CN206869872U - A kind of silent flatform device suitable for 3-dof parallel robot - Google Patents
A kind of silent flatform device suitable for 3-dof parallel robot Download PDFInfo
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- CN206869872U CN206869872U CN201720770808.7U CN201720770808U CN206869872U CN 206869872 U CN206869872 U CN 206869872U CN 201720770808 U CN201720770808 U CN 201720770808U CN 206869872 U CN206869872 U CN 206869872U
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- actuator
- master arm
- silent flatform
- hinged
- parallel robot
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Abstract
The utility model discloses a kind of silent flatform device suitable for 3-dof parallel robot, belongs to robotic technology field, including silent flatform, the actuator one being fixed on silent flatform, actuator two and actuator three, it is characterised in that：Also include the first master arm, the second master arm and the 3rd master arm, first master arm and the second master arm orthographic projection are on the same line or parallel, first master arm is connected with actuator one, and the second master arm is connected with actuator two, and the 3rd master arm is connected with actuator three.It is on the same line or parallel after two master arm orthographic projections of the present utility model, it is applied in 3-dof parallel robot, in pick-and-place object, moving platform is only by the active force in two rectilinear directions, it is not easy to rock, it is capable of the degree of accuracy of effective guarantee pick-and-place object, improves the success rate of pick-and-place object.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to it is a kind of suitable for 3-dof parallel robot
Silent flatform device.
Background technology
Parallel robot, i.e. moving platform are connected with silent flatform by least two independent kinematic chains, have two or
The two or more free degree, and a kind of close loop mechanism driven with parallel way.Parallel robot is compared with traditional industry serial machine
For people, parallel robot has many advantages, such as, such as：Without accumulated error, precision is higher, large carrying capacity etc..Parallel manipulator
People, classify by forms of motion, plane mechanism and space mechanism can be divided into；Subdivision can be divided into planar movement mechanism, planar movement turns
Motivation structure, the pure travel mechanism in space, the pure rotating mechanism in space and spatial mixing motion etc..Classify by the free degree, can be divided into
Two degrees of freedom, Three Degree Of Freedom, four-degree-of-freedom, five degree of freedom and six degree of freedom etc..
It is common on the market to be：Two degrees of freedom and 3-dof parallel robot.Wherein, two-degree-of-freedoparallel parallel robot,
Simple in construction, for moving platform only by active force caused by two master arms, pick-and-place object is stable, is not easy to rock, the success of pick-and-place object
Rate is higher.3-dof parallel robot, species form are more；Predominantly planar three freedom parallel robot and sphere three from
By the major class of degree parallel robot two；Planar three freedom parallel robot has two mobile and rotations；And sphere three is certainly
By all kinematic pairs of degree parallel robot axis junction space a bit, this point is referred to as the center of mechanism, and the institute in mechanism is a little
Motion be all around the rotational motion.
In recent years, the application of Delta robots is more extensive, is mainly used in adding for food, medicine and electronic product etc.
Work and assembling.Delta robots are typical 3-dof parallel robots.Three masters of the Delta robots of prior art
Swing arm is distributed on silent flatform in 120 degree, have it is in light weight, movement velocity is fast the characteristics of, but install when overall space take compared with
Greatly.
Publication No. CN103802094A, publication date disclose a kind of shifting for the Chinese patent literature on May 21st, 2014
Dynamic formula parallel robot, including central motor, robot bottom plate, motor reducer assembly, upper arm, underarm, low bottom-disc, center are stretched
Contracting bar, it is characterised in that described motor reducer assembly is arranged on the lower section of robot bottom plate, with the center of robot bottom plate
In 120 degree of distributions, described upper arm connects one arm of composition with underarm by spherical joint head, and motor reducer assembly is with
Chassis is connected by three arms, the center steering axle of described center expansion link connection central motor and low bottom-disc.
, following defects be present in the prior art using above-mentioned patent document as representative：
Three master arms on silent flatform are arranged in 120 degree of distributions, when capturing and launching object, due to arbitrary neighborhood
The angle formed between two master arms is 120 degree, and when being applied in 3-dof parallel robot, its moving platform is just by three
Active force in rectilinear direction, when pick-and-place object frequencies are too fast, moving platform is easy for rocking under three active forces, causes to grab
The degree of accuracy for putting object is difficult to ensure, influences the success rate of pick-and-place object.
