CN104290094A - H-type parallel robot - Google Patents
H-type parallel robot Download PDFInfo
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- CN104290094A CN104290094A CN201410495117.1A CN201410495117A CN104290094A CN 104290094 A CN104290094 A CN 104290094A CN 201410495117 A CN201410495117 A CN 201410495117A CN 104290094 A CN104290094 A CN 104290094A
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- assembly
- slide block
- guide rail
- drag chain
- cylinder
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Abstract
The invention discloses an H-type parallel robot. The H-type parallel robot comprises a rack, a workbench, X-direction assemblies, a Y-direction assembly and a Z-direction assembly, wherein the two X-direction assemblies are symmetrically arranged on the left side and the right side of the workbench, each X-direction assembly comprises an X-direction guide rail and an X-direction slider assembly, the Y-direction assembly comprises a Y-direction guide rail and a Y-direction slider assembly, and the Z-direction assembly comprises an executing part and an air cylinder or an electric cylinder; a driving motor and a driving synchronous belt wheel are installed at the front end of each X-direction guide rail, a driven synchronous belt wheel is installed at the rear end of each X-direction guide rail, and the front side and the rear side of the joint between each X-direction slider assembly and the Y-direction guide rail are each provided with an idler wheel; an H-type frame composed of the X-direction assemblies and the Y-direction assembly is sleeved with an H-type synchronous belt, the driving synchronous belt wheels are driven by the driving motors to rotate, the driven synchronous belt wheels are driven by the driving synchronous belt wheels to rotate through the synchronous belt, and finally, the executing part is driven to move in the X direction and the Y direction. The H-type parallel robot is simple in structure, low in manufacturing cost, good in structural strength and high in position accuracy and is a real environment-friendly energy-saving robot.
Description
Technical field
The present invention relates to industrial robot technical field.
Background technology
Along with improving constantly of industrial automation level, robot is widely used in industrial every field.Robot is roughly divided into parallel robot, articulated robot and serial manipulator three major types, and its execution unit will realize X to, Y-direction and Z-direction motion, needs to mate different power respectively and drives.In motion process, the weight of the power of each axle or motor self will be added on moving loads, cause power consumption.Further, the subject matter that existing industrial robot structurally exists is: overall structure rigidity is inadequate, and the position precision difficulty performing part controls, and complex structure, manufacturing cost is high.
Summary of the invention
The present invention is directed to above-mentioned technical problem to improve, intend providing that a kind of structure is simple, low cost of manufacture, the rigidity of structure is good, position precision is high, the parallel robot of green energy conservation.
For solving above technical problem, the technical solution adopted in the present invention is: a kind of H type parallel robot, comprise frame (1), be installed in the workbench (2) of described frame (1) top, key is: be provided with two X in the top of described workbench (2) to assembly (3), a Y-direction assembly (4) and a Z-direction assembly (5); Two X are arranged symmetrically in the left and right sides of workbench (2) to assembly (3), each X comprises X direction guiding rail (31) and X to slide block assembly (32) to assembly (3), described X direction guiding rail (31) is installed on workbench (2), and X is slidably connected to slide block assembly (32) and X direction guiding rail (31); Described Y-direction assembly (4) comprises Y-direction guide rail (41) and Y-direction slide block assembly (42), the two ends of described Y-direction guide rail (41) are connected to slide block assembly (32) is vertical with the X of respective side respectively, and described Y-direction slide block assembly (42) and Y-direction guide rail (41) are slidably connected; Described Z-direction assembly (5) comprises execution unit (51), and cylinder (52) or electric cylinder, described cylinder (52) or electric cylinder are arranged on Y-direction slide block (42), and cylinder (52) or electric cylinder drive execution unit (51) to move in Z-direction;
The front end of each X direction guiding rail (31) is provided with a drive motors (6) and an active synchronization belt wheel, the rear end of each X direction guiding rail (31) is provided with a driven synchronous pulley, is respectively provided with an idle pulley at X to slide block assembly (32) and the both sides, front and back of Y-direction guide rail (41) junction; The H-shaped framework that described X is formed to assembly (3) and Y-direction assembly (4) is set with the Timing Belt (10) of H-shaped, on slide block assembly (32), the synchronous belt locking block (13) engaged with Timing Belt (10) is installed with at described X, described drive motors (6) drives active synchronization belt wheel to rotate, active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt (10), finally drive execution unit (51) X to and Y-direction move.
Preferred as such scheme, described X to slide block assembly (32) by X to slide block (32a), X is to slide carriage (32b) and two L shape keyset (32c) compositions, described X is slidably connected to slide block (32a) and X direction guiding rail (31) by dovetail groove, X is installed in X to slide block (32a) top to slide carriage (32b), for being connected with Y-direction guide rail (41), two L shape keysets (32c) lay respectively at X to the front and back both sides of slide block assembly (32) with Y-direction guide rail (41) junction, described idle pulley is arranged on corresponding L shape keyset (32c) inner side.By optimizing X to slide block assembly, reduce manufacture difficulty, idle pulley and the acting in conjunction of L shape keyset, facilitate Timing Belt to slide at this angle position place smooth and easy, X is slidably connected to slide block assembly and X direction guiding rail by dovetail groove, ensures the reliability of sliding.
Simultaneously, described Y-direction slide block assembly (42) is made up of Y-direction slide block (42a) and Y-direction slide carriage (42b), described Y-direction slide block (42a) and Y-direction guide rail (41) are slidably connected by dovetail groove, described Y-direction slide carriage (42b) is installed in front side or the rear side of Y-direction slide block (42a), and described cylinder (52) is arranged on Y-direction slide carriage (42b).By optimizing Y-direction slide block assembly, reducing manufacture difficulty, and ensure that the reliability of Y-direction slide block and Y-direction slide.
Described execution unit (51) is vacuum cup, gas pawl or manipulator; Execution unit can select different execution units to install according to specific needs, to meet the use needs of various occasion.
Further, the below of one of them X direction guiding rail (31) is provided with X to drag chain (71), the top of Y-direction guide rail (41) is provided with Y-direction drag chain (72), X upwards connects with wherein one end of Y-direction drag chain (72) after bending 180 ° to the front end of drag chain (71), the other end of Y-direction drag chain (72) is upwards corresponding with the position of cylinder (52) after bending 180 °, and X forms a pipeline wire casing (7) jointly to drag chain (71) and Y-direction drag chain (72).By arranging pipeline wire casing, passing through for the pipeline in H type parallel robot, designing ingenious, connection and reasonable arrangement, taking up room little, low cost of manufacture.
The course of work and principle as follows: the Timing Belt of H type parallel robot is H type, just be enclosed within the H-shaped framework of two X direction guiding rails and a Y-direction guide rail formation, wherein Y-direction guide rail slides to slide block assembly together along with X, and Y-direction slide block assembly is connected with Y-direction slide.Two active synchronization belt wheels are driven by drive motors respectively, and active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt, final drive execution unit X to and Y-direction motion.
When two drive motors (are clockwise or are counterclockwise) rotation in the same way, execution unit moves in Y-direction, when two drive motors, oppositely (one is clockwise, one is counterclockwise) rotate time, execution unit moves upward at X, namely by control to drive motors, can realize execution unit X to and the high-speed motion of Y-direction, and movement locus is complicated and changeable; Execution unit moves by cylinder or the realization of electric cylinder in Z-direction, and Z-direction stroke is determined by the stroke of cylinder or electric cylinder.
Main feature of the present invention is: execution unit at X to being realized by a H-shaped Timing Belt, two drive motors, two active synchronization belt wheels, two driven synchronous pulleys with the motion in Y-direction, and drive motors is fixed, can not along with X moves to the motion with Y-direction in motion process, decrease moving loads quality, substantially increase movement velocity; Meanwhile, Timing Belt is enclosed within the H-shaped framework of two X direction guiding rails and a Y-direction guide rail formation, increases the rigidity of structure, improves the accuracy of execution unit movement position; And structure is simple, design ingenious, low cost of manufacture.
Accompanying drawing explanation
Fig. 1 is stereogram of the present invention.
Fig. 2 is the A direction view of Fig. 1.
Fig. 3 be in Fig. 1 X to the scheme of installation of assembly, Y-direction assembly, Z-direction assembly and drive motors etc.
Fig. 4 is the B portion enlarged drawing of Fig. 3.
Fig. 5 is the C portion enlarged drawing of Fig. 3.
Fig. 6 is the structural representation of H-shaped Timing Belt.
Fig. 7 a is two drive motors when all rotating clockwise, the slip schematic diagram of Timing Belt.
Fig. 7 b is two drive motors when all rotating counterclockwise, the slip schematic diagram of Timing Belt.
Fig. 8 a be the drive motors in left side clockwise, the drive motors on right side is when rotating counterclockwise, the slip schematic diagram of Timing Belt.
