CN103909517A - Parallel connecting rod type Delta robot forth axis transmission mechanism - Google Patents
Parallel connecting rod type Delta robot forth axis transmission mechanism Download PDFInfo
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- CN103909517A CN103909517A CN201410085290.4A CN201410085290A CN103909517A CN 103909517 A CN103909517 A CN 103909517A CN 201410085290 A CN201410085290 A CN 201410085290A CN 103909517 A CN103909517 A CN 103909517A
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- Prior art keywords
- connecting rod
- delta robot
- parallel
- universal joint
- transmission mechanism
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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
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a parallel connecting rod type Delta robot forth axis transmission mechanism, and relates to a Delta robot forth axis transmission mechanism. The parallel connecting rod type Delta robot forth axis transmission mechanism can meet demands for performances of a Delta robot during the rapid development process of industry of our country. The parallel connecting rod type Delta robot forth axis transmission mechanism comprises a drive motor, an upper end universal joint and a lower end universal joint. The parallel quadrangle connecting rod transmission mechanism of the forth axis of the Delta robot with four degrees of freedom further comprises a parallel connecting rod mechanism and a work platform. An output shaft of the drive motor is connected with the upper end universal joint in transmission mode. The upper end universal joint is connected with a diagonal shaft at the upper end of the parallel connecting rod mechanism. A diagonal shaft at the lower end of the parallel connecting rod mechanism is connected with the lower end universal joint. The lower end universal joint is connected with the work platform. The parallel connecting rod type Delta robot forth axis transmission mechanism is used on the Delta robot with the four degrees of freedom, and can meet the demands for the performances of the Delta robot during the rapid development process of the industry of our country.
Description
Technical field
The present invention relates to a kind of Delta robot the 4th shaft transmission, belong to Robotics field.
Background technology
The process of China's intense industrialization has led the fast development of robot application technology, and industrial robot is promptly replacing essential labour power--the people in various production lines.Delta robot with its efficiently, feature fast, become the first-selected type of robot of sorting on the production lines such as food, medicine, daily chemical products, packing, in predict future several years, the demand of China all can be in hundreds of thousands platform left and right, market potential is huge.According to investigation, in application, the transmission mechanism of four-degree-of-freedom Delta robot the 4th axle mainly contains following three kinds of forms at present: one, in the middle of the universal joint of two ends, realize axial stretching with ball spline shaft and transmit the radially version of moment of torsion simultaneously; Two, realize axial stretching with two or two sliding shaft rods that intermesh above in the middle of the universal joint of two ends and transmit the radially version of moment of torsion simultaneously; Three, drive motors and transmission mechanism are placed in to the version on three one of them linkages of driving shaft of Delta robot parallel connection, be characterized in this structure only need and work in theory with a universal joint in without axial stretching motion.The problem that the above three kinds of form produces in robot running is: form one; Ball spline shaft is alloy steel material manufacture, and quality is heavy, movement inertia is large, increases load to the drive motors of robot; The high-frequency vibration that the high-speed motion of Delta robot produces allows ball spline shaft Fast Wearing, must change in a short time, repeatedly (under severe condition of work, can reach tens times) in the cycle in service life of a Delta robot domestic demand assembly of changing this part, be that user or manufacturer are all burden and inconvenience greatly; Form two; Although can the light rigidity of the service property (quality) large composite of staggered sliding shaft rod, as carbon fibre material manufacture, has solved the large problem of inertia.But sliding friction always exists certain axial resistance, and in the time that fast rotational is transmitted torsion radially, the strain of axostylus axostyle also affects the precision of work or produces certain time delay phenomenon, can cause the reduction of robot efficiency.In addition, although can adopt the material that coefficient of friction is lower in the middle of application, there is friction will produce wearing and tearing and with bits end, will have certain pollution and consider end to be worth doing.Form three; Although there is no the problems of first two, because be that mechanism is placed on three one of them linkages of driving shaft of Delta robot parallel connection, so just increased the load of this axis drive motor; In addition, because this motor is kept in motion all the time in robot work, the guard technologies such as the cable to motor and motor are had relatively high expectations.In sum, the 4th shaft transmission present situation of the Delta robot of four-degree-of-freedom has formed a technology weak spot of this humanoid robot.
Summary of the invention
The present invention overcomes the problem that prior art exists, and a kind of Delta robot the 4th shaft transmission of connecting rod form in parallel is provided, to meet the demand to Delta robot performance in China's industry fast development process.
The present invention is for addressing the above problem, and the technical scheme of taking is:
Delta robot the 4th shaft transmission of connecting rod form in parallel, comprise drive motors, upper end universal joint, lower end universal joint, the jointed gear unit in parallel of described four-degree-of-freedom Delta robot the 4th axle also comprises linkage in parallel, workbench, drive motors output shaft and upper end universal joint driving coupling, upper end universal joint connects with the upper end diagonal axis of linkage in parallel, the lower end diagonal axis of linkage in parallel connects with lower end universal joint, and lower end universal joint connects with workbench.
Delta robot the 4th shaft transmission of connecting rod form in parallel, described linkage in parallel comprises three groups of connecting rods, every group of connecting rod comprises connecting rod and lower link, upper connecting rod lower end and upper small end are hinged, three upper small ends rotate and connect with described upper end diagonal axis, and three upper connecting rod lower ends are rotated and connected with described lower end diagonal axis.
Delta robot the 4th shaft transmission of connecting rod form in parallel, described upper connecting rod lower end and lower link upper end are by bearing hinge connection, and three upper small ends are rotated and are connected by a bearing respectively with described upper end diagonal axis.
Delta robot the 4th shaft transmission of connecting rod form in parallel, described workbench is round table surface, three groups of connecting rods are along the circumference uniform distribution setting of the round table surface of workbench.
Delta robot the 4th shaft transmission of connecting rod form in parallel, three groups of described connecting rods are made up of carbon fibre material.
The present invention has following beneficial effect with respect to prior art: when the present invention realizes axial stretching function in Delta robot the 4th through-drive process and stretching motion with the distortion of linkage in parallel, without friction, that the operation characteristic of its structure can keep is reliable and stable, the life-span is equal to the robot life-span; Can meet the demand to Delta robot performance in China's industry fast development process.
Accompanying drawing explanation
The Delta robot of connecting rod form in parallel of the present invention the 4th shaft transmission is assembled to the structural representation in Delta robot by Fig. 1;
Fig. 2 is the schematic diagram of Delta robot the 4th shaft transmission of connecting rod form in parallel of the present invention while moving in Delta robot;
Fig. 3 is Delta robot the 4th shaft transmission schematic diagram of connecting rod form in parallel of the present invention;
Fig. 4 is that Delta robot the 4th shaft transmission of connecting rod form in parallel of the present invention is at the schematic diagram in when motion;
Fig. 5 is a-quadrant enlarged drawing in Fig. 1;
Fig. 6 is B regional enlarged drawing in Fig. 2.
Parts title and label in figure are as follows:
Drive motors 14, upper end universal joint 15a, lower end universal joint 15b, linkage in parallel 16, workbench 18, upper end diagonal axis 20, lower end diagonal axis 21, upper connecting rod 16a, lower link 16b, Delta robot mechanism body 22, active motor 11, master arm 13b, slave arm 13c.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Fig. 1～Fig. 6, a kind of Delta robot the 4th shaft transmission of connecting rod form in parallel, comprise drive motors 14, upper end universal joint 15a, lower end universal joint 15b, Delta robot the 4th shaft transmission of described connecting rod form in parallel also comprises linkage 16 in parallel, workbench 18, drive motors 14 output shafts and upper end universal joint 15a driving coupling, upper end universal joint 15a connects with the upper end diagonal axis 20 of linkage 16 in parallel, the lower end diagonal axis 21 of linkage 16 in parallel connects with lower end universal joint 15b, lower end universal joint 15b connects with workbench 18.
Described linkage in parallel 16 comprises three groups of connecting rods, every group of connecting rod comprises connecting rod 16a and lower link 16b, upper connecting rod 16a lower end and upper connecting rod 16b upper end are hinged, three upper connecting rod 16a upper ends are rotated and are connected with described upper end diagonal axis 20, and three upper connecting rod 16a lower ends are rotated and connected with described lower end diagonal axis 21.
Preferably; Described upper connecting rod 16a lower end and lower link 16b upper end are by bearing hinge connection, and three upper connecting rod 16a upper ends are rotated and connected by a bearing respectively with described upper end diagonal axis 20, can guarantee use reliably and with long-term.
Preferably, described workbench 18 is round table surface, and three groups of connecting rods are along the circumference uniform distribution setting of the round table surface of workbench 18.
Preferably, three groups of described connecting rods are made up of carbon fibre material, can make the movement inertia of the 4th axle be down to similar robot with 1/3 of base part.
The present invention in use, drive motors 14 is arranged on Delta robot mechanism body 22, as shown in Figure 1 and Figure 2, three active motors 11 are all fixed on Delta robot mechanism body 22, every active motor 11 output shafts rotate and connect with corresponding master arm 13b one end, the described master arm 13b other end is hinged by upper pin and two slave arm 13c one end, two slave arm 13c other ends are rotated and connect with lower bearing pin by corresponding ball pivot seat respectively, and two ball pivot seats connect with workbench 18.
In the time that drive motors 14 is worked, by upper end universal joint 15a, linkage in parallel 16 and lower end universal joint 15b transmitting torque, workbench 18 does synchronous rotary motion; In the time that robot carries out compound motion, the universal joint at linkage 16 in parallel, upper and lower two ends can guarantee that the 4th axis mechanism realizes axial stretching and radial rotary function within the scope of Delta robot motion.
Claims (5)
1. Delta robot the 4th shaft transmission of a connecting rod form in parallel, comprise drive motors (14), upper end universal joint (15a), lower end universal joint (15b), it is characterized in that: the jointed gear unit in parallel of described four-degree-of-freedom Delta robot the 4th axle also comprises linkage in parallel (16), workbench (18), drive motors (14) output shaft and upper end universal joint (15a) driving coupling, upper end universal joint (15a) connects with the upper end diagonal axis (20) of linkage in parallel (16), the lower end diagonal axis (21) of linkage in parallel (16) connects with lower end universal joint (15b), lower end universal joint (15b) connects with workbench (18).
2. Delta robot the 4th shaft transmission of connecting rod form in parallel according to claim 1, it is characterized in that: described linkage in parallel (16) comprises three groups of connecting rods, every group of connecting rod comprises connecting rod (16a) and lower link (16b), upper connecting rod (16a) lower end and upper connecting rod (16b) upper end are hinged, three upper connecting rod (16a) upper ends are rotated and are connected with described upper end diagonal axis (20), and three upper connecting rod (16a) lower ends are rotated and connected with described lower end diagonal axis (21).
3. Delta robot the 4th shaft transmission of connecting rod form in parallel according to claim 2, it is characterized in that: described upper connecting rod (16a) lower end and lower link (16b) upper end are by bearing hinge connection, and three upper connecting rod (16a) upper ends are rotated and connected by a bearing respectively with described upper end diagonal axis (20).
4. according to Delta robot the 4th shaft transmission of the connecting rod form in parallel described in claim 2 or 3, it is characterized in that: described workbench (18) is round table surface, three groups of connecting rods are along the circumference uniform distribution setting of the round table surface of workbench (18).
5. Delta robot the 4th shaft transmission of connecting rod form in parallel according to claim 4, is characterized in that: three groups of described connecting rods are made up of carbon fibre material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410085290.4A CN103909517A (en) | 2014-03-10 | 2014-03-10 | Parallel connecting rod type Delta robot forth axis transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410085290.4A CN103909517A (en) | 2014-03-10 | 2014-03-10 | Parallel connecting rod type Delta robot forth axis transmission mechanism |
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| Publication Number | Publication Date |
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| CN103909517A true CN103909517A (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410085290.4A Pending CN103909517A (en) | 2014-03-10 | 2014-03-10 | Parallel connecting rod type Delta robot forth axis transmission mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085547A (en) * | 2014-07-19 | 2014-10-08 | 常州先进制造技术研究所 | Automatic grabbing and inputting device for out-of-shape solid contents in liquid food |
| CN105598960A (en) * | 2014-11-17 | 2016-05-25 | 克朗斯股份公司 | Method for handling and/or for manipulating articles such as containers or piece goods |
| CN107061527A (en) * | 2017-06-12 | 2017-08-18 | 江苏丰东热技术有限公司 | Can axial stretching shaft coupling |
| CN109421039A (en) * | 2017-08-23 | 2019-03-05 | 发那科株式会社 | Robot and parallel link robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1293691A1 (en) * | 2001-09-17 | 2003-03-19 | SIG Pack Systems AG | Telescopic device for transmitting a torque |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN202702238U (en) * | 2012-07-20 | 2013-01-30 | 大连佳林设备制造有限公司 | Parallel sorting robot |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
-
2014
- 2014-03-10 CN CN201410085290.4A patent/CN103909517A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1293691A1 (en) * | 2001-09-17 | 2003-03-19 | SIG Pack Systems AG | Telescopic device for transmitting a torque |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN202702238U (en) * | 2012-07-20 | 2013-01-30 | 大连佳林设备制造有限公司 | Parallel sorting robot |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085547A (en) * | 2014-07-19 | 2014-10-08 | 常州先进制造技术研究所 | Automatic grabbing and inputting device for out-of-shape solid contents in liquid food |
| CN105598960A (en) * | 2014-11-17 | 2016-05-25 | 克朗斯股份公司 | Method for handling and/or for manipulating articles such as containers or piece goods |
| CN107061527A (en) * | 2017-06-12 | 2017-08-18 | 江苏丰东热技术有限公司 | Can axial stretching shaft coupling |
| CN109421039A (en) * | 2017-08-23 | 2019-03-05 | 发那科株式会社 | Robot and parallel link robot |
| US10960534B2 (en) | 2017-08-23 | 2021-03-30 | Fanuc Corporation | Robot and parallel link robot |
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Application publication date: 20140709 |