CN105773576A - Parallel robot - Google Patents

Parallel robot Download PDF

Info

Publication number
CN105773576A
CN105773576A CN201610057413.2A CN201610057413A CN105773576A CN 105773576 A CN105773576 A CN 105773576A CN 201610057413 A CN201610057413 A CN 201610057413A CN 105773576 A CN105773576 A CN 105773576A
Authority
CN
China
Prior art keywords
driven shaft
parallel robot
bar
movable
sliding shoe
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
Application number
CN201610057413.2A
Other languages
Chinese (zh)
Inventor
徐光春
王光能
王海军
万义军
汪小龙
高云峰
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.)
Shenzhen Hans Electric Motor Co Ltd
Han s Laser Technology Industry Group Co Ltd
Original Assignee
Shenzhen Hans Electric Motor Co Ltd
Han s Laser Technology Industry Group Co Ltd
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 Shenzhen Hans Electric Motor Co Ltd, Han s Laser Technology Industry Group Co Ltd filed Critical Shenzhen Hans Electric Motor Co Ltd
Priority to CN201610057413.2A priority Critical patent/CN105773576A/en
Publication of CN105773576A publication Critical patent/CN105773576A/en
Pending legal-status Critical Current

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
    • B25J9/0033Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base

Abstract

The invention relates to the field of robots, in particular to a parallel robot. The parallel robot comprises a fixing platform, a front-end piece, a drive shaft module and a driven shaft module, wherein the fixing platform comprises at least three mounting bases; the drive shaft module comprises drive shafts matched with the mounting bases; one end of each drive shaft is connected with the corresponding mounting base, and the other ends of the drive shafts are connected with one another; the driven shaft module comprises driven shafts matched with the drive shafts; and one end of each driven shaft is movably connected with the corresponding mounting base, and the other end of each driven shaft is movably connected with the front-end piece. By the design of the parallel robot, under the action of the drive shaft module and the driven shaft module, the front-end piece is made to move in the space within a certain range; the parallel robot is simple in structure, high in stability and quite high in strength, and the production cost and the maintenance cost are reduced; and meanwhile, as movable pieces are adopted for connection, installation and maintenance are facilitated, and the installation errors are greatly reduced.

