-11 | 2016-08-24 | 广州数控设备有限公司 | Parallel robot with swing arm - rod drive mechanism |
-
2016
- 2016-03-11 CN CN201610141972.1A patent/CN105583810A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1190867A (en) * | 1997-09-17 | 1999-04-06 | Olympus Optical Co Ltd | Micromanipulator |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN104149096A (en) * | 2014-07-30 | 2014-11-19 | 华南理工大学 | Delta structured parallel manipulator capable of moving precisely and three-dimensionally |
| CN104265854A (en) * | 2014-08-09 | 2015-01-07 | 哈尔滨博强机器人技术有限公司 | Six-degree-of-freedom Delta robot transmission mechanism |
| CN205363883U (en) * | 2016-01-21 | 2016-07-06 | 昆山高联机器人有限公司 | High -speed heavily loaded serial -type parallel robot |
| CN205497466U (en) * | 2016-03-11 | 2016-08-24 | 广州数控设备有限公司 | Parallel robot with swing arm - rod drive mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172609A (en) * | 2021-05-17 | 2021-07-27 | 勃肯特(镇江)机器人技术有限公司 | High-speed parallel robot with cam arm indirect drive |
| CN113359614A (en) * | 2021-07-06 | 2021-09-07 | 广州市新豪精密科技有限公司 | Parallel robot and circular motion track interpolation method thereof |
| CN113359614B (en) * | 2021-07-06 | 2022-06-03 | 广州市新豪精密科技有限公司 | Parallel robot and circular motion track interpolation method thereof |
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Application publication date: 20160518 |
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