Utility model content
The defects of the utility model is in order to overcome above-mentioned prior art, there is provided one kind is applied to 3-dof parallel robot
Silent flatform device, it is on the same line or parallel after two master arm orthographic projections of the present utility model, be applied to Three Degree Of Freedom
In parallel robot, in pick-and-place object, moving platform only by the active force in two rectilinear directions, is not easy to rock, Neng Gouyou
Effect ensures the degree of accuracy of pick-and-place object, improves the success rate of pick-and-place object.
The utility model is achieved through the following technical solutions：
A kind of silent flatform device suitable for 3-dof parallel robot, including silent flatform, be fixed on silent flatform
Actuator one, actuator two and actuator three, it is characterised in that：Also include the first master arm, the second master arm and the 3rd actively
Arm, first master arm and the second master arm orthographic projection are on the same line or parallel, first master arm and actuator
One connection, the second master arm are connected with actuator two, and the 3rd master arm is connected with actuator three.
The actuator one, actuator two and actuator three are located in same level.
The vertical height of the actuator three is respectively higher than the vertical height of actuator one and actuator two.
The actuator one, actuator two and actuator three form by servomotor and decelerator connection.
The first locating rod, the second locating rod and the 3rd locating rod are hinged with the silent flatform, is hinged on the first master arm
Have the first crank, the second crank be hinged with the second master arm, be hinged with the 3rd crank on the 3rd master arm, the first locating rod with
First crank is hinged, and the second locating rod is hinged with the second crank, and the 3rd locating rod is hinged with the 3rd crank.
The bottom of the silent flatform is provided with support pedestal, supports and groove is provided with pedestal, and the bottom insertion of silent flatform is recessed
In groove, support and rubber blanket is bonded with the lower surface of pedestal.
Operation principle of the present utility model is as follows：
In use, silent flatform device is installed in 3-dof parallel robot, pass through actuator one, the and of actuator two
Actuator three drives the first master arm, the second master arm and the 3rd master arm to rotate respectively, and then drives moving platform motion, passes through
Manipulator on moving platform realizes the pick-and-place action of object.Due on the same line or parallel after two master arm orthographic projections,
So that in pick-and-place object, moving platform is only by the active force in two rectilinear directions, similar to two axle parallel robots, therefore
Moving platform is not easy to rock when working, and stability is more preferable.
The beneficial effects of the utility model are mainly manifested in following aspect：
First, the utility model, the first master arm and the second master arm orthographic projection are on the same line or parallel, and first actively
Arm is connected with actuator one, and the second master arm is connected with actuator two, and the 3rd master arm is connected with actuator three, compared with prior art
In 3-dof parallel robot, for being distributed in using three master arms in 120 degree on silent flatform, due to two master arms just
It is on the same line or parallel after projection so that in pick-and-place object, moving platform only by the active force in two rectilinear directions,
Similar to two axle parallel robots, therefore it is not easy to rock during moving platform work, can effectively ensure that the degree of accuracy of pick-and-place object, carry
The success rate of high pick-and-place object.
2nd, the utility model, actuator one, actuator two and actuator three are located in same level, are installed to three certainly
By in degree parallel robot, overall structure is balanced, compact, there is good rigidity, bearing capacity is strong.
3rd, the utility model, the vertical height of actuator three are respectively higher than the vertical height of actuator one and actuator two,
Silent flatform entirety center of gravity is moved up, and then makes moving platform slimmer and more graceful when moving, speed is high, and dynamic response is good, pick-and-place object effect
Rate is higher.
4th, the utility model, actuator one, actuator two and actuator three by servomotor and decelerator connection and
Into servomotor and decelerator are standard component, and easy for installation, cost is low.
5th, the utility model, the first locating rod, the second locating rod and the 3rd locating rod, the first master are hinged with silent flatform
The first crank is hinged with swing arm, the second crank is hinged with the second master arm, the 3rd crank is hinged with the 3rd master arm, the
A positioning rod is hinged with the first crank, and the second locating rod is hinged with the second crank, and the 3rd locating rod is hinged with the 3rd crank, is passed through
The cooperation of crank, locating rod, stability during moving platform motion can be further ensured that, so as to effectively improve pick-and-place object
Accuracy.
6th, the utility model, the bottom of silent flatform are provided with support pedestal, support and are provided with groove on pedestal, silent flatform
In bottom insertion groove, support and rubber blanket is bonded with the lower surface of pedestal, silent flatform can be made to be stably fixed to branch support group
On seat, by the adhesive rubber pad on the lower surface of support pedestal, when silent flatform is fixedly mounted, can increasing friction force, it is anti-
Slip is only produced after silent flatform long-term use, beneficial to the reliability and stability ensured when using.
Brief description of the drawings
The utility model is described in further detail below in conjunction with specification drawings and specific embodiments, its
In：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of the utility model embodiment 3；
Fig. 3 is the left view of silent flatform device in the utility model embodiment 3；
Marked in figure：2nd, silent flatform, 3, actuator one, 4, actuator two, 5, actuator three, 6, the first master arm, 8,
Two master arms, the 10, the 3rd master arm, the 15, first locating rod, the 16, second locating rod, the 17, the 3rd locating rod, the 18, first crank,
19th, the second crank, the 20, the 3rd crank, 21, support pedestal, 22, groove, 23, rubber blanket.
Embodiment
Embodiment 1
A kind of silent flatform device suitable for 3-dof parallel robot, including silent flatform 2, be fixed on silent flatform 2
Actuator 1, actuator 24 and actuator 35, in addition to the first master arm 6, the second master arm 8 and the 3rd master arm 10,
First master arm 6 and the orthographic projection of the second master arm 8 are on the same line or parallel, first master arm 6 and actuator
One 3 connections, the second master arm 8 are connected with actuator 24, and the 3rd master arm 10 is connected with actuator 35.
The present embodiment is most basic embodiment, the first master arm and the second master arm orthographic projection on the same line or
Parallel, the first master arm is connected with actuator one, and the second master arm is connected with actuator two, and the 3rd master arm connects with actuator three
Connect, compared with prior art 3-dof parallel robot, for being distributed in using three master arms in 120 degree on silent flatform, by
It is on the same line or parallel after two master arm orthographic projections so that in pick-and-place object, moving platform is only by two straight lines
Active force on direction, similar to two axle parallel robots, therefore it is not easy to rock during moving platform work, can effectively ensure that pick-and-place
The degree of accuracy of object, improve the success rate of pick-and-place object.
Embodiment 2
A kind of silent flatform device suitable for 3-dof parallel robot, including silent flatform 2, be fixed on silent flatform 2
Actuator 1, actuator 24 and actuator 35, in addition to the first master arm 6, the second master arm 8 and the 3rd master arm 10,
First master arm 6 and the orthographic projection of the second master arm 8 are on the same line or parallel, first master arm 6 and actuator
One 3 connections, the second master arm 8 are connected with actuator 24, and the 3rd master arm 10 is connected with actuator 35.
The actuator 1, actuator 24 and actuator 35 are located in same level.
The present embodiment is a better embodiment, and actuator one, actuator two and actuator three are located in same level,
It is installed in 3-dof parallel robot, overall structure is balanced, compact, has good rigidity, and bearing capacity is strong.
Embodiment 3
A kind of silent flatform device suitable for 3-dof parallel robot, including silent flatform 2, be fixed on silent flatform 2
Actuator 1, actuator 24 and actuator 35, in addition to the first master arm 6, the second master arm 8 and the 3rd master arm 10,
First master arm 6 and the orthographic projection of the second master arm 8 are on the same line or parallel, first master arm 6 and actuator
One 3 connections, the second master arm 8 are connected with actuator 24, and the 3rd master arm 10 is connected with actuator 35.
The vertical height of the actuator 35 is respectively higher than the vertical height of actuator 1 and actuator 24.
The actuator 1, actuator 24 and actuator 35 form by servomotor and decelerator connection.
The first locating rod 15, the second locating rod 16 and the 3rd locating rod 17, the first master arm are hinged with the silent flatform 2
The first crank 18 is hinged with 6, the second crank 19 is hinged with the second master arm 8, it is bent that the 3rd is hinged with the 3rd master arm 10
Handle 20, the first locating rod 15 and the first crank 18 are be hinged, and the second locating rod 16 is be hinged with the second crank 19, the 3rd locating rod 17 and
3rd crank 20 is be hinged.
The bottom of the silent flatform 2 is provided with support pedestal 21, supports and is provided with groove 22, the bottom of silent flatform 2 on pedestal 21
In portion's insertion groove 22, support and be bonded with rubber blanket 23 on the lower surface of pedestal 21.
The present embodiment is preferred forms, and the first master arm and the second master arm orthographic projection are on the same line or flat
OK, the first master arm is connected with actuator one, and the second master arm is connected with actuator two, and the 3rd master arm connects with actuator three
Connect, compared with prior art 3-dof parallel robot, for being distributed in using three master arms in 120 degree on silent flatform, by
It is on the same line or parallel after two master arm orthographic projections so that in pick-and-place object, moving platform is only by two straight lines
Active force on direction, similar to two axle parallel robots, therefore it is not easy to rock during moving platform work, can effectively ensure that pick-and-place
The degree of accuracy of object, improve the success rate of pick-and-place object.
The vertical height of actuator three is respectively higher than the vertical height of actuator one and actuator two, silent flatform is integrally weighed
Move in the heart, and then make moving platform slimmer and more graceful when moving, speed is high, and dynamic response is good, and pick-and-place object is more efficient.
Actuator one, actuator two and actuator three form by servomotor and decelerator connection, servomotor and subtract
Fast device is standard component, easy for installation, and cost is low.
The first locating rod, the second locating rod and the 3rd locating rod are hinged with silent flatform, is hinged with the first master arm
One crank, the second crank is hinged with the second master arm, the 3rd crank, the first locating rod and first are hinged with the 3rd master arm
Crank is hinged, and the second locating rod is hinged with the second crank, the 3rd locating rod is hinged with the 3rd crank, passes through crank, locating rod
Coordinate, stability during moving platform motion can be further ensured that, so as to effectively improve the accuracy of pick-and-place object.
The bottom of silent flatform is provided with support pedestal, supports and groove is provided with pedestal, in the bottom insertion groove of silent flatform,
Support and be bonded with rubber blanket on the lower surface of pedestal, silent flatform can be made to be stably fixed to support on pedestal, by supporting
Adhesive rubber pad on the lower surface of pedestal, when silent flatform is fixedly mounted, can increasing friction force, prevent that silent flatform is long-term use of
Slip is produced afterwards, beneficial to the reliability and stability ensured when using.
Claims (6)
1. a kind of silent flatform device suitable for 3-dof parallel robot, including silent flatform（2）, be fixed on silent flatform（2）
On actuator one（3）, actuator two（4）With actuator three（5）, it is characterised in that：Also include the first master arm（6）, second
Master arm（8）With the 3rd master arm（10）, first master arm（6）With the second master arm（8）Orthographic projection is on the same line
Or parallel, first master arm（6）With actuator one（3）Connection, the second master arm（8）With actuator two（4）Connection, the 3rd
Master arm（10）With actuator three（5）Connection.
A kind of 2. silent flatform device suitable for 3-dof parallel robot according to claim 1, it is characterised in that：
The actuator one（3）, actuator two（4）With actuator three（5）In same level.
A kind of 3. silent flatform device suitable for 3-dof parallel robot according to claim 1, it is characterised in that：
The actuator three（5）Vertical height be respectively higher than actuator one（3）With actuator two（4）Vertical height.
A kind of 4. silent flatform device suitable for 3-dof parallel robot according to claim 1, it is characterised in that：
The actuator one（3）, actuator two（4）With actuator three（5）Formed by servomotor and decelerator connection.
5. a kind of silent flatform device suitable for 3-dof parallel robot according to claim 1 or 4, its feature exist
In：The silent flatform（2）On be hinged with the first locating rod（15）, the second locating rod（16）With the 3rd locating rod（17）, the first master
Swing arm（6）On be hinged with the first crank（18）, the second master arm（8）On be hinged with the second crank（19）, the 3rd master arm（10）
On be hinged with the 3rd crank（20）, the first locating rod（15）With the first crank（18）It is be hinged, the second locating rod（16）It is bent with second
Handle（19）It is be hinged, the 3rd locating rod（17）With the 3rd crank（20）It is be hinged.
A kind of 6. silent flatform device suitable for 3-dof parallel robot according to claim 1, it is characterised in that：
The silent flatform（2）Bottom be provided with support pedestal（21）, support pedestal（21）On be provided with groove（22）, silent flatform（2）'s
Bottom is embedded in groove（22）It is interior, support pedestal（21）Lower surface on be bonded with rubber blanket（23）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770808.7U CN206869872U (en) | 2017-06-29 | 2017-06-29 | A kind of silent flatform device suitable for 3-dof parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770808.7U CN206869872U (en) | 2017-06-29 | 2017-06-29 | A kind of silent flatform device suitable for 3-dof parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206869872U true CN206869872U (en) | 2018-01-12 |
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ID=61331193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720770808.7U Expired - Fee Related CN206869872U (en) | 2017-06-29 | 2017-06-29 | A kind of silent flatform device suitable for 3-dof parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206869872U (en) |
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2017
- 2017-06-29 CN CN201720770808.7U patent/CN206869872U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180112 Termination date: 20190629 |
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| CF01 | Termination of patent right due to non-payment of annual fee |