Description

A kind of parallel robot
Technical field
The present invention relates to robot field, be specifically related to a kind of parallel robot.
Background technology
Constructing well-off society, greatly develop modernization industry while, robot is an inevitable topic.Particularly being prepared to enter into aging society in China, when labour force's shortage gradually, in traditional industry, a large amount of dangerous and that repeatability is high work will be replaced by increasing robot.
Abroad, Delta robot is successfully applied in large-scale field, and achieves good achievement.Such as, on a production line, commodity are put in foam box by eight Delta robots, again foam box is put in carton, decrease artificial workload, most importantly whole operating system is simple and easy to do, and only need to simply revise operating system is just adapted to new packing specification, and this simplification makes the new demand tackling market that this production line can be quick and calm.
The structure of existing Delta parallel robot includes servomotor, accurate retarding machine and driving axle, but accurate retarding machine mechanism is complicated, also easy long-living fault, therefore the maintenance cost of its production cost is high, is unfavorable for the use of large-scale production of parallel robot.Meanwhile, adopt the parallel robot of accurate retarding machine mechanism easily to produce unnecessary vibrations in the course of the work, reduce the work accuracy and efficiency of parallel robot.
The parallel robot how design cost is lower, structure is simpler, stability is higher, is one of those skilled in the art's problem studying consideration always.
Summary of the invention
The technical problem to be solved in the present invention is in that, for the drawbacks described above of prior art, it is provided that a kind of parallel robot, reduces and produces and maintenance cost, simplifies structure, and improves job stability.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of parallel robot, including:
Fixed platform, this fixed platform includes at least three mounting seat;
Front-end element;
Drive axle module, this driving axle module includes the driving axle matched with mounting seat, one end of this driving axle connects with corresponding mounting seat respectively, the other end of this driving axle is connected with each other, this driving axle is provided with sliding rail, sliding shoe and drive motor, this drive motor is connected with sliding shoe, and this sliding shoe is arranged on sliding rail, and this drive motor drives sliding shoe to move on sliding rail;
Driven shaft module, this driven shaft module includes and the driven shaft driving axle to match, and one end of this driven shaft is flexibly connected with corresponding mounting seat respectively, and the other end of this driven shaft is all flexibly connected with front-end element.
Wherein, it is advantageous to scheme is: also include a movable part, this movable part is arranged between driven shaft and mounting seat, and this movable part is additionally arranged between driven shaft and front-end element.
Wherein, it is advantageous to scheme is: this movable part includes cross bar, is arranged on the support bar at cross bar two ends, this support bar all on be provided with the notch for holding cross bar, the support bar at these two ends realizes flip vertical and horizontally rotating relative to cross bar.
Wherein, it is advantageous to scheme is: one end of this driven shaft is connected with support bar, this mounting seat is connected with cross bar, and this driven shaft is realized flip vertical by movable part relative to sliding shoe and horizontally rotates.
Wherein, it is advantageous to scheme is: one end of this driven shaft is connected with support bar, this front-end element is connected with cross bar, and this driven shaft is realized flip vertical by movable part relative to front-end element and horizontally rotates.
Wherein, it is advantageous to scheme is: the angle between these three mounting seats 120 degree each other mutually.
Wherein, it is advantageous to scheme is: the angle of this driving axle and fixed platform is 38 degree.
Wherein, it is advantageous to scheme is: this driving axle module also includes a driving belt being arranged on sliding rail, and this driving belt is connected with sliding shoe and drive motor respectively, this drive motor drives driving belt to rotate, and drives sliding shoe to move on sliding rail.
Wherein, it is advantageous to scheme is: this drive motor is servomotor.
Wherein, it is advantageous to scheme is: also include the work package being arranged on front-end element.
The beneficial effects of the present invention is, compared with prior art, the present invention is by designing a kind of parallel robot, under driving the effect of axle module and driven shaft module, front-end element is made to move in a range of space, the simple in construction of this parallel robot, stability are high and have significantly high intensity, reduce and produce and maintenance cost;Meanwhile, movable part is adopted to connect, it is simple to install and safeguard, greatly reduce the error of installation.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of parallel robot of the present invention;
Fig. 2 is the Facad structure schematic diagram of parallel robot of the present invention;
Fig. 3 is the structural representation of fixed platform of the present invention;
Fig. 4 is the structural representation that the present invention drives axle module;
Fig. 5 is the structural representation of driven shaft module of the present invention;
Fig. 6 is the structural representation of movable part of the present invention.
Detailed description of the invention
In conjunction with accompanying drawing, presently preferred embodiments of the present invention is elaborated.
As depicted in figs. 1 and 2, the present invention provides the preferred embodiment of a kind of parallel robot.
