CN107813291A - A kind of connection in series-parallel mixed structure robot - Google Patents
A kind of connection in series-parallel mixed structure robot Download PDFInfo
- Publication number
- CN107813291A CN107813291A CN201710587416.1A CN201710587416A CN107813291A CN 107813291 A CN107813291 A CN 107813291A CN 201710587416 A CN201710587416 A CN 201710587416A CN 107813291 A CN107813291 A CN 107813291A
- Authority
- CN
- China
- Prior art keywords
- connection
- series
- parallel
- robot
- mixed structure
- 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.)
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
The invention discloses a kind of connection in series-parallel mixed structure robot, including parallel robot, the parallel robot bottom is provided with connecting plate, the connecting plate bottom is set with horizontal cross motor, the horizontal cross motor connects the reductor of horizontal cross by flange, vertical motor is provided with the reductor of horizontal cross, the present invention provides a kind of connection in series-parallel mixed structure robot, and structure is novel；Three axial freedom governor motions of the invention by adding series connection on the basis of parallel robot, form connection in series-parallel mixed structure robot, can only carry out plane crawl and serial manipulator present invention incorporates traditional parallel robot can carry out the technical characterstic of space any angle crawl, have more frees degree, it ensure that the high speed of parallel robot, possess the flexible of serial manipulator again, series-parallel robot structure of the invention is widely used.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of connection in series-parallel mixed structure robot.
Background technology
Application now with the constantly soaring industrial automation of human cost is more and more common, and traditional parallel machine is compared
Compared in the robot of cascaded structure, the simple speed of parallel-connection structure is fast, but traditional parallel robot can only carry out X, Y, Z's
Spatial movement, it is impossible to flexibly can be controlled as serial manipulator to posture；In particular for the machine of spraying operation
Device people, structure is stiff, and spray efficiency is low.
The content of the invention
It is an object of the invention to provide a kind of connection in series-parallel mixed structure robot, to solve to propose in above-mentioned background technology
The problem of.
To achieve the above object, the present invention provides following technical scheme：
A kind of connection in series-parallel mixed structure robot, including parallel robot, it is axially free that parallel robot bottom is provided with series connection
Spend governor motion.
As the further scheme of the present invention：The series connection axial freedom governor motion includes connecting plate, and connecting plate is set
Put in parallel robot bottom, the connecting plate bottom is set with horizontal cross motor, the horizontal cross motor
The reductor of horizontal cross is connected by flange, vertical motor is provided with the reductor of horizontal cross, the vertical motor leads to
Cross flange and connect vertical reductor, horizontal longitudinal motor is provided with vertical reductor；Horizontal longitudinal motor passes through flange
The reductor of the horizontal longitudinal direction of connection, the reductor of horizontal longitudinal direction are set with work rotating shaft by bearing connection.
As further scheme of the invention：Spray gun mechanism is provided with the series connection axial freedom governor motion,
Spray gun mechanism is arranged in work rotating shaft；The spray gun mechanism includes spray gun connection rod, and spray gun connection rod is vertically set on work
Rotating shaft front end, spray gun connection rod are provided at both ends with spray gun.
As further scheme of the invention：Vertical handle is set with the work rotating shaft.
As further scheme of the invention：The connecting plate side is provided with transverse handle.
As further scheme of the invention：The spray gun connection rod is symmetrical arranged along work shaft axis.
As further scheme of the invention：Control panel is provided with the transverse handle.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention provides a kind of connection in series-parallel mixed structure robot, and structure is novel；The present invention is by the basis of parallel robot
On add three axial freedom governor motions of series connection, form connection in series-parallel mixed structure robot, present invention incorporates biography
The parallel robot of system, which can only carry out plane crawl and serial manipulator, can carry out the technical characterstic of space any angle crawl,
Have more frees degree, that is, ensure that the high speed of parallel robot, possess the flexible of serial manipulator, string of the invention again
Parallel robot structure is widely used.
Brief description of the drawings
Fig. 1 is the structural representation of connection in series-parallel mixed structure robot.
Fig. 2 is the top enlarged diagram of connection in series-parallel mixed structure robot.
Fig. 3 is the bottom mplifying structure schematic diagram of connection in series-parallel mixed structure robot.
Embodiment
The technical scheme of this patent is described in more detail with reference to embodiment.
