CN105364922B - Four-freedom-degree parallel type transfer robot driven by movable pairs - Google Patents

Four-freedom-degree parallel type transfer robot driven by movable pairs Download PDF

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Publication number
CN105364922B
CN105364922B CN201510700380.4A CN201510700380A CN105364922B CN 105364922 B CN105364922 B CN 105364922B CN 201510700380 A CN201510700380 A CN 201510700380A CN 105364922 B CN105364922 B CN 105364922B
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pair
parallel
sliding
branch
base
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CN105364922A (en
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李秦川
徐灵敏
柴馨雪
黄鹏成
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Zhejiang Sci Tech University ZSTU
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Zhejiang Sci Tech University ZSTU
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Abstract

The invention relates to a four-freedom-degree parallel type transfer robot driven by movable pairs. The provided robot needs to have the beneficial effects of being compact in structure, convenient to install, high in responding speed and low in price. According to the technical scheme, the four-freedom-degree parallel type transfer robot driven by the movable pairs is characterized in that the robot comprises a tail end executer, a base and two branch mechanisms connected between the tail end executer and the base in parallel to drive the tail end executer to move; each branch mechanism comprises a spiral pair, a first connecting rod, a first rotating pair, a second connecting rod and two sub-branch mechanisms, all of which are sequentially connected between the tail end executer and the base, wherein the sub-branch mechanisms are connected in parallel; the spiral pairs in the two branch mechanisms are coaxial; and each sub-branch mechanism comprises second rotation pairs, third connecting rods, third rotating pairs, sliding sleeves in sliding pairs and sliding rods in the sliding pairs, and the second rotation pairs, the third connecting rods, the third rotating pairs, the sliding sleeves and the sliding rods are sequentially connected between the second connecting rods and the base.

Description

The parallel transfer robot of four-degree-of-freedom that a kind of moving sets drive
Technical field
The present invention relates to industrial robot field, specifically a kind of to be driven by moving sets, for carrying or sorting part And the parallel robot with 3 one-movement-freedom-degrees and 1 rotational freedom.
Background technology
The Major Function of transfer robot 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 business-like robot for carrying class at present belongs to SCARA types or Delta types mostly.SCARA robots have Along X, Y, three translation freedoms of Z-direction and rotary freedom about the z axis;The work space of SCARA robots is big, but by In the restriction of serial mechanism self structure, the rigidity of SCARA mechanisms is less than parallel institution, and response speed is also slow 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 as inside is provided with reductor, expensive, need to use portal frame during installation, it is complex.
In today's society, it has been development trend that robot replaces the duplication of labour of people's masterpiece, so proposing a kind of response speed Hurry up, rigidity height, compact conformation, install simple, low-cost transfer robot it is necessary.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of above-mentioned background technology, there is provided the four-degree-of-freedom that a kind of moving sets drive is simultaneously Connection formula transfer robot, the robot should have compact conformation, easy for installation, fast response time, low price the characteristics of.
The technical scheme is that:
The parallel transfer robot of four-degree-of-freedom that a kind of moving sets drive, it is characterised in that:The robot includes end Executor, base and be connected in parallel between end effector and base with drive end effector motion Liang Ge branches machine Structure;
Screw pair that described each branch includes being connected in turn 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 being connected in turn between second connecting rod and base Bar, the 3rd rotate sliding sleeve and the slide bar in sliding pair in secondary, sliding pair.
In described two mechanisms of sub-branch, two second rotate secondary pivot center and two the 3rd rotary shafts for rotating pair Line is mutually parallel, the slip diameter parallel of two sliding pairs, and the slip axis of sliding pair and second rotates secondary rotation Axis is vertical;
The secondary pivot center of the first rotation in described each branch, sliding pair slip axis with screw pair Pivot center is parallel to each other, and second rotates pivot center of the secondary pivot center perpendicular to screw pair.
The slide bar of the sliding pair is connected with base, and the driver for including motor and screw mandrel is installed on sliding pair.
The invention has the beneficial effects as follows:
Parallel institution of the present invention for compact conformation, not only with higher rigidity, and motion cumulative errors are less than string Online structure;The parallel institution not only compact conformation of the present invention, installs and safeguards more convenient, and symmetrical configuration, Neng Goufang Just it is processed and controls;Present invention eliminates reductor, reduces cost;Therefore, the present invention is for carrying and sorter The further genralrlization of device people is significant.
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
As shown in figure 1, the parallel transfer robot of four-degree-of-freedom that a kind of moving sets drive, including the execution of base 5, end Device 6, Liang Ge branches.It is provided with the end effector for capturing the equipment of part.
Described two branches are used for the motion for driving end effector, and are connected in end effector and bottom in parallel Between seat;There are five degree of freedom in described each branch, including the spiral shell being connected in turn between end effector and base Rotation pair 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, sliding sleeve 41, slide bar 42;Sliding sleeve and slide bar composition sliding pair.
In each mechanism of sub-branch, second rotates the secondary pivot center secondary with the 3rd rotation is parallel to each other, the cunning of sliding pair Shaft line rotates the secondary pivot center that pair is rotated with the 3rd perpendicular to second;The Liang Gezi branches of each branch it Between, the slip axis of two sliding pairs is parallel to each other, and two second rotate secondary pivot center and are parallel to each other, two the 3rd rotations Secondary pivot center is parallel to each other;The pivot center of the first rotation pair in each branch is put down with the pivot center of screw pair OK, the pivot center of screw pair perpendicular to second rotate it is secondary rotate secondary pivot center with the 3rd, the pivot center of screw pair with The pivot center of sliding pair is parallel to each other.
The slide bar of the sliding pair is connected with base, and installing on sliding pair includes that the driver of motor and screw mandrel is (conventional Structure, omits in figure), Motor drive screw mandrel completes the linear motion of sliding pair.