A kind of parallel robot, including fixed platform 10, front-end element 40, drives axle module 20 and driven shaft module 30, and fixing putting down includes at least three mounting seat 12;Drive axle mould fast 20 to include the driving axle matched with mounting seat 12, drive one end of axle to connect with corresponding mounting seat 12 respectively, drive the other end of axle to be connected with each other;Driven shaft module 30 includes and the driven shaft driving axle to match, and one end of driven shaft is flexibly connected with corresponding mounting seat 12 respectively, and the other end of driven shaft is all flexibly connected with front-end element 40.
Wherein, parallel robot also includes the work package 60 being arranged on front-end element 40, and parallel robot realizes corresponding operation by work package 60, such as clamping, boring, absorption, air blowing, discharge opeing etc.;Front-end element 40, in driven shaft module 30 work process, keeps horizontal positioned, thus keeping stablizing of work package 60.
As it is shown on figure 3, the present invention provides the preferred embodiment of a kind of fixed platform.
In fixed platform 10, angle between three mounting seats 12 120 degree each other mutually, it is easy to drive axle to be configured with phase 120 degree of angles each other, makes front-end element 40 move in the space of maximum magnitude, can at utmost improve intensity and the stability of parallel robot simultaneously.
In the present embodiment, fixed platform 10 as it is shown on figure 3, be connected with each other by three fixing plates 11, can form a triangular structure, and each mounting seat 12 is arranged on the drift angle place of triangular structure, reduces the weight of fixed platform 10 to greatest extent;Or, fixed platform 10 can also be the platform of other shapes, as square, circular etc..
As shown in Figure 4, the present invention provides a kind of preferred embodiment driving axle.
Axle module 20 is driven to include the driving axle matched with mounting seat 12, each driving axle is provided with sliding rail 23, sliding shoe 21 and drive motor 22, drive motor 22 is connected with sliding shoe 21, sliding shoe 21 is arranged on sliding rail 23, and drive motor 22 drives sliding shoe 21 to move on sliding rail 23.
Wherein, sliding shoe 21 is provided with link 211, it is simple to be connected with driven shaft;Drive motor 22 is preferably servomotor.
Further, the angle of axle and fixed platform 10 is driven to be 38 degree.
Further, driving axle module 20 also to include a driving belt being arranged on sliding rail 23, driving belt is connected with sliding shoe 21 and drive motor 22 respectively, and this drive motor 22 drives driving belt to rotate, and drives sliding shoe 21 to move on sliding rail 23.
Or, drive motor 22 is the drive motor 22 with expansion link, drive motor 22 is connected with the sliding shoe 21 being arranged on sliding rail 23 by expansion link, and drive motor 22 drives expansion link to carry out stretching motion, thus driving sliding shoe 21 to slide on sliding rail 23.
As it is shown in figure 5, the present invention provides the preferred embodiment of a kind of driven shaft.
Driven shaft module 30 includes driven shaft, each driven shaft includes driven shaft main body, the two ends of driven shaft main body are respectively arranged with movable part 50, driven shaft main body is connected with sliding shoe 21 by the first movable part 501, namely being connected with the link 211 on sliding shoe 21, driven shaft main body is connected with front-end element 40 by the second movable part 502 simultaneously.
Wherein, driven shaft is realized flip vertical by the first movable part 501 relative to sliding shoe 21 and horizontally rotates, and driven shaft is realized flip vertical by the second movable part 502 relative to front-end element 40 and horizontally rotates.
As shown in Figure 6, the present invention provides the preferred embodiment of a kind of movable part.
Movable part 50 is arranged between driven shaft and mounting seat 12, and this movable part 50 is additionally arranged between driven shaft and front-end element 40.Preferably, movable part 50 includes cross bar 52, is arranged on the support bar 51 at cross bar 52 two ends, support bar 51 all on be provided with the notch 511 for holding cross bar 52, the support bar 51 at two ends realizes flip vertical and horizontally rotating relative to cross bar 52.
Wherein, one end of driven shaft is connected with support bar 51, and mounting seat 12 is connected with cross bar 52, and driven shaft is realized flip vertical by movable part 50 relative to sliding shoe 21 and horizontally rotates;Or, one end of driven shaft is connected with support bar 51, and front-end element 40 is connected with cross bar 52, and driven shaft is realized flip vertical by movable part 50 relative to front-end element 40 and horizontally rotates.
Further, support bar 51 all on be provided with the notch 511 for holding cross bar 52, cross bar 52 two ends are provided with the termination 521 matched with notch 511, and cross bar 52 realizes cone space on a large scale on notch 511 by termination 521 and moves;Meanwhile, support bar 51 is provided with the connecting hole 512 being connected with driven shaft;Meanwhile, cross bar 52 is provided with the through hole 522 being connected with link 211 and front-end element 40 respectively.
The present invention also provides for the working method of a kind of parallel robot.
According to preset data, such as coordinate space, control drive motor 22 works, and drives sliding shoe 21 to move on sliding rail 23, makes driven shaft drive front-end element 40 to move to described coordinate space, completes operation.
As described above, be only preferred embodiment, is not intended to limit the scope of the present invention, and all equivalences made according to the present patent application the scope of the claims change or modify, and are all the present invention and are contained.

