CN106239482A - Six degree of freedom Delta sorting machine people - Google Patents
Six degree of freedom Delta sorting machine people Download PDFInfo
- Publication number
- CN106239482A CN106239482A CN201610788676.0A CN201610788676A CN106239482A CN 106239482 A CN106239482 A CN 106239482A CN 201610788676 A CN201610788676 A CN 201610788676A CN 106239482 A CN106239482 A CN 106239482A
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- China
- Prior art keywords
- branched chain
- movement branched
- degree
- sorting machine
- machine people
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of six degree of freedom Delta sorting machine people, including: silent flatform, the first moving platform and the second moving platform, wherein: be connected by the first to the 6th movement branched chain between silent flatform and the first moving platform, it is connected by the 7th to the 9th movement branched chain between the first moving platform and the second moving platform.Present configuration is the compactest, and easily, mechanism kinematic is flexible in assembling, and speed is fast, drives motor to be all placed at silent flatform, can be applicable to spot welding, spray and sort, plug-in mounting, encapsulate, the occasion such as packaging.
Description
Technical field
The present invention relates to the technology of a kind of robot field, specifically a kind of six degree of freedom Delta sorting machine people.
Background technology
Parallel institution is generally formed by the connection of a plurality of movement branched chain by moving platform and fixed platform, relatively serial mechanism, tool
There are advantages such as compact conformation, rigidity, bearing capacity are strong, cumulative error is little, therefore obtain widely in practical implementation；Cascade machine
Structure has the advantages such as work space is big；Hybrid mechanism then has concurrently also, the advantage of serial mechanism, therefore it is actual to be widely used in engineering
In.
Delta robot can realize three movements and rotation about the z axis, typically by frame, moving platform, silent flatform, three
Movement branched chain and intermediate transmission movement branched chain composition, can complete to sort at a high speed, plug-in mounting, encapsulate, the operation such as packaging.But can not
Rotating around a horizontal axis, so being difficult to meet more complicated task, limiting its application to a certain extent.
Summary of the invention
The present invention is directed to deficiencies of the prior art, propose a kind of six degree of freedom Delta sorting machine people, structure
The compactest, easily, mechanism kinematic is flexible in assembling, and speed is fast, drives motor to be all placed at silent flatform, can be applicable to spot welding,
Spraying and sorting, plug-in mounting, encapsulate, the occasion such as packaging.
The present invention is achieved by the following technical solutions:
The present invention includes: silent flatform, the first moving platform and the second moving platform, wherein: between silent flatform and the first moving platform
It is connected by the first to the 6th movement branched chain, by the 7th to the 9th movement branched chain phase between the first moving platform and the second moving platform
Even.
Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain all include: two short connecting rods, two long
Connecting rod and a radial link, two short connecting rods and two long connecting rods are connected quadrangularly structure by ball parafacies, radially connect
Bar and two ends respectively with short connecting rod in the middle part of and silent flatform be rotatedly connected, another short connecting rod and the first moving platform are rotatedly connected.
Described the 4th movement branched chain, the 5th movement branched chain and the 6th movement branched chain all include: upper rotating shaft, lower rotary shaft and in
Between connecting rod, upper rotating shaft is rotatedly connected with silent flatform, and lower rotary shaft is movably set in the first moving platform, intermediate connecting rod two ends and upper rotating shaft
It is connected by universal joint with lower rotary shaft.
Described the 7th movement branched chain, the 8th movement branched chain and the 9th movement branched chain all include: two L-shaped connecting rods, two L
One end of shape connecting rod is mutually rotationally connected.
Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain are uniformly distributed along silent flatform circumference.
The described upper rotating shaft in the 4th movement branched chain, the 5th movement branched chain and the 6th movement branched chain is along silent flatform circumference all
Even distribution.
Described lower rotary shaft tilts to be arranged in the first moving platform.
The described lower rotary shaft other end is connected with L-shaped connecting rod one end.
