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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- 239000012636 effector Substances 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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
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)
- 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.
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 |
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| 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 |
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| CN (1) | CN105364910B (en) |
Families Citing this family (4)
| 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 |
| 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 |
Citations (8)
| 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 |
-
2015
- 2015-10-26 CN CN201510702579.0A patent/CN105364910B/en active Active
Patent Citations (8)
| 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 |
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