Fig. 8 b is when the drive motors in left side is inverse clockwise, the drive motors on right side rotates clockwise, the slip schematic diagram of Timing Belt.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
Composition graphs 1---shown in Fig. 3, a kind of H type parallel robot, primarily of frame 1, workbench 2, two X to the composition such as assembly 3, Y-direction assembly 4, Z-direction assembly 5, two drive motors 6, pipeline wire casing 7, Timing Belt 10, two active synchronization belt wheels, two driven synchronous pulleys, four idle pulleys, in addition, appliance wiring case 8, display screen 9 etc. is also comprised.
Workbench 2 is installed in the top of frame 1, and two X are also arranged on the top of workbench 2 to assembly 3, Y-direction assembly 4 and Z-direction assembly 5.Two X are arranged symmetrically with the left and right sides of workbench 2 to assembly 3.Each X is made up of to slide block assembly 32 to assembly 3 X direction guiding rail 31 and X, and X direction guiding rail 31 is installed on workbench 2, and X is slidably connected to slide block assembly 32 and X direction guiding rail 31.Y-direction assembly 4 is made up of Y-direction guide rail 41 and Y-direction slide block assembly 42, and the two ends of Y-direction guide rail 41 are connected to slide block assembly 32 is vertical with the X of respective side respectively, and Y-direction slide block assembly 42 and Y-direction guide rail 41 are slidably connected.Z-direction assembly 5 is made up of execution unit 51 and cylinder 52, and cylinder 52 is arranged on Y-direction slide block 42, and cylinder 52 drives execution unit 51 to move in Z-direction.Cylinder 52 can substitute by electricity consumption cylinder, and execution unit 51 is vacuum cup, also can be gas pawl or manipulator etc.
The front end of each X direction guiding rail 31 is provided with a drive motors 6 and an active synchronization belt wheel (not shown), the rear end of each X direction guiding rail 31 is provided with a driven synchronous pulley (not shown), is respectively provided with an idle pulley (not shown) at X to slide block assembly 32 and the both sides, front and back of Y-direction guide rail 41 junction; The H-shaped framework that X is formed to assembly 3 and Y-direction assembly 4 is set with the Timing Belt 10 (as Fig. 6) of H-shaped, Timing Belt 10 carries engaging tooth (not shown), on slide block assembly 32, the synchronous belt locking block 13 engaged with Timing Belt 10 is installed with at X, to prevent Timing Belt 10 from skidding, it is the auxiliary member of necessity during Timing Belt application.Drive motors 6 drives active synchronization belt wheel to rotate, and active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt 10, final drive execution unit 51 X to and Y-direction motion.Execution unit 51 is for performing an action to the workpiece of workbench 2, and execution unit 51 at X to movement arbitrarily in, Y-direction and Z-direction, therefore, can perform an action to the workpiece of any position on workbench 2.
Shown in composition graphs 4, to slide block assembly 32, preferably by X, to slide block 32a, X to slide carriage 32b and two, a L shape keyset 32c forms X.X is slidably connected to slide block 32a and X direction guiding rail 31 by dovetail groove, and X is installed in X above slide block 32a to slide carriage 32b, and to slide carriage 32b and X to slide block 32a by screw lock together, X is used for being connected with Y-direction guide rail 41 to slide carriage 32b X.Two L shape keyset 32c lay respectively at X to the front and back both sides of slide block assembly 32 with Y-direction guide rail 41 junction, and idle pulley is arranged on inside corresponding L shape keyset 32c.
Shown in composition graphs 5, Y-direction slide block assembly 42 is preferably made up of Y-direction slide block 42a and Y-direction slide carriage 42b, Y-direction slide block 42a and Y-direction guide rail 41 are slidably connected by dovetail groove, and Y-direction slide carriage 42b is installed in front side or the rear side of Y-direction slide block 42a, and Y-direction slide carriage 42b passes through together with screw lock with Y-direction slide block 42a.Cylinder 52 is arranged on Y-direction slide carriage 42b.
Shown in composition graphs 1, Fig. 3 and Fig. 5, for arranging pipeline smoothly, workbench 2 is also provided with pipeline wire casing 7.Pipeline wire casing 7 forms to drag chain 71 and Y-direction drag chain 72 primarily of X, and X is preferably provided with a drag chain wire casing 73 separately to the below of drag chain 71, Y-direction drag chain 72.X is installed in parallel in the below of one of them X direction guiding rail 31 to drag chain 71, Y-direction drag chain 72 is installed in parallel in the top of Y-direction guide rail 41, X upwards connects with the termination of Y-direction drag chain 72 after bending 180 ° to the front end of drag chain 71, the other end of Y-direction drag chain 72 is upwards corresponding with the position of cylinder 52 after bending 180 °, and X forms a pipeline wire casing 7 jointly to drag chain 71 and Y-direction drag chain 72.The cross section of drag chain wire casing 73 is U-shaped.
As shown in Figure 1, protective cover 11 is preferably provided with above each X direction guiding rail 31, prevent dust or foreign matter from entering and causing Timing Belt 10 clamping stagnation, owing to being provided with drag chain wire casing 73 (as shown in Figure 3) above Y-direction guide rail 41, the effect of protective cover can be played, therefore, do not need to arrange protective cover in addition.
As shown in Figure 6, the Timing Belt 10 of H type parallel robot is in H type, shown in composition graphs 3, just be enclosed within the H-shaped framework of two X direction guiding rails 31 and Y-direction guide rail 41 formation, wherein Y-direction guide rail 41 slides to slide block assembly 32 together along with X, and Y-direction slide block assembly 42 and Y-direction guide rail 41 are slidably connected.Two active synchronization belt wheels are driven by drive motors 6 respectively, and active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt 10, final drive execution unit 51 X to and Y-direction motion.Execution unit 51 is driven by cylinder 51 in the motion of Z-direction.
Shown in composition graphs 1, Fig. 3, Fig. 7 a, Fig. 7 b, when two drive motors 6 (are clockwise or are counterclockwise) rotation in the same way, execution unit 51 moves in Y-direction.Shown in composition graphs 1, Fig. 3, Fig. 8 a, Fig. 8 b, when two drive motors 6, oppositely (one is clockwise, one is counterclockwise) rotate time, execution unit 51 moves upward at X, namely by the control to drive motors 6, can realize execution unit 51 X to and the high-speed motion of Y-direction, and movement locus is complicated and changeable; Execution unit 51 moves and to be realized by cylinder 52 in Z-direction, and Z-direction stroke is determined by the stroke of cylinder 52.
Claims (5)
1. a H type parallel robot, comprise frame (1), be installed in the workbench (2) of described frame (1) top, it is characterized in that: be provided with two X in the top of described workbench (2) to assembly (3), a Y-direction assembly (4) and a Z-direction assembly (5); Two X are arranged symmetrically with the left and right sides of workbench (2) to assembly (3), each X comprises X direction guiding rail (31) and X to slide block assembly (32) to assembly (3), described X direction guiding rail (31) is installed on workbench (2), and X is slidably connected to slide block assembly (32) and X direction guiding rail (31); Described Y-direction assembly (4) comprises Y-direction guide rail (41) and Y-direction slide block assembly (42), the two ends of described Y-direction guide rail (41) are connected to slide block assembly (32) is vertical with the X of respective side respectively, and described Y-direction slide block assembly (42) and Y-direction guide rail (41) are slidably connected; Described Z-direction assembly (5) comprises execution unit (51), and cylinder (52) or electric cylinder, described cylinder (52) or electric cylinder are arranged on Y-direction slide block (42), and cylinder (52) or electric cylinder drive execution unit (51) to move in Z-direction;
The front end of each X direction guiding rail (31) is provided with a drive motors (6) and an active synchronization belt wheel, the rear end of each X direction guiding rail (31) is provided with a driven synchronous pulley, is respectively provided with an idle pulley at X to slide block assembly (32) and the both sides, front and back of Y-direction guide rail (41) junction; The H-shaped framework that described X is formed to assembly (3) and Y-direction assembly (4) is set with the Timing Belt (10) of H-shaped, on slide block assembly (32), the synchronous belt locking block (13) engaged with Timing Belt (10) is installed with at described X, described drive motors (6) drives active synchronization belt wheel to rotate, active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt (10), finally drive execution unit (51) X to and Y-direction move.
2. according to H type parallel robot according to claim 1, it is characterized in that: described X to slide block assembly (32) by X to slide block (32a), X is to slide carriage (32b) and two L shape keyset (32c) compositions, described X is slidably connected to slide block (32a) and X direction guiding rail (31) by dovetail groove, X is installed in X to slide block (32a) top to slide carriage (32b), for being connected with Y-direction guide rail (41), two L shape keysets (32c) lay respectively at X to the front and back both sides of slide block assembly (32) with Y-direction guide rail (41) junction, described idle pulley is arranged on corresponding L shape keyset (32c) inner side.
3. according to H type parallel robot according to claim 1, it is characterized in that: described Y-direction slide block assembly (42) is made up of Y-direction slide block (42a) and Y-direction slide carriage (42b), described Y-direction slide block (42a) and Y-direction guide rail (41) are slidably connected by dovetail groove, described Y-direction slide carriage (42b) is installed in front side or the rear side of Y-direction slide block (42a), and described cylinder (52) is arranged on Y-direction slide carriage (42b).
4. according to claim 1---the H type parallel robot according to any one of 3, is characterized in that: described execution unit (51) is vacuum cup, gas pawl or manipulator.
5. according to H type parallel robot according to claim 1, it is characterized in that: the below of one of them X direction guiding rail (31) is provided with X to drag chain (71), the top of Y-direction guide rail (41) is provided with Y-direction drag chain (72), X upwards connects with wherein one end of Y-direction drag chain (72) after bending 180 ° to the front end of drag chain (71), the other end of Y-direction drag chain (72) is upwards corresponding with the position of cylinder (52) after bending 180 °, and X forms a pipeline wire casing (7) jointly to drag chain (71) and Y-direction drag chain (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410495117.1A CN104290094B (en) | 2014-09-24 | 2014-09-24 | H type parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410495117.1A CN104290094B (en) | 2014-09-24 | 2014-09-24 | H type parallel robot |
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| CN104290094A true CN104290094A (en) | 2015-01-21 |
| CN104290094B CN104290094B (en) | 2016-09-28 |
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| CN201410495117.1A Active CN104290094B (en) | 2014-09-24 | 2014-09-24 | H type parallel robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104552238A (en) * | 2015-01-23 | 2015-04-29 | 杭州杭氧股份有限公司 | Composite board automated assembly device and method of aluminum plate-fin heat exchanger |
| CN104708320A (en) * | 2015-03-31 | 2015-06-17 | 吴中区木渎蒯斌模具加工厂 | Bead guide frame loading mechanism for simple slide rail assembling machine |
| CN104908033A (en) * | 2015-05-28 | 2015-09-16 | 桂林电子科技大学 | High-speed light gantry truss mechanical arm |
| CN105035704A (en) * | 2015-06-08 | 2015-11-11 | 杭州娃哈哈集团有限公司 | Steering positioning device |
| CN105115472A (en) * | 2015-09-29 | 2015-12-02 | 苏州飞拓精密模具有限公司 | Automatic flatness detection equipment |
| CN105922283A (en) * | 2016-06-28 | 2016-09-07 | 郑州金海威科技实业有限公司 | Vacuum adsorption type mechanical arm |
| CN106067715A (en) * | 2016-07-06 | 2016-11-02 | 中国第汽车股份有限公司 | Clutch Coupling formula motor stator rotor Automated assembly device |
| CN106426160A (en) * | 2016-07-29 | 2017-02-22 | 上海电机学院 | Mechanical arm and grabbing method |
| CN109048855A (en) * | 2018-07-26 | 2018-12-21 | 芜湖市越泽机器人科技有限公司 | A kind of robot arm linkage mechanism |
| CN111466720A (en) * | 2020-05-14 | 2020-07-31 | 武汉理工大学 | Automatic accomodate shoe cabinet |
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| CN105922283A (en) * | 2016-06-28 | 2016-09-07 | 郑州金海威科技实业有限公司 | Vacuum adsorption type mechanical arm |
| CN106067715B (en) * | 2016-07-06 | 2018-06-05 | 中国第一汽车股份有限公司 | Clutch Coupling formula motor stator rotor Automated assembly device |
| CN106067715A (en) * | 2016-07-06 | 2016-11-02 | 中国第汽车股份有限公司 | Clutch Coupling formula motor stator rotor Automated assembly device |
| CN106426160A (en) * | 2016-07-29 | 2017-02-22 | 上海电机学院 | Mechanical arm and grabbing method |
| CN106426160B (en) * | 2016-07-29 | 2019-06-14 | 上海电机学院 | A method of it is grabbed using manipulator |
| CN109048855A (en) * | 2018-07-26 | 2018-12-21 | 芜湖市越泽机器人科技有限公司 | A kind of robot arm linkage mechanism |
| CN111466720A (en) * | 2020-05-14 | 2020-07-31 | 武汉理工大学 | Automatic accomodate shoe cabinet |
| CN111466720B (en) * | 2020-05-14 | 2021-03-16 | 武汉理工大学 | Automatic accomodate shoe cabinet |
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