The revolute pair that described first to the 6th movement branched chain is connected with silent flatform is all as driving pair.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention；
Fig. 2 is the first moving platform and the second moving platform connection diagram；
Fig. 3 is the first movement branched chain structural representation；
Fig. 4 is the 4th movement branched chain structural representation；
Fig. 5 is silent flatform structural representation；
Fig. 6 is the first moving platform structural representation；
In figure: 1 silent flatform, 2 first moving platforms, 3 second moving platforms, 4 first movement branched chain, 5 second movement branched chain, 6
Three movement branched chain, 7 the 4th movement branched chain, 8 the 5th movement branched chain, 9 the 6th movement branched chain, 10 the 7th movement branched chain, 11 the 8th fortune
Dynamic side chain, 12 the 9th movement branched chain, 13 radial link, 14 long connecting rods, 15 short connecting rods, rotating shaft on 16,17 lower rotary shafts, connect in the middle of 18
Bar, 19 axis holes, 20 connecting rods connect ends, 21 inclined shaft holes, 22L shape connecting rod, 41 first drive secondary, 51 second drive secondary, 61 the 3rd drive
Dynamic secondary, 71 the 4th drive secondary, 81 the 5th drive secondary, 91 the 6th drive pair.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement
Example.
Embodiment 1
As shown in Fig. 1～2, the present embodiment includes: silent flatform the 1, first moving platform 2 and the second moving platform 3, wherein: quiet flat
By first movement branched chain the 4, second movement branched chain the 5, the 3rd movement branched chain the 6, the 4th motion between platform 1 and the first moving platform 2
Chain the 7, the 5th movement branched chain 8 and the 6th movement branched chain 9 are connected, by the 7th fortune between the first moving platform 2 and the second moving platform 3
Dynamic side chain the 10, the 8th movement branched chain 11 is connected with the 9th movement branched chain 12.
As it is shown on figure 3, first described movement branched chain the 4, second movement branched chain 5 and the 3rd movement branched chain 6 all include: two
15, two long connecting rods 14 of short connecting rod and a radial link 13, two short connecting rods 15 and two long connecting rods 14 are mutual by ball parafacies
Connect into quadrilateral structure, radial link 13 and two ends respectively with short connecting rod 15 in the middle part of and silent flatform 1 be rotatedly connected, another short company
Bar 15 is rotatedly connected with the first moving platform 2.First movement branched chain the 4, second movement branched chain 5 and the 3rd movement branched chain 6 are along silent flatform 1
Circumference is uniformly distributed.
The 7th described movement branched chain the 10, the 8th movement branched chain 11 and the 9th movement branched chain 12 all include: two L-shaped connecting rods
22, one end of two L-shaped connecting rods 22 is mutually rotationally connected.
As shown in Figure 4, the 4th described movement branched chain the 7, the 5th movement branched chain 8 and the 6th movement branched chain 9 all include: upper turn
Axle 16, lower rotary shaft 17 and intermediate connecting rod 18, upper rotating shaft 16 is rotatedly connected with silent flatform 1, and lower rotary shaft 17 is movably set in first and moves
Platform 2, intermediate connecting rod 18 two ends are connected by universal joint with one end of upper rotating shaft 16 and lower rotary shaft 17.
As it is shown in figure 5, described silent flatform 1 outer rim is provided with three connecting rods connects ends 20 for connecting radial link 13, even
Bar connects end 20 and is uniformly distributed along silent flatform 1 circumference.Connecting rod in silent flatform 1 connects end 20 corresponding position and is provided with axis hole 19, upper turn
Axle 16 is arranged in this axis hole 19.
As shown in Figure 6, the first described moving platform 2 is circumferentially with three inclined shaft holes 21 along it, and lower rotary shaft 17 is through inclined shaft
Hole 21 is rotatedly connected with L-shaped connecting rod 22.This L-shaped connecting rod 22 is rotated by lower rotary shaft 17.Axial first moving platform 2 in inclined shaft hole 21
Angle between plane is 60 ° and towards the first moving platform 2 edge.
First described movement branched chain the 4, second movement branched chain the 5, the 3rd movement branched chain the 6, the 4th movement branched chain the 7, the 5th fortune
The revolute pair that dynamic side chain 8 is connected with silent flatform 1 with the 6th movement branched chain 9, as driving pair, i.e. drives secondary 41, second as first
The secondary 51, the 3rd is driven to drive the secondary 61, the 4th to drive the secondary 71, the 5th to drive secondary 81 and the 6th to drive secondary 91.
Compared with prior art, present configuration is the compactest, and easily, mechanism kinematic is flexible in assembling, and speed is fast, drives electricity
Machine is all placed at silent flatform, can be applicable to spot welding, spray and sort, plug-in mounting, encapsulate, the occasion such as packaging.
