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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
parallel
pair
base
rotate
pivot center
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.)
Active
Application number
CN201510702579.0A
Other languages
Chinese (zh)
Other versions
CN105364910A (en
Inventor
李秦川
徐灵敏
柴馨雪
黄鹏成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Sci Tech University ZSTU
Original Assignee
Zhejiang Sci Tech University ZSTU
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Sci Tech University ZSTU filed Critical Zhejiang Sci Tech University ZSTU
Priority to CN201510702579.0A priority Critical patent/CN105364910B/en
Publication of CN105364910A publication Critical patent/CN105364910A/en
Application granted granted Critical
Publication of CN105364910B publication Critical patent/CN105364910B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics

Abstract

The secondary parallel sorting machine people of four-degree-of-freedom for driving is rotated the present invention relates to a kind of.The robot that purpose is to provide should have compact conformation, easy for installation, fast response time, it is cheap the characteristics of.Technical scheme is:It is 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 includes end effector, base and is connected in parallel between end effector and base to drive the Liang Ge branches of end effector motion;Described each branch includes that the screw pair being connected in turn between end effector and base, first connecting rod, first rotate secondary, second connecting rod and Liang Gezi branches in parallel;Screw pair in Liang Ge branches is coaxial;Described each mechanism of sub-branch includes that the second rotation pair being connected in turn between second connecting rod and base, third connecting rod, the 3rd rotate pair, fourth link, the 4th rotation pair.

Description

It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving
Technical field
It is specifically a kind of by rotating secondary driving the present invention relates to industrial robot field, for sorting or carrying part And the parallel robot with 3 one-movement-freedom-degrees and 1 rotational freedom.
Background technology
The Major Function of sorting machine people is to complete to move to take part and assembly work, is widely used in plastics industry, automobile The fields such as industry, electronics industry, pharmaceutical industries and food industry.
The commercialized robot of sorting class belongs to SCARA types or Delta types mostly at present.SCARA robots have Along X, Y, three translation freedoms of Z-direction and rotary freedom about the z axis;The working space of SCARA robots is big, but by In the limitation of serial mechanism self structure, the rigidity of SCARA mechanisms is less than parallel institution, and response speed is also slower than parallel institution. Delta robots belong to parallel robot, and motor is fixed on pedestal, with due to dynamic response is fast, rigidity is high the characteristics of, but It is expensive because inside is provided with reductor, portal frame is needed to use during installation, it is complex.
In today's society, robot has been development trend instead of people's masterpiece duplication of labour, so proposing a kind of response speed Hurry up, rigidity is high, compact conformation, to install simple, cheap sorting machine people necessary.
The content of the invention
The purpose of the present invention is in overcoming the shortcomings of above-mentioned background technology, there is provided a kind of secondary four-degree-of-freedom for driving of rotation is simultaneously Connection formula sorting machine people, the robot should have compact conformation, easy for installation, fast response time, it is cheap the characteristics of.
The technical scheme is that:
It is 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 includes end Actuator, base and be connected in parallel between end effector and base with drive end effector move Liang Ge branches machine Structure;
Described each branch include being connected in turn screw pair between end effector and base, first connecting rod, The first Liang Gezi branches for rotating secondary, second connecting rod and parallel connection;Screw pair in Liang Ge branches is coaxial;
Described each mechanism of sub-branch includes the second rotation pair, the 3rd company that are connected in turn between second connecting rod and base Bar, the 3rd rotate pair, fourth link, the 4th rotation pair.
In described two mechanisms of sub-branch, two second rotate secondary pivot center, two secondary rotary shafts of the 3rd rotation Line, two secondary pivot centers of the 4th rotation are mutually parallel;The rotary shaft of the first rotation pair in described each branch Parallel to the pivot center of screw pair, second rotates pivot center of the secondary pivot center perpendicular to screw pair to line.
Described 4th rotates pair is connected with base, and the 4th rotates installation in pair includes the driver of motor and gear.
The beneficial effects of the invention are as follows:
The present invention is the parallel institution of compact conformation, and not only with rigidity higher, and motion cumulative errors are less than string Online structure;Parallel institution of the invention not only compact conformation, installs and safeguards more convenient, and symmetrical configuration, Neng Goufang Just it is processed and controls;Present invention eliminates reductor, cost is reduced;Therefore, the present invention is for sorting and carrying implement The further genralrlization of device people is significant.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following examples.
Embodiment
A kind of secondary parallel sorting machine people of four-degree-of-freedom for driving of rotation as shown in Figure 1, including base 5, end is held Row device 6, Liang Ge branches.Equipment for capturing part is installed on the end effector.
Described two branches are used to drive the motion of end effector, and are connected in end effector and bottom in parallel Between seat;There are five frees degree in described each branch, including is connected to the spiral shell between end effector and base in turn Rotation secondary 31, first connecting rod 11, first rotates the Liang Gezi branches of secondary 21, second connecting rod 12 and parallel connection;It is visible in figure:Two Screw pair in individual branch is coaxial.
Described each mechanism of sub-branch includes the second rotation the secondary 22, the 3rd being connected in turn between second connecting rod and base Connecting rod the 13, the 3rd rotates secondary 23, fourth link the 14, the 4th and rotates secondary 24.
In each mechanism of sub-branch, second rotates the secondary pivot center secondary with the 4th rotation of secondary, the 3rd rotation is parallel to each other; Between the Liang Gezi branches of each branch, two second rotate secondary pivot center and are parallel to each other, two the 3rd turn Move secondary pivot center to be parallel to each other, two the 4th rotate secondary pivot center and are parallel to each other;In each branch, first turn Move secondary pivot center to be parallel to each other with the pivot center of screw pair, the pivot center of screw pair rotates pair, the perpendicular to second Three rotate the secondary pivot center that pair is rotated with the 4th.
The 4th rotation pair is connected with base, and being installed in the 4th rotation pair includes that the driver of motor and gear is (normal Rule structure, omits in figure), motor-driven gear completes the rotation of fourth link.

Claims (2)

  1. 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. 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.
CN201510702579.0A 2015-10-26 2015-10-26 It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving Active CN105364910B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510702579.0A CN105364910B (en) 2015-10-26 2015-10-26 It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510702579.0A CN105364910B (en) 2015-10-26 2015-10-26 It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving

Publications (2)

Publication Number Publication Date
CN105364910A CN105364910A (en) 2016-03-02
CN105364910B true CN105364910B (en) 2017-06-13

Family

ID=55367791

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510702579.0A Active CN105364910B (en) 2015-10-26 2015-10-26 It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving

Country Status (1)

Country Link
CN (1) CN105364910B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106584431B (en) * 2016-12-20 2019-02-22 西安电子科技大学 A kind of coaxial mobile revolution four-freedom-degree parallel-connection robot
CN107032112B (en) * 2017-05-26 2019-05-21 清华大学 A kind of multirobot smart collaboration production system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1715008A (en) * 2005-07-06 2006-01-04 河北工业大学 Three freedom decoupling parallel robot mechanism
CN200960608Y (en) * 2006-06-06 2007-10-17 江苏工业学院 Six freedom degree parallel mechanism used as dummy shaft digital control machine tool and machinery measuring machine
CN101066593A (en) * 2007-06-01 2007-11-07 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism
CN101780670A (en) * 2009-01-19 2010-07-21 上海工程技术大学 Two-rotation one-movement-freedom-degree decoupling parallel mechanism
CN102601791A (en) * 2012-03-28 2012-07-25 广西大学 Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot
CN102689304A (en) * 2012-01-13 2012-09-26 河南科技大学 Three-freedom-degree mobile parallel robot mechanism
CN202556402U (en) * 2012-03-28 2012-11-28 广西大学 Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation
CN205129837U (en) * 2015-10-26 2016-04-06 浙江理工大学 Secondary drive's four degree of freedom parallels letter sorting machine people rotates

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1715008A (en) * 2005-07-06 2006-01-04 河北工业大学 Three freedom decoupling parallel robot mechanism
CN200960608Y (en) * 2006-06-06 2007-10-17 江苏工业学院 Six freedom degree parallel mechanism used as dummy shaft digital control machine tool and machinery measuring machine
CN101066593A (en) * 2007-06-01 2007-11-07 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism
CN101780670A (en) * 2009-01-19 2010-07-21 上海工程技术大学 Two-rotation one-movement-freedom-degree decoupling parallel mechanism
CN102689304A (en) * 2012-01-13 2012-09-26 河南科技大学 Three-freedom-degree mobile parallel robot mechanism
CN102601791A (en) * 2012-03-28 2012-07-25 广西大学 Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot
CN202556402U (en) * 2012-03-28 2012-11-28 广西大学 Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation
CN205129837U (en) * 2015-10-26 2016-04-06 浙江理工大学 Secondary drive's four degree of freedom parallels letter sorting machine people rotates

Also Published As

Publication number Publication date
CN105364910A (en) 2016-03-02

Similar Documents

Publication Publication Date Title
CN102069499B (en) Parallel robot
US8607659B2 (en) Robotic arm assembly
CN104191434B (en) Hollow cascade machine mechanical arm
CN203003891U (en) Economical selective compliance assembly robot arm (SCARA) robot
CN203697006U (en) Intelligent five-shaft manipulator
CN102049773B (en) Selective compliance assembly robot arm
CN100503181C (en) Parallel link mechanism and industrial robot
KR20130129852A (en) Industrial robot with drives which extend in a hand basic housing
US7556299B2 (en) Finger unit and multi-finger grasping mechanism
US20130118288A1 (en) Robot arm assembly
CN103737577B (en) A kind of Six-DOF industrial robot driven containing ball screw assembly,
CN204658445U (en) A kind of Industrial robots Mechanical mechanism of six degree of freedom
US20120067156A1 (en) Robot for handling object
US8534155B2 (en) Robot arm assembly
CN100410029C (en) Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing
CN202580477U (en) Spiral pipe robot
CN102211332B (en) Industrial robot
CN104622573A (en) High-rigidity four-freedom-degree remote motion center mechanism
CN204976630U (en) Horizontal joint robot of four -axis
US8429996B2 (en) Robot arm assembly
CN207858835U (en) A kind of industrial robot grabbing device
CN201922441U (en) Mechanical capable of being turned laterally of tail-end actuator for transporting platy workpieces
CN101908497B (en) Double-arm transmission robot applied to high-cleanliness environment
CN102059697B (en) Translating branch chain and parallel robot using same
US20110126661A1 (en) Industrial robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant