CN107825402A - A kind of Three Degree Of Freedom high speed conveying robot - Google Patents
A kind of Three Degree Of Freedom high speed conveying robot Download PDFInfo
- Publication number
- CN107825402A CN107825402A CN201711290928.8A CN201711290928A CN107825402A CN 107825402 A CN107825402 A CN 107825402A CN 201711290928 A CN201711290928 A CN 201711290928A CN 107825402 A CN107825402 A CN 107825402A
- Authority
- CN
- China
- Prior art keywords
- side chain
- master arm
- arm
- drive device
- degree
- 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
Links
- 230000000694 effects Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000015895 biscuits Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Three Degree Of Freedom high speed conveying robot, including, frame, moving platform, the executing agency of connection frame and moving platform, the executing agency includes, and side chain and drive device, the side chain include, the master arm being installed in rotation in frame, and the output axis connection of master arm and drive device；One end is connected with master arm, the slave arm that the other end is connected with moving platform, and the slave arm is configured to relative master arm and moving platform has at least two frees degree respectively；The side chain is three, and every side chain is each configured with a drive device, to drive moving platform to be moved in three dimensions.Invention has preferable lateral rigidity, and overall structure is simple while can meet the demands such as high speed, large carrying capacity.
Description
Technical field
The present invention relates to industry mechanical arm field, especially a kind of Three Degree Of Freedom high speed conveying robot.
Background technology
With China's expanding economy, high speed conveying robot becomes more and more important in production application, and it is in many
Industrial circle can replace manual labor, realize the production automation.The use of high speed conveying robot, it can not only reduce the body of people
Power is worked, and reduces the waste of human resources, and can effectively improve operating efficiency.In industries such as food, electronics, light industry, medicine
Automation production flow line, be often related to isometric small, the light weight product of some such as biscuits, resin lens at 2 points
Between transport operation, this transport operation generally requires high speed, to meet the beat of production line.It is existing light
Carry conveying robot and be broadly divided into two kinds of configurations of parallel institution and serial mechanism, and to be mostly motor be mounted directly existing serial mechanism
In rotating shaft, make the increase of moving component weight, it is difficult to realize high-speed motion.Publication No. CN100446941 Chinese invention is special
Profit discloses a kind of three-translational freedom degree parallel connection mechanism with asymmetric side chain.It by frame, be provided with main shaft moving platform,
And three movement branched chains being arranged between the frame and moving platform are formed；Three described movement branched chains include two points
The flexible active branched chain of mechanism both sides and a parallel active branched chain for being arranged on mechanism bottom are not arranged on；Described two stretch
Contracting active branched chain is respectively by upper Hooke's hinge, the expansion link being hinged with described upper Hooke, the motor for being arranged on expansion link bottom
And it is arranged on the lower Hooke's hinge composition of outside motor；Described parallel active branched chain is two parallel four connected by support
The plane linkwork of side shape structure composition；The junction of three movement branched chains and frame is respectively positioned on below mechanism.The hair
Asymmetric side chain in bright easily causes single direction unbalance stress, reduces the overall stability of device.
Given this present invention is proposed.
The content of the invention
High it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of intensity, stability is good, and controlling party
Just Three Degree Of Freedom high speed conveying robot.
In order to realize the purpose, the present invention adopts the following technical scheme that：
A kind of Three Degree Of Freedom high speed conveying robot, including, frame, moving platform, the execution machine of connection frame and moving platform
Structure, the executing agency include, and side chain and drive device, the side chain include, the master arm being installed in rotation in frame,
And the output axis connection of master arm and drive device；One end is connected with master arm, the slave arm that the other end is connected with moving platform, institute
State slave arm and be configured to that there are at least two frees degree respectively with respect to master arm and moving platform；The side chain is three, and every
Side chain is each configured with a drive device, to drive moving platform to be moved in three dimensions.
Further, the frame includes, fixed support and the travel(l)ing rest being slidably mounted on fixed support, and
Driving travel(l)ing rest is relatively fixed the screw drive mechanism of bracket slide；Two of which side chain is arranged on fixed support, another
Side chain is arranged on travel(l)ing rest.Side chain on travel(l)ing rest can be adjusted to according to the needs in real work space
Lateral arrangement is longitudinally arranged, to obtain more excellent working space.
