CN103934824B - A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot - Google Patents
A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot Download PDFInfo
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- CN103934824B CN103934824B CN201410191091.1A CN201410191091A CN103934824B CN 103934824 B CN103934824 B CN 103934824B CN 201410191091 A CN201410191091 A CN 201410191091A CN 103934824 B CN103934824 B CN 103934824B
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Abstract
The invention discloses a kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot, belong to Industrial Robot Technology field.An axle gyration mechanism in the present invention drives an axle decelerator by a spindle motor, makes an axle gyration mechanism carry out gyration; The first reducing gear drivening rod one in two axle parallel moving mechanisms, connecting rod one, connecting rod two, connecting rod three form a parallelogram sturcutre, connecting rod three, connecting rod four, connecting rod five, connecting rod six also form a parallelogram sturcutre, and this connecting rod six is connected with grip block; Second reducing gear drivening rod seven, connecting rod seven, connecting rod eight, connecting rod nine form a parallelogram sturcutre, and connecting rod nine, connecting rod ten, connecting rod 11 and connecting rod six also form a parallelogram sturcutre.Present invention incorporates the advantage of series and parallel connections robot, four shaft industrial robots can be replaced within the specific limits to carry out carrying, piling, sorting, vanning, the work such as linear welding.
Description
Technical field
The present invention relates to field of electromechanical integration Industrial robots Mechanical body new mechanism, more particularly, relate to a kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot.
Background technology
Industrial robot is the important automated arm of modern manufacturing industry, developed country has become a kind of trend with the automatic production line of the artificial core of machine, greatly ensure and improve quality and the production efficiency of enterprise product, promote the fast development of these industries, made its manufacturing technology also by the high-new manufacturing technology of conventional fabrication processes technical development to advanced person.Industrial robot mainly contains two kinds of technology paths: one is cascaded structure, such as typical 6DOF multi-joint industrial robot; Another kind is parallel-connection structure, and multiple joint is associated movement on a point, and controls.Cascaded structure developing history is long, is widely used, and be Industrial robots Mechanical's structure of main flow, but movement velocity is subject to certain restriction; The research and development of parallel robot are also more and more subject to people's attention now, because its speed is fast, cost is low, but the range of movement of parallel robot is narrow and small, and load is little is also the key factor that restriction parallel robot develops.
By patent retrieval, the technical scheme about industrial robot has similar open.As Chinese Patent Application No.: 201210082006.9, the applying date: 2012-03-26, invention and created name is: the technical scheme of robot for carrying and piling discloses a kind of robot for carrying and piling, comprise base, be located at the rotary frame that can rotate around vertical direction on base, if on the rotating gantry by below large arm, below forearm, top large arm, the large arm parallel-crank mechanism of top forearm composition, wrist horizontal attitude keeping parallelism quadrangular mechanism, the parallelogram arm mechanism be connected with large arm parallel-crank mechanism and wrist horizontal attitude keeping parallelism quadrangular mechanism, the wrist that can rotate around vertical direction be connected with parallelogram arm mechanism, be provided with inclined guide rails on the rotating gantry, this inclined guide rails is provided with the slide block driven by linear driving element, described slide block is flexibly connected with the fixed connecting piece of the large arm lower end, below of wrist horizontal attitude keeping parallelism quadrangular mechanism, the lower end of the top large arm in large arm parallel-crank mechanism is coaxially connected with the upper end of a linear driving element, and the lower end of linear driving element is connected with rotary frame by rotary hinge.
And for example, Chinese Patent Application No.: 201310079690.X, the applying date: 2013-03-13, invention and created name is technical scheme disclosed in a kind of three-translational freedom robot mechanism containing nearly frame parallelogram-frame parallel rod far away.Chinese Patent Application No.: 201010251559.3, the applying date: 2010-08-05, invention and created name is technical scheme disclosed in a kind of three-translational freedom robot mechanism containing junction parallelogram.The technical barrier that all unresolved parallel connection of technique scheme and serial manipulator exist, still needs further improvement.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome series and parallel connections robot architecture Problems existing in prior art, provide a kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot, adopt technical scheme of the present invention can the in parallel and serial manipulator Problems existing of ingenious solution.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of robot of the present invention parallel-crank mechanism, comprise two axle supporting seats, also comprise the first parallelogram motion mechanism, second parallelogram motion mechanism and grip block, wherein: the first described parallelogram motion mechanism comprises the first reducing gear, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six, the first described reducing gear drivening rod one, described connecting rod one, connecting rod two, connecting rod three forms a parallelogram sturcutre, described connecting rod three, connecting rod four, connecting rod five, connecting rod six also forms a parallelogram sturcutre, this connecting rod six is connected with grip block, the second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten and connecting rod 11, the second described reducing gear drivening rod seven, described connecting rod seven, connecting rod eight, connecting rod nine form a parallelogram sturcutre, and described connecting rod nine, connecting rod ten, connecting rod 11 and connecting rod six also form a parallelogram sturcutre.
Furthermore, the first described reducing gear and the second reducing gear are installed on two axle supporting seats, one end of connecting rod one is connected with the first reducing gear, one end of connecting rod two is hingedly coupled on two axle supporting seats, the other end of connecting rod one and connecting rod three chain connection, the other end of connecting rod two also with connecting rod three chain connection; The two ends of described connecting rod four respectively with connecting rod three, connecting rod six chain connection, the two ends of described connecting rod five also respectively with connecting rod three, connecting rod six chain connection.
Furthermore, one end of described connecting rod seven is connected with the second reducing gear, and one end of connecting rod eight is hingedly coupled on two axle supporting seats, the other end of connecting rod seven and connecting rod nine chain connection, the other end of connecting rod eight also with connecting rod nine chain connection; The two ends of described connecting rod ten respectively with connecting rod nine, connecting rod six chain connection, the two ends of described connecting rod 11 also respectively with connecting rod nine, connecting rod six chain connection.
Furthermore, described connecting rod one and connecting rod two are pair of parallel limit, and connecting rod four and connecting rod five are pair of parallel limit, and connecting rod seven and connecting rod eight are pair of parallel limit, and connecting rod ten and connecting rod 11 are pair of parallel limit; Above-mentioned connecting rod one, connecting rod two, connecting rod ten are identical with the length of connecting rod 11, and above-mentioned connecting rod four, connecting rod five, connecting rod seven are identical with the length of connecting rod eight.
A kind of three-axis series-multiple connection mechanism of the present invention industrial robot, comprise an axle gyration mechanism and two axle parallel moving mechanisms, wherein: an axle gyration mechanism, a described axle gyration mechanism comprises a spindle motor, an axle decelerator, an axle pedestal and two axle pedestals, this spindle motor drives an axle decelerator, make an axle gyration mechanism carry out gyration, drive two axle pedestal gyrations;
Two axle parallel moving mechanisms, two described axle parallel moving mechanisms comprise two axle supporting seats, first parallelogram motion mechanism, second parallelogram motion mechanism and grip block, this two axles supporting seat is fixed on two axle pedestals, wherein: the first described parallelogram motion mechanism comprises the first reducing gear, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six, the first described reducing gear drivening rod one, described connecting rod one, connecting rod two, connecting rod three forms a parallelogram sturcutre, described connecting rod three, connecting rod four, connecting rod five, connecting rod six also forms a parallelogram sturcutre, this connecting rod six is connected with grip block, the second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten and connecting rod 11, the second described reducing gear drivening rod seven, described connecting rod seven, connecting rod eight, connecting rod nine form a parallelogram sturcutre, and described connecting rod nine, connecting rod ten, connecting rod 11 and connecting rod six also form a parallelogram sturcutre.
Furthermore, the first described reducing gear and the second reducing gear are installed on two axle supporting seats, one end of connecting rod one is connected with the first reducing gear, one end of connecting rod two is hingedly coupled on two axle supporting seats, the other end of connecting rod one and connecting rod three chain connection, the other end of connecting rod two also with connecting rod three chain connection; The two ends of described connecting rod four respectively with connecting rod three, connecting rod six chain connection, the two ends of described connecting rod five also respectively with connecting rod three, connecting rod six chain connection.
Furthermore, one end of described connecting rod seven is connected with the second reducing gear, and one end of connecting rod eight is hingedly coupled on two axle supporting seats, the other end of connecting rod seven and connecting rod nine chain connection, the other end of connecting rod eight also with connecting rod nine chain connection; The two ends of described connecting rod ten respectively with connecting rod nine, connecting rod six chain connection, the two ends of described connecting rod 11 also respectively with connecting rod nine, connecting rod six chain connection.
Furthermore, described connecting rod one and connecting rod two are pair of parallel limit, and connecting rod four and connecting rod five are pair of parallel limit, and connecting rod seven and connecting rod eight are pair of parallel limit, and connecting rod ten and connecting rod 11 are pair of parallel limit; Above-mentioned connecting rod one, connecting rod two, connecting rod ten are identical with the length of connecting rod 11, and above-mentioned connecting rod four, connecting rod five, connecting rod seven are identical with the length of connecting rod eight.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with prior art, there is following remarkable result:
(1) a kind of robot of the present invention parallel-crank mechanism, the design feature of the unique innovative design of its first parallelogram motion mechanism and the second parallelogram motion mechanism can ensure that connecting rod six necessarily moves in vertical direction, driven by the first reducing gear and the second reducing gear two reducing gears, ensure that grip block can have a unique position in a space, the robot movement velocity adopting parallel-crank mechanism of the present invention to make is fast, and structure is simple, and cost is low.
(2) a kind of three-axis series-multiple connection mechanism of the present invention industrial robot, which employs the three-axis series-multiple connection new construction of an axle gyration mechanism and two axle parallel moving mechanisms, combine the advantage of serial manipulator and parallel robot, the gyration of one axle gyration mechanism makes the range of movement of robot be greatly improved, two axle parallel moving mechanisms have employed the parallel-crank mechanism of unique innovative design, its movement velocity is fast, and structure is simple, cost is low, industrial robot of the present invention can replace four shaft industrial robots to carry within the specific limits, piling, sorting, vanning, the work such as linear welding.
Accompanying drawing explanation
Fig. 1 is the structural representation of an axle gyration mechanism in the present invention;
Fig. 2 is the structural representation of two axle parallel moving mechanisms in the present invention.
Label declaration in schematic diagram:
1, a spindle motor; 2, an axle decelerator; 3, an axle pedestal; 41, two axle pedestals; 42, two axle supporting seats; 5, the first reducing gear; 61, connecting rod one; 62, connecting rod two; 63, connecting rod three; 64, connecting rod four; 65, connecting rod five; 66, connecting rod six; 71, connecting rod seven; 72, connecting rod eight; 73, connecting rod nine; 74, connecting rod ten; 75, connecting rod 11; 8, grip block.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
Composition graphs 1 and Fig. 2, a kind of three-axis series-multiple connection mechanism industrial robot of the present embodiment, comprises an axle gyration mechanism and two axle parallel moving mechanisms.As shown in Figure 1, an axle gyration mechanism in the present embodiment comprises spindle motor 1, axle decelerator 2, axle pedestal 3 and two axle pedestals 41, this spindle motor 1 drives an axle decelerator 2, makes an axle gyration mechanism carry out gyration, drives two axle pedestal 41 gyrations.As shown in Figure 2, two axle parallel moving mechanisms in the present embodiment comprise two axle supporting seats 42, first parallelogram motion mechanism, second parallelogram motion mechanism and grip block 8, this two axles supporting seat 42 is fixed on two axle pedestals 41, wherein: the first described parallelogram motion mechanism comprises the first reducing gear 5, connecting rod 1, connecting rod 2 62, connecting rod 3 63, connecting rod 4 64, connecting rod 5 65 and connecting rod 6 66, the first described reducing gear 5 drivening rod 1, described connecting rod 1, connecting rod 2 62, connecting rod 3 63 forms a parallelogram sturcutre, described connecting rod 3 63, connecting rod 4 64, connecting rod 5 65, connecting rod 6 66 also forms a parallelogram sturcutre, this connecting rod 6 66 is connected with grip block 8.Second parallelogram motion mechanism comprises the second reducing gear, connecting rod 7 71, connecting rod 8 72, connecting rod 9 73, connecting rod 10 and connecting rod 11, the second described reducing gear drivening rod 7 71, described connecting rod 7 71, connecting rod 8 72, connecting rod 9 73 form a parallelogram sturcutre, and described connecting rod 9 73, connecting rod 10, connecting rod 11 and connecting rod 6 66 also form a parallelogram sturcutre.A kind of robot parallel-crank mechanism in the present embodiment is two axle parallel moving mechanisms.
Concrete structure detailed is in the present embodiment described as follows: the first reducing gear 5 and the second reducing gear are installed on two axle supporting seats 42, one end of connecting rod 1 is connected with the first reducing gear 5, one end of connecting rod 2 62 is hingedly coupled on two axle supporting seats 42, the other end of connecting rod 1 and connecting rod 3 63 chain connection, the other end of connecting rod 2 62 also with connecting rod 3 63 chain connection; The two ends of described connecting rod 4 64 respectively with connecting rod 3 63, connecting rod 6 66 chain connection, the two ends of described connecting rod 5 65 also respectively with connecting rod 3 63, connecting rod 6 66 chain connection.One end of connecting rod 7 71 is connected with the second reducing gear, and one end of connecting rod 8 72 is hingedly coupled on two axle supporting seats 42, the other end of connecting rod 7 71 and connecting rod 9 73 chain connection, the other end of connecting rod 8 72 also with connecting rod 9 73 chain connection; The two ends of described connecting rod 10 respectively with connecting rod 9 73, connecting rod 6 66 chain connection, the two ends of described connecting rod 11 also respectively with connecting rod 9 73, connecting rod 6 66 chain connection.In Fig. 2, connecting rod 1 and connecting rod 2 62 are pair of parallel limit, and connecting rod 4 64 and connecting rod 5 65 are pair of parallel limit, and connecting rod 7 71 and connecting rod 8 72 are pair of parallel limit, and connecting rod 10 and connecting rod 11 are pair of parallel limit; Above-mentioned connecting rod 1, connecting rod 2 62, connecting rod 10 are identical with the length of connecting rod 11, and above-mentioned connecting rod 4 64, connecting rod 5 65, connecting rod 7 71 are identical with the length of connecting rod 8 72.Connecting rod 1 in the present embodiment, connecting rod 2 62, connecting rod 10 are identical with the length of connecting rod 11, connecting rod 4 64, connecting rod 5 65, connecting rod 7 71 are identical with the length of connecting rod 8 72, and such size fit design ensure that the operation order of two axle parallel moving mechanisms.
Specifically in use, an axle gyration mechanism is by a spindle motor 1 Direct driver one axle decelerator 2, makes an axle gyration mechanism carry out gyration.Two axle parallel moving mechanisms directly connect the first reducing gear 5 and the second reducing gear (in figure non-label) respectively by motor, for the first parallelogram motion mechanism, first reducing gear 5 drivening rod 1, connecting rod 1, connecting rod 2 62, connecting rod 3 63 forms a parallelogram sturcutre, connecting rod 3 63, connecting rod 4 64, connecting rod 5 65, connecting rod 6 66 also forms a parallelogram sturcutre, in the process that the first reducing gear 5 moves, two above-mentioned parallelogram sturcutres are driven to move, design feature due to parallelogram ensures that connecting rod 6 66 necessarily moves in vertical direction, and because there are two parallelogram sturcutres, only has the first reducing gear 5 as a power source, so unnecessary one of the free degree.The version of the second parallelogram motion mechanism is the same with the first parallelogram motion mechanism, but the version of the first parallelogram motion mechanism and the second parallelogram motion mechanism is just in time contrary, ensure that the free degree of grip block 8 is two, but because have the first reducing gear 5 and the second reducing gear as two reducing gears, so ensure that grip block 8 can have a unique position in a space.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (3)
1. a robot parallel-crank mechanism, comprises two axle supporting seats (42), it is characterized in that: also comprise the first parallelogram motion mechanism, the second parallelogram motion mechanism and grip block (8), wherein:
The first described parallelogram motion mechanism comprises the first reducing gear (5), connecting rod one (61), connecting rod two (62), connecting rod three (63), connecting rod four (64), connecting rod five (65) and connecting rod six (66), described the first reducing gear (5) drivening rod one (61), described connecting rod one (61), connecting rod two (62), connecting rod three (63) forms a parallelogram sturcutre, described connecting rod three (63), connecting rod four (64), connecting rod five (65), connecting rod six (66) also forms a parallelogram sturcutre, this connecting rod six (66) is connected with grip block (8),
The second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven (71), connecting rod eight (72), connecting rod nine (73), connecting rod ten (74) and connecting rod ten one (75), the second described reducing gear drivening rod seven (71), described connecting rod seven (71), connecting rod eight (72), connecting rod nine (73) form a parallelogram sturcutre, and described connecting rod nine (73), connecting rod ten (74), connecting rod ten one (75) and connecting rod six (66) also form a parallelogram sturcutre;
Wherein: described connecting rod one (61) and connecting rod two (62) are pair of parallel limit, connecting rod four (64) and connecting rod five (65) are pair of parallel limit, connecting rod seven (71) and connecting rod eight (72) are pair of parallel limit, and connecting rod ten (74) and connecting rod ten one (75) are pair of parallel limit; Above-mentioned connecting rod one (61), connecting rod two (62), connecting rod ten (74) are identical with the length of connecting rod ten one (75), and above-mentioned connecting rod four (64), connecting rod five (65), connecting rod seven (71) are identical with the length of connecting rod eight (72).
2. a kind of robot according to claim 1 parallel-crank mechanism, it is characterized in that: described the first reducing gear (5) and the second reducing gear are installed on two axle supporting seats (42), one end of connecting rod one (61) is connected with the first reducing gear (5), one end of connecting rod two (62) is hingedly coupled on two axle supporting seats (42), the other end of connecting rod one (61) and connecting rod three (63) chain connection, the other end of connecting rod two (62) also with connecting rod three (63) chain connection; The two ends of described connecting rod four (64) respectively with connecting rod three (63), connecting rod six (66) chain connection, the two ends of described connecting rod five (65) also respectively with connecting rod three (63), connecting rod six (66) chain connection.
3. a kind of robot according to claim 2 parallel-crank mechanism, it is characterized in that: one end of described connecting rod seven (71) is connected with the second reducing gear, one end of connecting rod eight (72) is hingedly coupled on two axle supporting seats (42), the other end of connecting rod seven (71) and connecting rod nine (73) chain connection, the other end of connecting rod eight (72) also with connecting rod nine (73) chain connection; The two ends of described connecting rod ten (74) respectively with connecting rod nine (73), connecting rod six (66) chain connection, the two ends of described connecting rod ten one (75) also respectively with connecting rod nine (73), connecting rod six (66) chain connection.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410191091.1A CN103934824B (en) | 2014-05-07 | 2014-05-07 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
| CN201510690222.5A CN105127988B (en) | 2014-05-07 | 2014-05-07 | A kind of three-axis series-multiple connection mechanism industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410191091.1A CN103934824B (en) | 2014-05-07 | 2014-05-07 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
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| CN201510690222.5A Division CN105127988B (en) | 2014-05-07 | 2014-05-07 | A kind of three-axis series-multiple connection mechanism industrial robot |
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| CN103934824A CN103934824A (en) | 2014-07-23 |
| CN103934824B true CN103934824B (en) | 2016-03-16 |
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| CN201410191091.1A Expired - Fee Related CN103934824B (en) | 2014-05-07 | 2014-05-07 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
| CN201510690222.5A Expired - Fee Related CN105127988B (en) | 2014-05-07 | 2014-05-07 | A kind of three-axis series-multiple connection mechanism industrial robot |
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| CN201510690222.5A Expired - Fee Related CN105127988B (en) | 2014-05-07 | 2014-05-07 | A kind of three-axis series-multiple connection mechanism industrial robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626109A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | MDOF controllable mechanism type hybrid carrying robot |
| CN104960859B (en) * | 2015-07-02 | 2017-04-19 | 山大鲁能信息科技有限公司 | Roaster cigarette holder installation and detachment equipment |
| CN105805252A (en) * | 2016-05-06 | 2016-07-27 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| CN106180449B (en) * | 2016-07-06 | 2018-04-03 | 燕山大学 | Series-parallel configuration punching press loading and unloading manipulator |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105127988B (en) | 2017-08-08 |
| CN105127988A (en) | 2015-12-09 |
| CN103934824A (en) | 2014-07-23 |
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