Claims (10)

1. a parallel robot, it is characterised in that including:
Fixed platform, this fixed platform includes at least three mounting seat;
Front-end element;
Drive axle module, this driving axle module includes the driving axle matched with mounting seat, one end of this driving axle connects with corresponding mounting seat respectively, the other end of this driving axle is connected with each other, this driving axle is provided with sliding rail, sliding shoe and drive motor, this drive motor is connected with sliding shoe, and this sliding shoe is arranged on sliding rail, and this drive motor drives sliding shoe to move on sliding rail;
Driven shaft module, this driven shaft module includes and the driven shaft driving axle to match, and one end of this driven shaft is flexibly connected with corresponding mounting seat respectively, and the other end of this driven shaft is all flexibly connected with front-end element.
2. parallel robot according to claim 1, it is characterised in that: also including a movable part, this movable part is arranged between driven shaft and mounting seat, and this movable part is additionally arranged between driven shaft and front-end element.
3. parallel robot according to claim 2, it is characterized in that: this movable part includes cross bar, is arranged on the support bar at cross bar two ends, this support bar all on be provided with the notch for holding cross bar, the support bar at these two ends realizes flip vertical and horizontally rotating relative to cross bar.
4. parallel robot according to claim 3, it is characterised in that: one end of this driven shaft is connected with support bar, and this mounting seat is connected with cross bar, and this driven shaft is realized flip vertical by movable part relative to sliding shoe and horizontally rotates.
5. parallel robot according to claim 3, it is characterised in that: one end of this driven shaft is connected with support bar, and this front-end element is connected with cross bar, and this driven shaft is realized flip vertical by movable part relative to front-end element and horizontally rotates.
6. parallel robot according to claim 1, it is characterised in that: the angle between these three mounting seats 120 degree each other mutually.
7. parallel robot according to claim 6, it is characterised in that: the angle of this driving axle and fixed platform is 38 degree.
8. parallel robot according to claim 1, it is characterized in that: this driving axle module also includes a driving belt being arranged on sliding rail, this driving belt is connected with sliding shoe and drive motor respectively, this drive motor drives driving belt to rotate, and drives sliding shoe to move on sliding rail.
9. parallel robot according to claim 8, it is characterised in that: this drive motor is servomotor.
10. parallel robot according to claim 1, it is characterised in that: also include the work package being arranged on front-end element.
CN201610057413.2A 2016-01-27 2016-01-27 Parallel robot Pending CN105773576A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610057413.2A CN105773576A (en) 2016-01-27 2016-01-27 Parallel robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610057413.2A CN105773576A (en) 2016-01-27 2016-01-27 Parallel robot

Publications (1)

Publication Number Publication Date
CN105773576A true CN105773576A (en) 2016-07-20

Family

ID=56402499

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610057413.2A Pending CN105773576A (en) 2016-01-27 2016-01-27 Parallel robot

Country Status (1)