Further, the screw drive mechanism includes, and both ends and the leading screw of fixed support rotation connection, is arranged on leading screw
One end and the leading screw motor for driving leading screw to rotate, the travel(l)ing rest coordinates with leading screw, and drives it relatively solid by leading screw
Fixed rack slides.By the position for adjusting travel(l)ing rest, thus it is possible to vary the relative position of three side chains so that whole device is more
Flexibly, preferable stressed effect is reached.
Further, three articles of side chains are respectively the first side chain, the second side chain and the 3rd side chain, and the drive device includes
First driving means, the second drive device and the 3rd drive device, first driving means are connected with the master arm of the first side chain, the
Two drive devices are connected with the master arm of the second side chain, and the 3rd drive device is connected with the master arm of the 3rd side chain, and described first
Drive device and the second drive device are arranged on fixed support, and the 3rd drive device is arranged on travel(l)ing rest.
Further, the slave arm is the parallel-crank mechanism with double leval jib, and double leval jib is through revolute pair successively head and the tail
It is connected, wherein a connecting rod is rotatablely connected with master arm, another connecting rod relative with the connecting rod is rotatablely connected with moving platform.
Further, first side chain, the second side chain, the master arm of the 3rd side chain are separately positioned in different planes,
And first the free cheek of free cheek and the master arm of the second side chain of master arm of side chain intersect vertically.
Further, first side chain, the second side chain, the master arm of the 3rd side chain are separately positioned in different planes,
And first the free cheek of free cheek and the master arm of the second side chain of master arm of side chain tilt and intersect.
Further, the master arm of first side chain and the master arm of the second side chain are arranged on same plane or are parallel to each other
Two planes on, the free cheek of the master arm of the 3rd side chain tilts or perpendicular to the plane.
Further, the master arm of first side chain and the master arm of the second side chain are arranged on same level height, described
The master arm of 3rd side chain is set less than the master arm of the first side chain.The arrangement that three side chains are laid out using bilayer,
The lateral rigidity of device can be effectively improved, increases the resistance to overturning of device.
After technical solutions according to the invention, following beneficial effect is brought：
1st, overall structure of the present invention is simple while can meet the demands such as high speed, large carrying capacity.
2nd, each turning joint of apparatus of the present invention is revolute pair, and moving platform has the one-movement-freedom-degree in 3 directions, avoided
Unnecessary rotational freedom, increase the stability of moving platform.
3rd, three side chains of the invention are arranged in the diverse location of frame, are advantageous to avoid frame from concentrating stress, carry energy
Power is good.
4th, the 3rd side chain of the invention can use different arrangements laterally or longitudinally, can obtain more excellent work
Space.
Brief description of the drawings
Fig. 1：The structure chart of the embodiment of the present invention one；
Fig. 2：For Fig. 1 Y partial enlarged drawings；
Fig. 3：The structure chart of the embodiment of the present invention two；
Fig. 4：The structure chart of the embodiment of the present invention three；
Fig. 5：The present invention changes the structure chart for improving obtained example IV based on embodiment one；
Fig. 6：The present invention changes the structure chart for improving obtained example IV based on embodiment two；
Fig. 7：The present invention changes the structure chart for improving obtained example IV based on embodiment three；
Wherein：1st, the first side chain 2, the second side chain 3, the 3rd side chain 4, frame 5, drive device 6, moving platform 7, silk
Thick stick drive mechanism 8, master arm 9, slave arm 41, fixed support 42, travel(l)ing rest 51, first driving means 52, second
Drive device 53, the 3rd drive device 71, leading screw 72, leading screw motor.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment one
As depicted in figs. 1 and 2, a kind of Three Degree Of Freedom high speed conveying robot, including, frame 4, moving platform 6, and connection
Frame 4 and the executing agency of moving platform 6, the executing agency include, and side chain and drive device 5, the side chain include, first
Chain 1, the second side chain 2 and the 3rd side chain 3.Preferably, the frame 4 includes, and fixed support 41 and is slidably mounted in fixation
Travel(l)ing rest 42 on support 41, and driving travel(l)ing rest 42 are relatively fixed the screw drive mechanism 7 of the slip of support 41.It is described
Travel(l)ing rest 42 is configured to slide up and down along fixed support 41, and the screw drive mechanism 7 includes, both ends and fixed branch
The leading screw 71 that frame 41 is rotatablely connected, and leading screw motor 72 is provided with one end of leading screw 71, the leading screw 71 props up through activity
Frame 42, and when leading screw 71 rotates, the travel(l)ing rest 42 moves axially along leading screw 71.First side chain 1 and second
Chain 2 is arranged on fixed support 41, and the 3rd side chain 3 is arranged on travel(l)ing rest 42.By the height for adjusting travel(l)ing rest 42
Degree, makes the 3rd side chain 3 be located at diverse location, can utilize different locus, improve the applicability of mechanism.
First side chain 1, the second side chain 2, the 3rd side chain 3 include respectively, the active being installed in rotation in frame 4
Arm 8, and master arm 8 and the output axis connection of drive device 5；One end is connected with master arm 8, and the other end is connected with moving platform 6
Slave arm 9, the slave arm 9 is configured to relative master arm 8 and moving platform 6 has at least two frees degree respectively；It is described dynamic flat
Platform 6 is horizontally disposed, is driven jointly by three side chains, and moved in three dimensions in a manner of parallel to horizontal plane.
Specifically, the drive device 5 includes first driving means 51, the second drive device 52 and the 3rd drive device
53, first driving means 51 are connected with the master arm 8 of the first side chain 1, the master arm 8 of the second drive device 52 and the second side chain 2
Connection, the 3rd drive device 53 are connected with the master arm 8 of the 3rd side chain 3, the drive device of first driving means 51 and second
52 are arranged on fixed support 41, and the 3rd drive device 53 is arranged on travel(l)ing rest 42.
The slave arm 9 is the parallel-crank mechanism with double leval jib, and double leval jib joins end to end successively through revolute pair, its
In a connecting rod be rotatablely connected with master arm 8, another connecting rod relative with the connecting rod is rotatablely connected with moving platform 6.
First side chain 1, the second side chain 2, the master arm 8 of the 3rd side chain 3 are separately positioned in different planes, and the
The free cheek of the free cheek of the master arm 8 of one side chain 1 and the master arm 8 of the second side chain 2 intersects vertically.Specifically, three
The master arm 8 of side chain is separately positioned on three perpendiculars, is longitudinally disposed.
The master arm 8 of the side chain 2 of master arm 8 and second of first side chain 1 is arranged on same level highly, and the described 3rd
The master arm 8 of side chain 3 is set less than the master arm 8 of the first side chain 1 so that and three side chains are distributed in two different height,
The lateral rigidity of device is effectively improved, increases the resistance to overturning of device.
Preferably, the drive device 52 of first driving means 51 and second is separately positioned on the top of fixed support 41,
The side chain 2 of first side chain 1 and second is extended downwardly by the upper end of fixed support 41.
Embodiment two
As shown in figure 3, the present embodiment and the difference of embodiment one are, the activity of the master arm 8 of first side chain 1 is put down
Face tilts with the free cheek of the master arm 8 of the second side chain 2 intersects, and different works can be obtained by the angle for changing two side chains
Make space, expand the scope of application.
Embodiment three
As shown in figure 4, the present embodiment and the difference of embodiment one are, the master arm 8 of first side chain 1 and second
The master arm 8 of chain 2 be arranged on same plane or two planes being parallel to each other on, the activity of the master arm 8 of the 3rd side chain 3
Planar tilt or perpendicular to the plane.
Example IV
As shown in Fig. 5, Fig. 6, Fig. 7, on the basis of embodiment one or embodiment two or embodiment three, by described 3rd
The master arm 8 of chain 3 is horizontally disposed, and the free cheek of the master arm 8 is horizontal plane, and perpendicular to the active of other two side chains
The free cheek of arm 8.
It should be noted that on the basis of above-described embodiment, screw drive mechanism 7, the activity branch can also be omitted
Frame 42 and fixed support 41 are integral type structure, form multiple embodiments, are not described in detail herein.
Described above is embodiments of the present invention, it is noted that for the ordinary skill in the art, not
Under the premise of departing from the principle of the invention, various deformation and improvement can also be made, this should also be considered as protection scope of the present invention.
Claims (9)
1. a kind of Three Degree Of Freedom high speed conveying robot, including, frame, moving platform, the executing agency of connection frame and moving platform,
The executing agency includes, side chain and drive device, it is characterised in that：The side chain includes, and is installed in rotation in frame
Master arm, and the output axis connection of master arm and drive device；One end is connected with master arm, and the other end is connected with moving platform
Slave arm, the slave arm is configured to relative master arm and moving platform has at least two frees degree respectively；The side chain is three
Bar, and every side chain is each configured with a drive device, to drive moving platform to be moved in three dimensions.
2. Three Degree Of Freedom high speed conveying robot according to claim 1, it is characterised in that：The frame includes, fixed
Support and the travel(l)ing rest being slidably mounted on fixed support, and driving travel(l)ing rest are relatively fixed the silk of bracket slide
Thick stick drive mechanism；Two of which side chain is arranged on fixed support, and another side chain is arranged on travel(l)ing rest.
3. Three Degree Of Freedom high speed conveying robot according to claim 2, it is characterised in that：The screw drive mechanism bag
Include, both ends and the leading screw of fixed support rotation connection, the leading screw motor for being arranged on one end of leading screw and driving leading screw to rotate,
The travel(l)ing rest coordinates with leading screw, and drives it to be relatively fixed bracket slide by leading screw.
4. Three Degree Of Freedom high speed conveying robot according to claim 2, it is characterised in that：Three side chains are respectively
First side chain, the second side chain and the 3rd side chain, the drive device includes first driving means, the second drive device and the 3rd is driven
Dynamic device, first driving means are connected with the master arm of the first side chain, and the second drive device is connected with the master arm of the second side chain,
3rd drive device is connected with the master arm of the 3rd side chain, and the first driving means and the second drive device are arranged on fixed branch
On frame, the 3rd drive device is arranged on travel(l)ing rest.
5. the Three Degree Of Freedom high speed conveying robot according to claim any one of 1-4, it is characterised in that：The slave arm
For the parallel-crank mechanism with double leval jib, double leval jib joins end to end successively through revolute pair, wherein a connecting rod turns with master arm
Dynamic connection, another connecting rod relative with the connecting rod are rotatablely connected with moving platform.
6. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：First side chain, second
Side chain, the master arm of the 3rd side chain are separately positioned in different planes, and the free cheek of the master arm of the first side chain and
The free cheek of the master arm of two side chains intersects vertically.
7. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：First side chain, second
Side chain, the master arm of the 3rd side chain are separately positioned in different planes, and the free cheek of the master arm of the first side chain and
The free cheek of the master arm of two side chains tilts intersecting.
8. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：The active of first side chain
The master arm of arm and the second side chain be arranged on same plane or two planes being parallel to each other on, the master arm of the 3rd side chain
Free cheek tilt or perpendicular to the plane.
9. Three Degree Of Freedom high speed conveying robot according to claim 4, it is characterised in that：The active of first side chain
The master arm of arm and the second side chain is arranged on same level height, and the master arm of the 3rd side chain is less than the active of the first side chain
Arm is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711290928.8A CN107825402A (en) | 2017-12-08 | 2017-12-08 | A kind of Three Degree Of Freedom high speed conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711290928.8A CN107825402A (en) | 2017-12-08 | 2017-12-08 | A kind of Three Degree Of Freedom high speed conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825402A true CN107825402A (en) | 2018-03-23 |
Family
ID=61642414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711290928.8A Pending CN107825402A (en) | 2017-12-08 | 2017-12-08 | A kind of Three Degree Of Freedom high speed conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107825402A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112658827A (en) * | 2020-12-16 | 2021-04-16 | 哈尔滨市阿城区胜达建筑材料厂 | Bar tubular product polishing grinding device is used in processing |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN103302510A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Parallel mechanism with two floatable staggered spindles |
| CN103501970A (en) * | 2012-01-06 | 2014-01-08 | 日本电产三协株式会社 | Industrial robot |
| CN104275696A (en) * | 2013-07-04 | 2015-01-14 | 克朗斯股份公司 | Device for handling articles |
| CN104354154A (en) * | 2014-09-19 | 2015-02-18 | 深圳职业技术学院 | Tri-translation parallel robot mechanism |
| CN105500365A (en) * | 2016-01-26 | 2016-04-20 | 南京航空航天大学 | Hybrid robot with six degrees of freedom |
| CN105500347A (en) * | 2016-01-27 | 2016-04-20 | 燕山大学 | Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN106275616A (en) * | 2016-08-21 | 2017-01-04 | 张玉华 | A kind of parallel express packaging machine device people |
| CN106393064A (en) * | 2016-10-07 | 2017-02-15 | 南京理工大学 | Robot mechanism capable of achieving three-dimensional translational motion |
| CN207495497U (en) * | 2017-12-08 | 2018-06-15 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
-
2017
- 2017-12-08 CN CN201711290928.8A patent/CN107825402A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103501970A (en) * | 2012-01-06 | 2014-01-08 | 日本电产三协株式会社 | Industrial robot |
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN103302510A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Parallel mechanism with two floatable staggered spindles |
| CN104275696A (en) * | 2013-07-04 | 2015-01-14 | 克朗斯股份公司 | Device for handling articles |
| CN104354154A (en) * | 2014-09-19 | 2015-02-18 | 深圳职业技术学院 | Tri-translation parallel robot mechanism |
| CN105500365A (en) * | 2016-01-26 | 2016-04-20 | 南京航空航天大学 | Hybrid robot with six degrees of freedom |
| CN105500347A (en) * | 2016-01-27 | 2016-04-20 | 燕山大学 | Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN106275616A (en) * | 2016-08-21 | 2017-01-04 | 张玉华 | A kind of parallel express packaging machine device people |
| CN106393064A (en) * | 2016-10-07 | 2017-02-15 | 南京理工大学 | Robot mechanism capable of achieving three-dimensional translational motion |
| CN207495497U (en) * | 2017-12-08 | 2018-06-15 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112658827A (en) * | 2020-12-16 | 2021-04-16 | 哈尔滨市阿城区胜达建筑材料厂 | Bar tubular product polishing grinding device is used in processing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103978477B (en) | A kind of articulated robot | |
| CN103010764B (en) | One parallel bar stacking machine robot | |
| CN104709713B (en) | A kind of two-way transfer robot of double-rod based on parallel principle | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN104802154B (en) | A kind of four-degree-of-freedom high-speed parallel manipulator | |
| CN205766158U (en) | A kind of high-accuracy five axis robot | |
| CN207495497U (en) | A kind of Three Degree Of Freedom high speed conveying robot | |
| CN208007465U (en) | A kind of overturning mechanical hand | |
| CN108146532A (en) | Bionical mobile robot device | |
| CN208747582U (en) | A kind of straight-arm aerial work platform | |
| CN107825402A (en) | A kind of Three Degree Of Freedom high speed conveying robot | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN207495496U (en) | A kind of two degrees of freedom carries at a high speed shift mechanism | |
| CN105479451A (en) | Planar redundant robot | |
| CN205905004U (en) | Swing scraper bowl that opens and shuts | |
| CN204546534U (en) | A kind of four-degree-of-freedparallel parallel manipulator | |
| CN207104900U (en) | Four-shaft parallel movable disk and four-shaft parallel robot | |
| CN207983338U (en) | A kind of Three Degree Of Freedom high speed conveying robot mechanism | |
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN104149931B (en) | The space three-freedom suspension platform that a kind of flexible cable in parallel controls | |
| CN203528898U (en) | Reciprocating moving type carton forming device of carton wrapping machine | |
| CN208729791U (en) | A kind of feeding mechanical arm | |
| CN205905020U (en) | Mechanical arm | |
| CN205905046U (en) | Scalable blowing joint of getting | |
| CN208529035U (en) | A kind of single hydraulic cylinder drive link mechanism synchronization lifting workbench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |