CN105364910B - It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving - Google Patents
It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving Download PDFInfo
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- CN105364910B CN105364910B CN201510702579.0A CN201510702579A CN105364910B CN 105364910 B CN105364910 B CN 105364910B CN 201510702579 A CN201510702579 A CN 201510702579A CN 105364910 B CN105364910 B CN 105364910B
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
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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
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Abstract
本发明涉及一种转动副驱动的四自由度并联式分拣机器人。目的是提供的机器人应具有结构紧凑、安装方便、响应速度快、价格便宜的特点。技术方案是:一种转动副驱动的四自由度并联式分拣机器人,其特征在于:该机器人包括末端执行器、底座以及并联连接在末端执行器与底座之间以驱动末端执行器运动的两个分支机构;所述每个分支机构包括依次连接在末端执行器与底座之间的螺旋副、第一连杆、第一转动副、第二连杆以及并联的两个子分支机构;两个分支机构中的螺旋副共轴;所述每个子分支机构包括依次连接在第二连杆与底座之间的第二转动副、第三连杆、第三转动副、第四连杆、第四转动副。
The invention relates to a four-degree-of-freedom parallel sorting robot driven by a rotary pair. The purpose is that the robot provided should have the characteristics of compact structure, convenient installation, fast response and cheap price. The technical solution is: a four-degree-of-freedom parallel sorting robot driven by a rotary pair, characterized in that: the robot includes an end effector, a base, and two parallel connections between the end effector and the base to drive the movement of the end effector. Each branch mechanism includes a screw pair, a first connecting rod, a first rotating pair, a second connecting rod and two parallel sub-branches connected in sequence between the end effector and the base; the two branches The screw pairs in the mechanism are coaxial; each of the sub-branches includes a second rotating pair, a third connecting rod, a third rotating pair, a fourth connecting rod, and a fourth rotating pair that are sequentially connected between the second connecting rod and the base. vice.
Description
技术领域technical field
本发明涉及工业机器人领域,具体是一种由转动副驱动,用于分拣或者搬运零件并且具有3个移动自由度和1个转动自由度的并联机器人。The invention relates to the field of industrial robots, in particular to a parallel robot driven by a rotary pair for sorting or handling parts and having three degrees of freedom of movement and one degree of freedom of rotation.
背景技术Background technique
分拣机器人的主要职能是完成搬取零件和装配工作,广泛应用于塑料工业、汽车工业、电子产品工业、药品工业和食品工业等领域。The main function of the sorting robot is to complete the work of picking parts and assembling, and it is widely used in the fields of plastics industry, automobile industry, electronic product industry, pharmaceutical industry and food industry.
目前分拣类的商业化的机器人大多属于SCARA型或者Delta型。SCARA机器人具有沿X、Y、Z方向的三个平移自由度和绕Z轴的旋转自由度;SCARA机器人的工作空间大,但是由于串联机构自身结构的限制,SCARA机构的刚度小于并联机构,响应速度也比并联机构慢。Delta机器人属于并联机器人,电机固定在基座上,具有由于动态响应快、刚度高的特点,但由于内部安装有减速机,价格较贵,安装时需要使用龙门架,较为复杂。At present, most of the commercial robots for sorting are SCARA type or Delta type. The SCARA robot has three translation degrees of freedom along the X, Y, and Z directions and a rotation degree of freedom around the Z axis; the SCARA robot has a large working space, but due to the limitation of the structure of the series mechanism itself, the stiffness of the SCARA mechanism is smaller than that of the parallel mechanism. The speed is also slower than parallel mechanisms. The Delta robot is a parallel robot. The motor is fixed on the base. It has the characteristics of fast dynamic response and high rigidity. However, because the reducer is installed inside, the price is relatively expensive, and the installation requires the use of a gantry, which is more complicated.
在当今社会,机器人代替人力作重复劳动已是发展趋势,所以提出一种响应速度快、刚度高、结构紧凑、安装简单、价格便宜的分拣机器人很有必要。In today's society, it is a development trend that robots replace human beings to do repetitive work, so it is necessary to propose a sorting robot with fast response speed, high rigidity, compact structure, simple installation and low price.
发明内容Contents of the invention
本发明的目的是克服上述背景技术中的不足,提供一种转动副驱动的四自由度并联式分拣机器人,该机器人应具有结构紧凑、安装方便、响应速度快、价格便宜的特点。The purpose of the present invention is to overcome the shortcomings in the above-mentioned background technology and provide a four-degree-of-freedom parallel sorting robot driven by a rotating pair. The robot should have the characteristics of compact structure, convenient installation, fast response speed and low price.
本发明的技术方案是:Technical scheme of the present invention is:
一种转动副驱动的四自由度并联式分拣机器人,其特征在于:该机器人包括末端执行器、底座以及并联连接在末端执行器与底座之间以驱动末端执行器运动的两个分支机构;A four-degree-of-freedom parallel sorting robot driven by a rotary pair, characterized in that: the robot includes an end effector, a base, and two branches connected in parallel between the end effector and the base to drive the movement of the end effector;
所述每个分支机构包括依次连接在末端执行器与底座之间的螺旋副、第一连杆、第一转动副、第二连杆以及并联的两个子分支机构;两个分支机构中的螺旋副共轴;Each branch mechanism includes a screw pair connected in turn between the end effector and the base, a first connecting rod, a first rotating pair, a second connecting rod and two parallel sub-branches; the screw in the two branches sub-coaxial;
所述每个子分支机构包括依次连接在第二连杆与底座之间的第二转动副、第三连杆、第三转动副、第四连杆、第四转动副。Each of the sub-branches includes a second rotating pair, a third connecting rod, a third rotating pair, a fourth connecting rod, and a fourth rotating pair sequentially connected between the second connecting rod and the base.
所述两个子分支机构中,两个第二转动副的转动轴线、两个第三转动副的转动轴线、两个第四转动副的转动轴线均相互平行;所述每个分支机构中的第一转动副的转动轴线平行于螺旋副的转动轴线,第二转动副的转动轴线垂直于螺旋副的转动轴线。In the two sub-branches, the rotation axes of the two second rotation pairs, the rotation axes of the two third rotation pairs, and the rotation axes of the two fourth rotation pairs are all parallel to each other; The rotation axis of one rotation pair is parallel to the rotation axis of the screw pair, and the rotation axis of the second rotation pair is perpendicular to the rotation axis of the screw pair.
所述第四转动副与底座相连,第四转动副上安装包括电机及齿轮的驱动器。The fourth revolving pair is connected with the base, and a driver including a motor and a gear is installed on the fourth revolving pair.
本发明的有益效果是:The beneficial effects of the present invention are:
本发明为结构紧凑的并联机构,不仅具有较高的刚度,而且运动累计误差小于串联机构;本发明的并联机构不仅结构紧凑,安装和维护均较为方便,而且结构对称,能够方便地进行加工和控制;本发明省去了减速机,降低了成本;因此,本发明对于分拣及搬运机器人的进一步推广具有重要意义。The present invention is a compact parallel mechanism, which not only has higher rigidity, but also has a smaller motion cumulative error than the serial mechanism; the parallel mechanism of the present invention is not only compact in structure, but also convenient in installation and maintenance, and has a symmetrical structure, which can be processed and processed conveniently. control; the present invention saves the reducer and reduces the cost; therefore, the present invention has great significance for the further popularization of sorting and handling robots.
附图说明Description of drawings
图1是本发明实施例的立体结构示意图。Fig. 1 is a three-dimensional structure diagram of an embodiment of the present invention.
具体实施方式detailed description
以下结合说明书附图,对本发明作进一步说明,但本发明并不局限于以下实施例。The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following examples.
实施例Example
如图1所示的一种转动副驱动的四自由度并联式分拣机器人,包括底座5、末端执行器6、两个分支机构。该末端执行器上安装有用于抓取零件的设备。A four-degree-of-freedom parallel sorting robot driven by a rotating pair as shown in FIG. 1 includes a base 5, an end effector 6, and two branch mechanisms. The end effector is equipped with equipment for gripping parts.
所述两个分支机构用于驱动末端执行器的运动,并且并联连接在末端执行器与底座之间;所述每个分支机构均有五个自由度,包括依次连接在末端执行器与底座之间的螺旋副31、第一连杆11、第一转动副21、第二连杆12以及并联的两个子分支机构;图中可见:两个分支机构中的螺旋副共轴。The two branches are used to drive the movement of the end effector, and are connected in parallel between the end effector and the base; each branch has five degrees of freedom, including sequentially connected between the end effector and the base Between the screw pair 31, the first connecting rod 11, the first rotating pair 21, the second connecting rod 12 and the two sub-branches in parallel; it can be seen in the figure that the screw pair in the two branches are coaxial.
所述每个子分支机构包括依次连接在第二连杆与底座之间的第二转动副22、第三连杆13、第三转动副23、第四连杆14、第四转动副24。Each of the sub-branches includes a second rotating pair 22 , a third connecting rod 13 , a third rotating pair 23 , a fourth connecting rod 14 , and a fourth rotating pair 24 sequentially connected between the second connecting rod and the base.
每个子分支机构中,第二转动副、第三转动副与第四转动副的转动轴线相互平行;每个分支机构的两个子分支机构之间,两个第二转动副的转动轴线相互平行,两个第三转动副的转动轴线相互平行,两个第四转动副的转动轴线相互平行;每个分支机构中,第一转动副的转动轴线与螺旋副的转动轴线相互平行,螺旋副的转动轴线垂直于第二转动副、第三转动副与第四转动副的转动轴线。In each sub-branch, the rotation axes of the second, third and fourth rotation pairs are parallel to each other; between the two sub-branches of each branch, the rotation axes of the two second rotation pairs are parallel to each other, The rotation axes of the two third rotation pairs are parallel to each other, and the rotation axes of the two fourth rotation pairs are parallel to each other; in each branch mechanism, the rotation axis of the first rotation pair and the rotation axis of the screw pair are parallel to each other, and the rotation of the screw pair The axis is perpendicular to the rotation axes of the second rotary pair, the third rotary pair and the fourth rotary pair.
所述第四转动副与底座相连,第四转动副上安装包括电机以及齿轮的驱动器(常规结构,图中省略),电机驱动齿轮完成第四连杆的转动。The fourth revolving pair is connected to the base, and the driver (conventional structure, omitted in the figure) including a motor and a gear is installed on the fourth revolving pair, and the motor drives the gear to complete the rotation of the fourth connecting rod.
Claims (2)
- It is 1. a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving, it is characterised in that:The robot is held including end Row device (6), base (5) and be connected in parallel between end effector and base with drive end effector move two points Branch mechanism;Described each branch includes the screw pair (31), the first connecting rod that are connected in turn between end effector and base (11), first the Liang Gezi branches of secondary (21), second connecting rod (12) and parallel connection are rotated;Spiral in Liang Ge branches It is secondary coaxial;Described each mechanism of sub-branch includes that the second rotation secondary (22) being connected in turn between second connecting rod and base, the 3rd connect Bar (13), the 3rd rotate secondary (23), fourth link (14), the 4th rotation pair (24);In described two mechanisms of sub-branch, two second rotate secondary pivot center, two the 3rd rotations secondary pivot center, two The secondary pivot center of individual 4th rotation is mutually parallel;The pivot center of the first rotation pair in described each branch is parallel In the pivot center of screw pair, second rotates pivot center of the secondary pivot center perpendicular to screw pair.
- 2. the parallel sorting machine people of four-degree-of-freedom that a kind of rotation pair according to claim 1 drives, it is characterised in that: Described 4th rotates pair is connected with base, and the 4th rotates installation in pair includes the driver of motor and gear.
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CN106584431B (en) * | 2016-12-20 | 2019-02-22 | 西安电子科技大学 | A coaxial moving and rotating four-degree-of-freedom parallel robot |
CN107032112B (en) * | 2017-05-26 | 2019-05-21 | 清华大学 | A kind of multirobot smart collaboration production system |
CN109773757B (en) * | 2019-03-08 | 2024-03-19 | 河北工业大学 | Delta robot |
CN113829332B (en) * | 2021-09-30 | 2022-12-27 | 浙江理工大学 | Four-degree-of-freedom parallel robot mechanism with three movements and one rotation |
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