CN104827464A - Horizontal driving mechanism of four-freedom-degree high-speed conveying robot - Google Patents
Horizontal driving mechanism of four-freedom-degree high-speed conveying robot Download PDFInfo
- Publication number
- CN104827464A CN104827464A CN201510175257.5A CN201510175257A CN104827464A CN 104827464 A CN104827464 A CN 104827464A CN 201510175257 A CN201510175257 A CN 201510175257A CN 104827464 A CN104827464 A CN 104827464A
- Authority
- CN
- China
- Prior art keywords
- horizontal movement
- translation
- master arm
- horizontal
- drive shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Disclosed in the invention is a horizontal driving mechanism of a four-freedom-degree high-speed conveying robot. The driving mechanism comprises a motor pedestal, a first horizontal motion drive motor, a second horizontal motion drive motor, and a translation lever; a motor pedestal upper cover is installed at the motor pedestal; a hollow shaft and a translation drive shaft are installed at the motor pedestal; and a first horizontal motion master arm and a second horizontal motion master arm are fixedly connected to the translation drive shaft and the hollow shaft; and the other ends of the first horizontal motion master arm and the second horizontal motion master are hinged with a translation rod and a translation connecting rod by bearings. According to the invention, flexibility of the mechanism is effectively improved; the operation space of the tail end executor is increased; and combination of parallel and series robot mechanisms can be realized. Meanwhile, characteristics of small inertia, high speed and accelerated speed, high positioning precision and repeated positioning precision of the mechanism are also kept.
Description
Technical field
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of four-degree-of-freedom high speed transfer robot horizontal drive mechanism.
Background technology
High speed transfer robot replaces human labour, complete a kind of industrial robot of fast removal work, be widely used in the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation often needs end effector to carry out the manipulator of high-speed job in space, but the precision under the condition of transporting velocity raising of high speed transfer robot in the past will decline to some extent, and the free degree only has three or following usually, operating space is little, and kinematic dexterity is not high yet.
The drive motors of some transfer robot is placed on joint of robot, adds the carrying of robot, makes inertia increase, error accumulation increase, easily produces impact, causes robot motion steady,
The degree of accuracy is low, and be difficult to meet at a high speed, accurate etc. carries requirement.
Summary of the invention
The present invention is directed to the technical problem existed in existing high speed carrying robot mechanism, a kind of four-degree-of-freedom high speed transfer robot horizontal drive mechanism is provided.
The technical solution used in the present invention is as follows:
A kind of four-degree-of-freedom high speed transfer robot horizontal drive mechanism, include motor base, first horizontal movement drive motors, second horizontal movement drive motors, translation bar, motor base is provided with motor base upper cover, motor base is provided with hollow shaft, translation drive shaft, translation drive shaft, hollow shaft has been fixedly connected the first horizontal movement master arm, second horizontal movement master arm, first horizontal movement master arm, the second horizontal movement master arm other end has translation bar respectively by bearing hinge connection, transition link, the transition link other end by bearing hinge connection in the middle part of translation bar, the translation bar other end by bearing hinge connection on end effector mechanism microscope carrier, translation drive shaft, hollow shaft is installed with the first horizontal movement gear wheel, second horizontal movement gear wheel, first horizontal movement drive motors, second horizontal movement drive motors is connected to and the first horizontal movement gear wheel, the pinion that second horizontal movement gear wheel is meshed.
Translation drive shaft between the first described horizontal movement master arm and the second horizontal movement master arm is set with sleeve, and translation drive shaft upper surface is provided with translation drive shaft shaft-cup.
First horizontal movement master arm of the present invention, the second horizontal movement master arm, ball-screw, rotation master arm provide power by respective drive unit; Described end effector can realize translation and move both vertically, and can realize again rotating, and adds a rotational freedom, can realize kinematic dexterity so high, and operating space is large, the carrying requirement of high precision; Described horizontal level driving mechanism contains a parallelogram sturcutre, comprises two groups of master arms simultaneously, increases the rigidity of robot, improves bearing capacity; The present invention contains four groups of servomotors wherein three groups of inside being arranged on frame, realizes the isolation of motor and external operating environment, plays a protective role to a great extent to motor device, can reduce impact again simultaneously, improve the stationarity of robot motion.
The present invention has following Advantageous Effects:
The present invention is by horizontal level driving mechanism, vertical position driving mechanism and gesture drive mechanism; The translation of end effector, vertical motion and rotation can be realized.First horizontal movement master arm, the second horizontal movement master arm of horizontal level driving mechanism of the present invention provide power by different driving device.Drive and adopt servo-drive system, action is accurate, flexible operation.
Robot mechanism provided by the present invention, two translations one realizing end effector with different driving side chain respectively move both vertically and rotational motion, effectively improve the flexibility of mechanism, increase the operating space of end effector, achieve the combination of parallel connection and serial connection robot mechanism, the inertia simultaneously maintaining mechanism is preferably little, high-speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the generalized section in the horizontal drive shaft portion of horizontal level driving mechanism of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in the figure, a kind of four-degree-of-freedom high speed transfer robot horizontal drive mechanism, include motor base 1, first horizontal movement drive motors 2, second horizontal movement drive motors 3, translation bar 4, motor base 1 is provided with motor base upper cover, motor base 1 is provided with hollow shaft 5, translation drive shaft 6, translation drive shaft 6, hollow shaft 5 has been fixedly connected the first horizontal movement master arm 7, second horizontal movement master arm 8, first horizontal movement master arm 7, second horizontal movement master arm 8 other end is hinged with translation bar 4 respectively by bearing 9, transition link 10, transition link 10 other end is articulated with in the middle part of translation bar by bearing 9, the translation bar other end by bearing hinge connection on end effector mechanism microscope carrier, translation drive shaft 6, hollow shaft 5 is installed with the first horizontal movement gear wheel 11, second horizontal movement gear wheel 12, first horizontal movement drive motors 2, second horizontal movement drive motors 3 is connected to and the first horizontal movement gear wheel 11, the pinion 13 that second horizontal movement gear wheel 12 is meshed, translation drive shaft between first horizontal movement master arm and the second horizontal movement master arm is set with sleeve 14, translation drive shaft upper surface is provided with translation drive shaft shaft-cup.
Claims (2)
1. a four-degree-of-freedom high speed transfer robot horizontal drive mechanism, is characterized in that, include motor base, first horizontal movement drive motors, second horizontal movement drive motors, translation bar, motor base is provided with motor base upper cover, motor base is provided with hollow shaft, translation drive shaft, translation drive shaft, hollow shaft has been fixedly connected the first horizontal movement master arm, second horizontal movement master arm, the first horizontal movement master arm, the second horizontal movement master arm other end has translation bar respectively by bearing hinge connection, transition link, the transition link other end by bearing hinge connection in the middle part of translation bar, the translation bar other end by bearing hinge connection on end effector mechanism microscope carrier, translation drive shaft, hollow shaft is installed with the first horizontal movement gear wheel, second horizontal movement gear wheel, the first horizontal movement drive motors, second horizontal movement drive motors is connected to and the first horizontal movement gear wheel, the pinion that second horizontal movement gear wheel is meshed.