Country Link
CN (1) CN105773576A (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11104987A (en) * 1997-09-30 1999-04-20 Toyoda Mach Works Ltd Parallel link mechanism
CN1814416A (en) * 2006-02-28 2006-08-09 浙江工业大学 Six-degree-of-freedom steel band parallel robot mechanisw
CN101462250A (en) * 2009-01-07 2009-06-24 上海劳达斯洁具有限公司 Series parallel movement polisher with six freedom degrees
JP2009255200A (en) * 2008-04-14 2009-11-05 Kyoto Seisakusho Co Ltd Parallel mechanism
CN201579789U (en) * 2009-12-15 2010-09-15 汕头大学 Three-rotational DOF parallel-connection robot
US20100263471A1 (en) * 2009-04-17 2010-10-21 Weber Maschinenbau Gmbh Breidenbach Robot having delta kinematics
CN201693552U (en) * 2010-06-13 2011-01-05 汕头大学 Three-degree-of-rotation-freedom parallel robot
CN102152301A (en) * 2011-03-03 2011-08-17 浙江工业大学 Six-freedom-degree parallel steel belt robot mechanism with roller device
CN102350699A (en) * 2011-09-30 2012-02-15 汕头大学 Six-DOF (degree of freedom) parallel robot with less branch chains
DE102011101206A1 (en) * 2011-05-11 2012-11-15 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Drive system for driving e.g. delta robot in food industry, has Bowden cables arranged between driving apparatus and joint, where force is exerted on joint through cables for movement of joint with degree of freedom of driving apparatus
CN103029121A (en) * 2012-12-11 2013-04-10 燕山大学 Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11104987A (en) * 1997-09-30 1999-04-20 Toyoda Mach Works Ltd Parallel link mechanism
CN1814416A (en) * 2006-02-28 2006-08-09 浙江工业大学 Six-degree-of-freedom steel band parallel robot mechanisw
JP2009255200A (en) * 2008-04-14 2009-11-05 Kyoto Seisakusho Co Ltd Parallel mechanism
CN101462250A (en) * 2009-01-07 2009-06-24 上海劳达斯洁具有限公司 Series parallel movement polisher with six freedom degrees
US20100263471A1 (en) * 2009-04-17 2010-10-21 Weber Maschinenbau Gmbh Breidenbach Robot having delta kinematics
CN201579789U (en) * 2009-12-15 2010-09-15 汕头大学 Three-rotational DOF parallel-connection robot
CN201693552U (en) * 2010-06-13 2011-01-05 汕头大学 Three-degree-of-rotation-freedom parallel robot
CN102152301A (en) * 2011-03-03 2011-08-17 浙江工业大学 Six-freedom-degree parallel steel belt robot mechanism with roller device
DE102011101206A1 (en) * 2011-05-11 2012-11-15 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Drive system for driving e.g. delta robot in food industry, has Bowden cables arranged between driving apparatus and joint, where force is exerted on joint through cables for movement of joint with degree of freedom of driving apparatus
CN102350699A (en) * 2011-09-30 2012-02-15 汕头大学 Six-DOF (degree of freedom) parallel robot with less branch chains
CN103029121A (en) * 2012-12-11 2013-04-10 燕山大学 Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure

Similar Documents

Publication Publication Date Title
CN203381701U (en) Mobile robot
CN101793945B (en) Solar cell testing device
CN201997999U (en) Novel double-workbench high-speed processing center
CN102248389B (en) Multipoint flexible positioning method and tool for automatic drilling and riveting assembly of wallboard
CN202344277U (en) Moving device of fixture for X axis and Y axis of multi-axial horizontal type machine tool
CN203955950U (en) The four axle stamping machine manipulators that arm load capacity is strong
CN203843850U (en) Pneumatic gripper mechanical arm
CN103357951A (en) Cutting machine
CN202986601U (en) Platform movable carving machine
CN204097568U (en) A kind of multi-degree-of-freedom workbench
JP6318264B2 (en) Robot applying the principle of parallelogram
CN203124971U (en) Robot three-dimensional optical fiber laser cutting machine
CN101670528B (en) Vertical exchange working platform overturning drive device and manufacturing method thereof
CN202702411U (en) Gantry line stone cutting machine
CN103072135A (en) Automatic production line mechanical arm
CN102009340A (en) Aircraft engine mounting vehicle
CN203279180U (en) Glue-injecting apparatus for horns
CN107352043B (en) A kind of six axis posture adjustment platforms for the installation of aircraft engine complete machine
CN204054077U (en) A kind of transfer robot
CN203635427U (en) Six-axis linkage dispensing machine
CN202357139U (en) Assembly workbench capable of driving work-piece to overturn and rotate
CN102642160A (en) Bridge numerical control gantry universal grinder structure
CN202147529U (en) Double screw rod driven engraving machine
CN201833367U (en) Full-automatic grasping and laying system on X-axis, Y-axis and Z-axis
CN203956921U (en) Four axle stamping machine manipulators

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20160720

RJ01 Rejection of invention patent application after publication