CN108858143A - Nine axis series-parallel robots - Google Patents
Nine axis series-parallel robots Download PDFInfo
- Publication number
- CN108858143A CN108858143A CN201810720389.5A CN201810720389A CN108858143A CN 108858143 A CN108858143 A CN 108858143A CN 201810720389 A CN201810720389 A CN 201810720389A CN 108858143 A CN108858143 A CN 108858143A
- Authority
- CN
- China
- Prior art keywords
- axis
- swivel
- forearm
- spindle motor
- robot
- 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
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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
-
- 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 present invention relates to a kind of nine axis series-parallel robots, including six shaft bodies；It is the six-DOF robot being made of six axis and connected servo motor；Further include：Three shaft bodies being made of three axis and connected servo motor and three pairs of mechanical arms；Six shaft body and three shaft bodies pass through intermediate flange and top plate by being bolted.Six shaft body includes pedestal, turntable, large arm, forearm and the first swivel and the second swivel positioned at forearm front end；Turntable is rotated by first axle motor driven around pedestal；Large arm is driven by the second spindle motor；The third spindle motor driving forearm rotation of large arm front end；4th axis, the 5th spindle motor respectively drive the first swivel and the second swivel；Second turns the 6th axis of built-in servo motor.Three shaft body is Delta robot.Nine axis series-parallel robots of the invention can realize local high speed, large span working range, and work efficiency is high, and operating mode is wider.
Description
Technical field
The present invention relates to a kind of industrial robots, more particularly to a kind of nine axis series-parallel robots.
Background technique
Delta robot belong to high speed, underloading, small span 3-dof parallel robot, be mainly used in food,
The industries such as drug and electronic product.Delta robot is light-weight with its, small in size, movement velocity is fast, registration, cost
It the features such as low, high-efficient, is just widely used on the market.
Six-DOF robot belong to low speed, heavy duty, large span series connection humanoid robot, be mainly used in automatic assembling,
The work such as spray painting, carrying, welding.The characteristics of by its high freedom degree and large span working range, six-DOF robot
Also it is widely used.
In existing robot industrial application, single type robot or self-control robot have been increasingly difficult to meet function
The diversified demand of energy, especially when needing to carry out several work on a station, the efficiency of self-control robot work
It will be relatively low.
This is the deficiencies in the prior art place.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of nine axis series-parallel robots, it can make robot at one
A variety of high-efficient homeworks are carried out on station.
Nine axis series-parallel robots of the invention, including six shaft bodies；It is to be made of six axis and connected servo motor
Six degree of freedom machine；Further include：
Three shaft bodies being made of three axis and connected servo motor and three pairs of mechanical arms；Six shaft body and three shaft bodies
By intermediate flange and top plate by being bolted.
Six shaft body include pedestal, turntable, large arm, forearm and positioned at forearm front end first swivel and second turn
Body；Turntable is rotated by first axle motor driven around pedestal；Large arm is driven by the second spindle motor；The third axis electricity of large arm front end
Machine drives forearm rotation；4th axis, the 5th spindle motor respectively drive the first swivel and the second swivel；Second turns built-in servo electricity
The 6th axis of machine.
Three shaft body is Delta robot.
4th axis, the 5th spindle motor are set to the end of forearm.
The working space that large span can be realized by six shaft bodies, when needing the operation on a station, six shaft bodies
Fixed, three shaft bodies are started to work, and realize local high-speed motion, thus nine axis series-parallel robot operating modes are usually relatively wide, both
It is able to achieve large span working range, and is able to achieve local high-speed motion, to improve the efficiency of overall work；And the present invention exists
While one station, a variety of high-efficient homeworks, cost cost saved.
Detailed description of the invention
Fig. 1 is the front view of nine axis series-parallel robots of the invention.
Fig. 2 is the cross-sectional view of the junction of six shaft bodies and three shaft bodies of the invention.
Fig. 3 is the partial enlarged view of Fig. 2.
Fig. 4 is the perspective view of nine axis series-parallel robots of the invention.
Specific embodiment
Now in conjunction with drawings and examples, invention is further described in detail.
Referring to Fig. 1 ~ Fig. 4, nine axis series-parallel robots of the invention include six shaft bodies 6 and three shaft bodies 3, six shaft bodies and
Three shaft bodies are connected by intermediate flange 60 and top plate 30 by bolt 7, and flange 60 is set in six shaft bodies 6, and top plate 30 is located at
In three shaft bodies 3.
Six shaft bodies 6 include pedestal 61, turntable 62, large arm 63, forearm 64, the first 641 and of swivel positioned at forearm front end
Second swivel 642, six axis and six servo motors with those axis connections；Six axis are first axle 601, the second axis 602, the
Three axis 603, the 4th axis 604, the 5th axis 605 and be located at second turn of intracorporal 6th axis and its servo motor.Each axis is all connected with
In a servo motor,
Pedestal 61 is the fixation member of six shaft bodies, and turntable 62 is rotated integrally by first axle motor driven, and turntable can be the bottom of with respect to
Seat rotation；Large arm 63 is driven by the second spindle motor；The third spindle motor driving forearm rotation of large arm front end, here, the 4th axis,
5th spindle motor is arranged in same position to mitigate end mass, and respectively drives the first swivel positioned at forearm front end
641 and the 6th axis of built-in servo motor second swivel 642 rotation.
Three shaft body of end is Delta robot, including three axis, three servo motors and three pairs of mechanical arms.Three axis
Arrange that co- controlling master arm 301 and slave arm 302 are moved parallel for the 7th axis 607, the 8th axis 608, the 9th axis 609.
The working space that large span is realized by six shaft bodies, when needing the operation on a station, six shaft bodies are solid
Fixed, three shaft bodies are started to work, and realize local high-speed motion.The operating mode of nine axis series-parallel robots it is usually relatively wide, it can be achieved that
Local high speed large span, work efficiency is high.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, in the range of not departing from technical solution of the present invention, when the technology contents using the disclosure above make a little change or repair
Decorations are the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, technology according to the present invention are real
Matter any simple modification, equivalent change and modification to the above embodiments, still fall within the range of technical solution of the present invention
It is interior.
Claims (4)
1. a kind of nine axis series-parallel robots, including six shaft bodies；It is made of six axis and connected servo motor six from
By degree robot；It is characterized in that further including：
Three shaft bodies being made of three axis and connected servo motor and three pairs of mechanical arms；Six shaft body and three shaft bodies
By intermediate flange and top plate by being bolted.
2. nine axis series-parallel robot as described in claim 1, it is characterized in that：Six shaft body includes pedestal, turntable, big
Arm, forearm and the first swivel and the second swivel positioned at forearm front end；Turntable is rotated by first axle motor driven around pedestal；Greatly
Arm is driven by the second spindle motor；The third spindle motor driving forearm rotation of large arm front end；4th axis, the 5th spindle motor drive respectively
Dynamic first swivel and the second swivel；Second turns the 6th axis of built-in servo motor.
3. nine axis series-parallel robot as claimed in claim 1 or 2, it is characterized in that：
Three shaft body is Delta robot.
4. nine axis series-parallel robot as claimed in claim 3, it is characterized in that：4th axis, the 5th spindle motor are set to small
The end of arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720389.5A CN108858143A (en) | 2018-07-03 | 2018-07-03 | Nine axis series-parallel robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720389.5A CN108858143A (en) | 2018-07-03 | 2018-07-03 | Nine axis series-parallel robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858143A true CN108858143A (en) | 2018-11-23 |
Family
ID=64298738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810720389.5A Pending CN108858143A (en) | 2018-07-03 | 2018-07-03 | Nine axis series-parallel robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858143A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224574A (en) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | Active-passive mixed-connected robot with nine degrees of freedom |
| US20160151919A1 (en) * | 2014-11-28 | 2016-06-02 | Hyundai Motor Company | Test gripper and test method using the same |
| CN205466165U (en) * | 2016-01-26 | 2016-08-17 | 安徽理工大学 | Three degree of freedom series -parallel connection formula omnidirectional movement transfer robots |
| CN106105518A (en) * | 2016-06-17 | 2016-11-16 | 江苏大学 | Bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device and method of work thereof |
| DE102012010831B4 (en) * | 2012-06-01 | 2017-04-27 | FPT Robotik GmbH & Co. KG | Assembly robot for the assembly of injection molding machines or for the assembly of printed circuit boards |
| CN207014351U (en) * | 2017-08-10 | 2018-02-16 | 安徽理工大学 | Series-parallel connection truss-like may move heavily loaded foundry robot |
-
2018
- 2018-07-03 CN CN201810720389.5A patent/CN108858143A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224574A (en) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | Active-passive mixed-connected robot with nine degrees of freedom |
| DE102012010831B4 (en) * | 2012-06-01 | 2017-04-27 | FPT Robotik GmbH & Co. KG | Assembly robot for the assembly of injection molding machines or for the assembly of printed circuit boards |
| US20160151919A1 (en) * | 2014-11-28 | 2016-06-02 | Hyundai Motor Company | Test gripper and test method using the same |
| CN205466165U (en) * | 2016-01-26 | 2016-08-17 | 安徽理工大学 | Three degree of freedom series -parallel connection formula omnidirectional movement transfer robots |
| CN106105518A (en) * | 2016-06-17 | 2016-11-16 | 江苏大学 | Bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device and method of work thereof |
| CN207014351U (en) * | 2017-08-10 | 2018-02-16 | 安徽理工大学 | Series-parallel connection truss-like may move heavily loaded foundry robot |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181123 |
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| WD01 | Invention patent application deemed withdrawn after publication |