2. four-degree-of-freedom high speed transfer robot horizontal drive mechanism according to claim 1, it is characterized in that, translation drive shaft between the first described horizontal movement master arm and the second horizontal movement master arm is set with sleeve, and translation drive shaft upper surface is provided with translation drive shaft shaft-cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175257.5A CN104827464A (en) | 2015-04-14 | 2015-04-14 | Horizontal driving mechanism of four-freedom-degree high-speed conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175257.5A CN104827464A (en) | 2015-04-14 | 2015-04-14 | Horizontal driving mechanism of four-freedom-degree high-speed conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104827464A true CN104827464A (en) | 2015-08-12 |
Family
ID=53805839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510175257.5A Pending CN104827464A (en) | 2015-04-14 | 2015-04-14 | Horizontal driving mechanism of four-freedom-degree high-speed conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104827464A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748096A (en) * | 2018-06-11 | 2018-11-06 | 深圳市小怪兽教育科技有限公司 | A kind of drawing mechanical arm and its control system |
| CN108888347A (en) * | 2018-07-03 | 2018-11-27 | 天津大学 | Intervene Robot Force-Feedback type main manipulator |
| CN110932655A (en) * | 2019-12-12 | 2020-03-27 | 绍兴市秀臻新能源科技有限公司 | Telescopic battery board using solar photovoltaic technology |
| CN114786884A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5522275A (en) * | 1993-12-17 | 1996-06-04 | Comau S.P.A. | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
| CN1454751A (en) * | 2002-04-25 | 2003-11-12 | 帝人制机株式会社 | Robot arm mechanism and robot device |
| CN104260083A (en) * | 2014-10-09 | 2015-01-07 | 马鞍山市安工大工业技术研究院有限公司 | Five-degree-of-freedom planar joint robot mechanism |
-
2015
- 2015-04-14 CN CN201510175257.5A patent/CN104827464A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5522275A (en) * | 1993-12-17 | 1996-06-04 | Comau S.P.A. | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
| CN1454751A (en) * | 2002-04-25 | 2003-11-12 | 帝人制机株式会社 | Robot arm mechanism and robot device |
| CN104260083A (en) * | 2014-10-09 | 2015-01-07 | 马鞍山市安工大工业技术研究院有限公司 | Five-degree-of-freedom planar joint robot mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748096A (en) * | 2018-06-11 | 2018-11-06 | 深圳市小怪兽教育科技有限公司 | A kind of drawing mechanical arm and its control system |
| CN108748096B (en) * | 2018-06-11 | 2020-06-02 | 深圳市小怪兽教育科技有限公司 | Drawing mechanical arm and control system thereof |
| CN108888347A (en) * | 2018-07-03 | 2018-11-27 | 天津大学 | Intervene Robot Force-Feedback type main manipulator |
| CN114786884A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN110932655A (en) * | 2019-12-12 | 2020-03-27 | 绍兴市秀臻新能源科技有限公司 | Telescopic battery board using solar photovoltaic technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104260083A (en) | Five-degree-of-freedom planar joint robot mechanism | |
| CN104827488A (en) | Vertical position driving mechanism of four-freedom-degree high-speed conveying robot | |
| CN107081760B (en) | Six-degree-of-freedom mechanical arm based on translation parallel mechanism | |
| CN204209684U (en) | The high speed SCARA robot that full fixed electrical machinery drives | |
| CN104708619B (en) | A kind of dynamic support Three Degree Of Freedom transfer robot | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN101214098B (en) | Five-freedom shoemaking automatically grinding glue-spraying processing device | |
| CN104827464A (en) | Horizontal driving mechanism of four-freedom-degree high-speed conveying robot | |
| CN103979175B (en) | A kind of conveying of liquid detergent and boxing apparatus | |
| CN104308831A (en) | Parallel robot driven by double-rotor linear motor | |
| CN204566133U (en) | A kind of four-degree-of-freedom high speed carrying robot mechanism | |
| CN103846911A (en) | High-speed parallel manipulator with six degrees of freedom | |
| CN106625606A (en) | Carrying robot at seven degrees of freedom with symmetrically arranged driven arms | |
| CN103481283A (en) | Three-axis five-bar parallel manipulator | |
| CN105196165A (en) | Grabbing and placing device for deburring | |
| CN204209682U (en) | The parallel robot that two mover linear electric motors drive | |
| CN103895007A (en) | Two-translational-motion parallel robot | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN105058394A (en) | Grabbing and arranging device for deburring | |
| CN104690724A (en) | Three-freedom-degree carrying robot | |
| CN105127981A (en) | Three-freedom-degree transfer robot with movable support | |
| CN106002947B (en) | The transfer robot that a kind of slave arm homonymy arrangement free degree can reconstruct | |
| CN103846907A (en) | Double-parallel-connection-structure six-freedom high-speed mechanical hand | |
| CN104827466A (en) | Four-freedom-degree high-speed conveying robot mechanism | |
| CN103286773B (en) | Three-DOF (Degree of Freedom) parallel robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150812 |