CN100421883C - Two-freedom plane parallel high-speed high-accuracy robot - Google Patents
Two-freedom plane parallel high-speed high-accuracy robot Download PDFInfo
- Publication number
- CN100421883C CN100421883C CNB031114377A CN03111437A CN100421883C CN 100421883 C CN100421883 C CN 100421883C CN B031114377 A CNB031114377 A CN B031114377A CN 03111437 A CN03111437 A CN 03111437A CN 100421883 C CN100421883 C CN 100421883C
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- CN
- China
- Prior art keywords
- platform
- mobile platform
- line slideway
- robot
- revolute pair
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- Expired - Fee Related
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Abstract
The present invention discloses a parallel connection high speed high accuracy robot with two freedom degree planes. The present invention relates to an industrial robot, particularly to a robot which moves on two freedom degree planes. The present invention comprises a left linear guide rail (1) and a right linear guide rail (5) which are mutually arranged in parallel, a left mobile platform (2) and a right mobile platform (6) which are respectively arranged on the left linear guide rail and the right linear guide rail and make linear motion along the guide rails, a drive device which drives the left mobile platform and the right mobile platform to move, a left linking rod (4) and a right linking rod (8), wherein one end of the left linking rod (4) and one end of right linking rod (8) are respectively connected with the left mobile platform (2) and the right mobile platform (6) through a first revolute pair (3) and a second revolute pair (7), and the other end of the left linking rod (4) and the other end of right linking rod (8) are mutually connected through an end revolute pair (9). The robot has the advantages of light weight, large rigidity of the linking rods, little bearing bending moment and high positioning accuracy and can move at high speed in the large range. The whole system has the advantages of compact structure, light weight, few drive links and low energy consumption, and can realize two-dimensional plane motion with high accuracy at high speed.
Description
Technical field
The present invention relates to a kind of industrial robot, the robot that move on particularly a kind of two-freedom plane.
Background technology
Existing high speed, high precision machines robot mechanism have following forms of motion: (1) adopts XYTable workbench mode: because the motor load on the pedestal is heavy, rectilinear motion inertia is big, has therefore restricted the speed and the acceleration of system; System's pay(useful) load and total load cause bigger waste of energy than low in addition.(2) multi-joint and the link mechanism of electric rotating machine driving: the inertia of this multi-connecting-rod mechanism is bigger, is unfavorable for the further raising of system speed; Also bring simultaneously the moderate finite deformation of oscillating bearing, the positioning accuracy of entire mechanism is descended.
Summary of the invention
For solving the problem that prior art exists, the invention provides a kind of two-freedom plane-parallel type high-speed, high precision robot, robot of the present invention includes left line slideway 1 and the right line slideway 5 that is arranged in parallel, be separately positioned on moving left platform 2 and moving right platform 6 on left line slideway 1 and the right line slideway 5 and along the guide rail moving linearly, the drive unit that driving moves left platform 2 and the platform 6 that moves right moves, Left-wing Federation's bar 4 and right link rod 8, one end of Left-wing Federation's bar 4 and right link rod 8 respectively by first revolute pair 3 and second revolute pair 7 with move left platform 2 and be connected with the platform 6 that moves right, the other end of Left-wing Federation's bar 4 and right link rod 8 interconnects by terminal revolute pair 9; Described drive unit is by the left leading screw C that is arranged on left line slideway 1 and the right line slideway 5
1With right leading screw C
2, the left slider D that matches with left and right sides leading screw respectively
1With right slide block D
2, drive the left motor E that left and right sides leading screw rotates
1With right motor E
2Form, move left platform 2 and be installed in left slider D respectively with the platform 6 that moves right
1With right slide block D
2On.The Left-wing Federation of the present invention bar 4 and right link rod 8 formed parallel institutions, when mobile platform when the driving lower edge of drive unit line slideway move, the two-dimensional plane that just the one dimension rectilinear motion of two platforms is transformed into the link rod end is moved.The light weight of this robot can be on a large scale, high-speed motion; The rigidity of its link rod moment of flexure big, that bear is little, positioning accuracy is high; The whole system compact conformation, in light weight, transmission link is few, power consumption is low, can realize at a high speed, the motion of high-precision two-dimensional plane.
Description of drawings
Fig. 1 is the structural representation of the specific embodiment one, and Fig. 2 is the structural representation of the specific embodiment two.
The specific embodiment
The specific embodiment one: consult Fig. 1, present embodiment by left line slideway 1, right line slideway 5, move left platform 2, the platform 6 that moves right, drive unit, Left-wing Federation's bar 4, right link rod 8 form.Drive unit is left linear electric motors A and the right linear electric motors B that be arranged in parallel, the stator guiding track A of two linear electric motors
1And B
1Be left line slideway 1 and right line slideway 5, move left the mover A that the platform 2 and the platform 6 that moves right are fixedly connected on two linear electric motors respectively
2And B
2On; One end of Left-wing Federation's bar 4 and right link rod 8 respectively by first revolute pair 3 and second revolute pair 7 with move left platform 2 and be connected with the platform 6 that moves right, the other end of Left-wing Federation's bar 4 and right link rod 8 interconnects by terminal revolute pair 9.
The specific embodiment two: consult Fig. 2, what present embodiment and the specific embodiment one were different is that drive unit is by the left leading screw C that is arranged on left line slideway 1 and the right line slideway 5
1With right leading screw C
2, the left slider D that matches with left and right sides leading screw respectively
1With right slide block D
2, drive the left motor E that left and right sides leading screw rotates
1With right motor E
2Form, move left platform 2 and be installed in left slider D respectively with the platform 6 that moves right
1With right slide block D
2On.Present embodiment driven by motor leading screw rotates, and makes left and right sides platform produce rectilinear motion by slide block, and the rectilinear motion of platform is transformed into the two-dimensional plane motion of link rod end.Other composition is identical with the specific embodiment one with annexation.
Claims (1)
1. two-freedom plane-parallel type high-speed, high precision robot, it includes left line slideway (1) and the right line slideway (5) that is arranged in parallel, be separately positioned on that left line slideway (1) and right line slideway (5) are gone up and move left platform (2) and the platform that moves right (6) along the guide rail moving linearly, driving moves left platform (2) and the mobile drive unit of the platform that moves right (6), Left-wing Federation's bar (4) and right link rod (8), one end of Left-wing Federation's bar (4) and right link rod (8) respectively by first revolute pair (3) and second revolute pair (7) with move left platform (2) and be connected with the platform that moves right (6), the other end of Left-wing Federation's bar (4) and right link rod (8) interconnects by terminal revolute pair (9), it is characterized in that described drive unit is by the left leading screw (C that is arranged on left line slideway (1) and the right line slideway (5)
1) and right leading screw (C
2), the left slider (D that matches with left and right sides leading screw respectively
1) and right slide block (D
2), drive the left motor (E that left and right sides leading screw rotates
1) and right motor (E
2) form, move left platform (2) and the platform that moves right (6) is installed in left slider (D respectively
1) and right slide block (D
2) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031114377A CN100421883C (en) | 2003-04-10 | 2003-04-10 | Two-freedom plane parallel high-speed high-accuracy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031114377A CN100421883C (en) | 2003-04-10 | 2003-04-10 | Two-freedom plane parallel high-speed high-accuracy robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1535797A CN1535797A (en) | 2004-10-13 |
| CN100421883C true CN100421883C (en) | 2008-10-01 |
Family
ID=34319761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031114377A Expired - Fee Related CN100421883C (en) | 2003-04-10 | 2003-04-10 | Two-freedom plane parallel high-speed high-accuracy robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100421883C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100307278A1 (en) * | 2007-11-26 | 2010-12-09 | Motor Power Company S.R.L. | device for handling and/or performing work operations on objects |
| CN102172912A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Two-degree-of-freedom parallel manipulator |
| CN102152300A (en) * | 2011-02-25 | 2011-08-17 | 天津大学 | Linear-driven high-speed planar parallel mechanical arm |
| CN104690723A (en) * | 2015-02-28 | 2015-06-10 | 天津大学 | Two-degree-of-freedom positioning mechanism and telescopic driving type multiple-degree-of-freedom mixed-connected robot thereof |
| CN104669252A (en) * | 2015-02-28 | 2015-06-03 | 天津大学 | Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof |
| CN105033980A (en) * | 2015-08-21 | 2015-11-11 | 江苏大学 | Automatic lineation machine based on parallel-connection mechanism |
| CN109958742A (en) * | 2017-12-22 | 2019-07-02 | 北京北广科技股份有限公司 | A kind of movable sliding block |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02218579A (en) * | 1989-02-20 | 1990-08-31 | Smc Corp | Chuck using lamination type piezoelectric ceramics |
| JPH1097983A (en) * | 1996-09-20 | 1998-04-14 | Nikon Corp | Position detecting method |
| JPH1094983A (en) * | 1996-09-20 | 1998-04-14 | Hitachi Koki Co Ltd | Actuator mechanism |
| DE20101628U1 (en) * | 2001-01-29 | 2001-05-03 | Vector Verpackungstechnik Gmbh | Industrial robots |
-
2003
- 2003-04-10 CN CNB031114377A patent/CN100421883C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02218579A (en) * | 1989-02-20 | 1990-08-31 | Smc Corp | Chuck using lamination type piezoelectric ceramics |
| JPH1097983A (en) * | 1996-09-20 | 1998-04-14 | Nikon Corp | Position detecting method |
| JPH1094983A (en) * | 1996-09-20 | 1998-04-14 | Hitachi Koki Co Ltd | Actuator mechanism |
| DE20101628U1 (en) * | 2001-01-29 | 2001-05-03 | Vector Verpackungstechnik Gmbh | Industrial robots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1535797A (en) | 2004-10-13 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081001 Termination date: 20110410 |