Fig. 1-3, a kind of connection in series-parallel mixed structure robot, including parallel robot, parallel robot bottom is referred to set
It is equipped with series connection axial freedom governor motion；The series connection axial freedom governor motion includes connecting plate 1, and connecting plate 1 is set
In parallel robot bottom, the bottom of connecting plate 1 is set with horizontal cross motor 4, the horizontal cross motor 4
The reductor 8 of horizontal cross is connected by flange 5, vertical motor 6, the vertical electricity are provided with the reductor 8 of horizontal cross
Machine 6 connects vertical reductor 8 by flange 5, and horizontal longitudinal motor 14 is provided with vertical reductor 8；Horizontal longitudinal direction electricity
Machine 14 connects the reductor 8 of horizontal longitudinal direction by flange 5, and the reductor 8 of horizontal longitudinal direction is set with work by bearing connection 9
Rotating shaft 10；The horizontal cross motor 4, vertical motor 6 and horizontal longitudinal motor 14 are servomotor.
It is artificial for convenience in the present embodiment to drag teaching, it is set with vertical handle 11 in the work rotating shaft 10；It is described
The side of connecting plate 1 is provided with transverse handle 3, and control panel 2 is provided with the transverse handle 3.
Spray gun mechanism is provided with series connection axial freedom governor motion described in the present embodiment, spray gun mechanism is arranged on work
Make in rotating shaft 10；The spray gun mechanism includes spray gun connection rod 12, and spray gun connection rod 12 is vertically set on the front end of work rotating shaft 10,
Spray gun connection rod 12 is provided at both ends with spray gun 13.
The present invention operation principle be：The present invention by horizontal cross motor 4 realize around horizontal cross rotate from
Adjusted by degree, realize that the free degree rotated around vertical direction is adjusted by vertical motor 6；By horizontal longitudinal motor 14 realize around
The free degree regulation that level longitudinally rotates；Realization is integrated installed in the spray gun 13 of work roller end three are axially free
Degree regulation；The present invention adds three axial freedom governor motions of series connection on the basis of parallel robot, forms string simultaneously
Join mixed structure robot, can only carry out plane crawl and serial manipulator present invention incorporates traditional parallel robot can be with
The technical characterstic of space any angle crawl is carried out, has more frees degree, that is, ensure that the high speed of parallel robot, again
Possess the flexible of serial manipulator, series-parallel robot structure of the invention is widely used, series-parallel robot in the present embodiment
Structure is applied in spraying operation, realizes spraying operation efficiency high.
The better embodiment of this patent is explained in detail above, but this patent is not limited to above-mentioned embodiment party
Formula, can also be on the premise of this patent objective not be departed from one skilled in the relevant art's possessed knowledge
Make a variety of changes.
Claims (7)
1. a kind of connection in series-parallel mixed structure robot, including parallel robot, it is characterised in that parallel robot bottom is provided with
Series connection axial freedom governor motion.
2. connection in series-parallel mixed structure robot according to claim 1, it is characterised in that the series connection axial freedom is adjusted
Section mechanism includes connecting plate, and connecting plate is arranged on parallel robot bottom, and the connecting plate bottom is set with horizontal cross driving
Motor, the horizontal cross motor are connected the reductor of horizontal cross by flange, set on the reductor of horizontal cross
There is vertical motor, the vertical motor is connected vertical reductor by flange, horizontal longitudinal direction is provided with vertical reductor
Motor；Horizontal longitudinal motor connects the reductor of horizontal longitudinal direction by flange, and the reductor of horizontal longitudinal direction passes through bearing connection
It is set with work rotating shaft.
3. connection in series-parallel mixed structure robot according to claim 2, it is characterised in that the series connection axial freedom is adjusted
Spray gun mechanism is provided with section mechanism, spray gun mechanism is arranged in work rotating shaft；The spray gun mechanism includes spray gun connection rod, spray
Rifle connection rod is vertically set on work rotating shaft front end, and spray gun connection rod is provided at both ends with spray gun.
4. connection in series-parallel mixed structure robot according to claim 3, it is characterised in that the spray gun connection rod edge work
Shaft axis are symmetrical arranged.
5. connection in series-parallel mixed structure robot according to claim 4, it is characterised in that be set with the work rotating shaft
Vertical handle.
6. connection in series-parallel mixed structure robot according to claim 5, it is characterised in that the connecting plate side is provided with
Transverse handle.
7. connection in series-parallel mixed structure robot according to claim 6, it is characterised in that be provided with the transverse handle
Control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710587416.1A CN107813291A (en) | 2017-07-18 | 2017-07-18 | A kind of connection in series-parallel mixed structure robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710587416.1A CN107813291A (en) | 2017-07-18 | 2017-07-18 | A kind of connection in series-parallel mixed structure robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107813291A true CN107813291A (en) | 2018-03-20 |
Family
ID=61600888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710587416.1A Withdrawn CN107813291A (en) | 2017-07-18 | 2017-07-18 | A kind of connection in series-parallel mixed structure robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107813291A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
-
2017
- 2017-07-18 CN CN201710587416.1A patent/CN107813291A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180320 |
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| WW01 | Invention patent application withdrawn after publication |