Claims (3)

1. the parallel transfer robot of four-degree-of-freedom that a kind of moving sets drive, it is characterised in that:The robot includes that end is held Row device (6), base (5) and be connected in parallel between end effector and base with drive end effector motion two points Prop up mechanism;
Described each branch includes screw pair (31), the first connecting rod being 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 sliding sleeve (41) and the slide bar (42) in sliding pair in pair (23), sliding pair.
2. the parallel transfer robot of four-degree-of-freedom that a kind of moving sets according to claim 1 drive, it is characterised in that: In described two mechanisms of sub-branch, the secondary pivot center of the secondary pivot center of the second rotation and the 3rd rotation is mutually parallel, and two The slip diameter parallel of individual sliding pair, and the slip axis of sliding pair is vertical with the pivot center that second rotates pair;
Rotation of the pivot center, the slip axis of sliding pair of the first rotation pair in described each branch with screw pair Axis is parallel to each other, and second rotates pivot center of the secondary pivot center perpendicular to screw pair.
3. the parallel transfer robot of four-degree-of-freedom that a kind of moving sets according to claim 2 drive, it is characterised in that: The slide bar of the sliding pair is connected with base, and the driver for including motor and screw mandrel is installed on sliding pair.
CN201510700380.4A 2015-10-26 2015-10-26 Four-freedom-degree parallel type transfer robot driven by movable pairs Active CN105364922B (en)

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CN105364922B true CN105364922B (en) 2017-04-19

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1539603A (en) * 2003-10-28 2004-10-27 燕山大学 Fine vernier parallel 3D travel mechanism including screw pair
CN101066593A (en) * 2007-06-01 2007-11-07 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism
CN101259617A (en) * 2008-03-31 2008-09-10 浙江理工大学 Fork four-freedom parallel connection robot mechanism
GB2454721A (en) * 2007-11-19 2009-05-20 Dafydd Roberts Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom
CN101863024A (en) * 2010-06-29 2010-10-20 天津大学 Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement
EP2789430A1 (en) * 2013-04-12 2014-10-15 Sabanci University A series elastic holonomic mobile platform for upper extremity rehabilitation
CN205129850U (en) * 2015-10-26 2016-04-06 浙江理工大学 Move secondary drive's four degree of freedom parallel transfer robots

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1539603A (en) * 2003-10-28 2004-10-27 燕山大学 Fine vernier parallel 3D travel mechanism including screw pair
CN101066593A (en) * 2007-06-01 2007-11-07 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism
GB2454721A (en) * 2007-11-19 2009-05-20 Dafydd Roberts Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom
CN101259617A (en) * 2008-03-31 2008-09-10 浙江理工大学 Fork four-freedom parallel connection robot mechanism
CN101863024A (en) * 2010-06-29 2010-10-20 天津大学 Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement
EP2789430A1 (en) * 2013-04-12 2014-10-15 Sabanci University A series elastic holonomic mobile platform for upper extremity rehabilitation
CN205129850U (en) * 2015-10-26 2016-04-06 浙江理工大学 Move secondary drive's four degree of freedom parallel transfer robots

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