Claims (9)
1. a six degree of freedom Delta sorting machine people, it is characterised in that including: silent flatform, the first moving platform and second are dynamic flat
Platform, wherein: be connected by the first to the 6th movement branched chain between silent flatform and the first moving platform, the first moving platform and second moves flat
It is connected by the 7th to the 9th movement branched chain between platform.
Six degree of freedom Delta sorting machine people the most according to claim 1, is characterized in that, described the first movement branched chain,
Second movement branched chain and the 3rd movement branched chain all include: two short connecting rods, two long connecting rods and a radial link, two short companies
Bar and two long connecting rods are connected quadrangularly structure by ball parafacies, radial link and two ends respectively with short connecting rod in the middle part of and quiet
Platform is rotatedly connected, and another short connecting rod and the first moving platform are rotatedly connected.
Six degree of freedom Delta sorting machine people the most according to claim 1, is characterized in that, described the 4th movement branched chain,
5th movement branched chain and the 6th movement branched chain all include: upper rotating shaft, lower rotary shaft and intermediate connecting rod, and upper rotating shaft rotates phase with silent flatform
Even, lower rotary shaft is movably set in the first moving platform, and universal joint phase is passed through in one end of intermediate connecting rod two ends and upper rotating shaft and lower rotary shaft
Even.
Six degree of freedom Delta sorting machine people the most according to claim 1, is characterized in that, described the 7th movement branched chain,
8th movement branched chain and the 9th movement branched chain all include: two L-shaped connecting rods, and one end of two L-shaped connecting rods is mutually rotationally connected.
Six degree of freedom Delta sorting machine people the most according to claim 1 and 2, is characterized in that, the first described motion
Chain, the second movement branched chain and the 3rd movement branched chain are uniformly distributed along silent flatform circumference.
6. according to the six degree of freedom Delta sorting machine people described in claim 1 or 3, it is characterized in that, the 4th described motion
Upper rotating shaft in chain, the 5th movement branched chain and the 6th movement branched chain is uniformly distributed along silent flatform circumference.
Six degree of freedom Delta sorting machine people the most according to claim 3, is characterized in that, described lower rotary shaft tilts to wear
It is located at the first moving platform.
Six degree of freedom Delta sorting machine people the most according to claim 3, is characterized in that, the described lower rotary shaft other end
It is connected with L-shaped connecting rod one end.
Six degree of freedom Delta sorting machine people the most according to claim 1, is characterized in that, described first to the 6th fortune
The revolute pair that dynamic side chain is connected with silent flatform is all as driving pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788676.0A CN106239482A (en) | 2016-08-31 | 2016-08-31 | Six degree of freedom Delta sorting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788676.0A CN106239482A (en) | 2016-08-31 | 2016-08-31 | Six degree of freedom Delta sorting machine people |
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| Publication Number | Publication Date |
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| CN106239482A true CN106239482A (en) | 2016-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610788676.0A Pending CN106239482A (en) | 2016-08-31 | 2016-08-31 | Six degree of freedom Delta sorting machine people |
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| Country | Link |
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| CN (1) | CN106239482A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
Citations (5)
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| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| US20100206120A1 (en) * | 2009-02-13 | 2010-08-19 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| CN102528794A (en) * | 2010-12-22 | 2012-07-04 | 财团法人工业技术研究院 | Parallel robot and wrist module |
| CN102848375A (en) * | 2012-08-29 | 2013-01-02 | 江西省机械科学研究所 | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion |
| CN103640011A (en) * | 2013-11-26 | 2014-03-19 | 东莞华中科技大学制造工程研究院 | Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot |
-
2016
- 2016-08-31 CN CN201610788676.0A patent/CN106239482A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100206120A1 (en) * | 2009-02-13 | 2010-08-19 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CN102528794A (en) * | 2010-12-22 | 2012-07-04 | 财团法人工业技术研究院 | Parallel robot and wrist module |
| CN102848375A (en) * | 2012-08-29 | 2013-01-02 | 江西省机械科学研究所 | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion |
| CN103640011A (en) * | 2013-11-26 | 2014-03-19 | 东莞华中科技大学制造工程研究院 | Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
| CN113146589B (en) * | 2021-05-19 | 2023-12-22 | 江苏睿动智能科技有限公司 | Logistics sorting robot with embedded mechanical claw |
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Application publication date: 20161221 |