CN109051750A - A kind of two axis parallel robots - Google Patents
A kind of two axis parallel robots Download PDFInfo
- Publication number
- CN109051750A CN109051750A CN201810879825.3A CN201810879825A CN109051750A CN 109051750 A CN109051750 A CN 109051750A CN 201810879825 A CN201810879825 A CN 201810879825A CN 109051750 A CN109051750 A CN 109051750A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rod head
- servo motor
- groove
- axis
- 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
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000011148 porous material Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a kind of two axis parallel robots, it includes fixed frame, the crossbeam of the fixed frame is equipped with two pieces of servo motor mounting plates, servo motor is connected on servo motor mounting plate, the servo motor shaft is connected with connecting rod one by connecting rod head one, two connecting rods one are hinged with two connecting rods two by connecting rod head two respectively, pass through connecting rod head four between the connecting rod two hingedly, are equipped with central axis in the centre of connecting rod head four.Based on parallel technology, it can replace the task that the worker on production line carries out the work such as sorting, vanning, stacking, it can need not obtain in the field of very big working space and be widely applied needing rigidity, high-precision or big load, and achieve good using effect.
Description
Technical field
The present invention relates to a kind of robots, more particularly to a kind of two axis parallel robots, belong to robotic technology field.
Background technique
Present China is food, beverage, medical big producer, and the logistics equipment output value is about 65,000,000,000 yuan/year, these industries
Later process all includes generally the processes such as shaped article automatic packaging, sorting, vanning, stacking and storage and transportation, is mostly used greatly at present
Craft or semi-hand operation, production efficiency is low, large labor intensity, and there are secondary dirts
The hidden danger of dye, there are also this work is completed using robot, but existing traditional robot volume is larger, cost
It is higher, it cannot achieve the technical issues of heavy load high speed is carried.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of two axis parallel robots, it is based on parallel technology, it can generation
Carry out the task of the work such as sorting, vanning, stacking for the worker on production line, rigidity, high-precision or big load can needed
Lotus and need not obtain and be widely applied in the field of very big working space, solve the problems, such as above-mentioned.
The technical solution of the present invention is as follows: a kind of two axis parallel robots, it includes fixed frame, the cross of the fixed frame
Beam is equipped with two pieces of servo motor mounting plates, and servo motor is connected on servo motor mounting plate, and the servo motor shaft is logical
It crosses connecting rod head one and is connected with connecting rod one, two connecting rods one are hinged with two connecting rods two, the connecting rod two by connecting rod head two respectively
Between it is hinged by connecting rod head four, be equipped with central axis in the centre of connecting rod head four.
The fixed frame is aluminium type material, is connect by bolt with servo motor mounting plate, and bolt hole is oval pore structure.
The centre of the connecting rod head one is axis hole, servo motor shaft is connected in axis hole, in the end side of connecting rod head one
Fluted one, the top of groove one is equipped with locking screw keyhole, and groove one is equipped with the bolt hole one of connection connecting rod one.
One end side of the connecting rod head two is equipped with groove two, is hinged with connecting rod two in groove two, connecting rod head two it is another
End side side fluted three, groove three are equipped with the bolt hole two of connection connecting rod one.
The groove two is equipped with pin shaft hole, and pin shaft hole is located on the eccentric position of connecting rod head two.
There is axis hole in the centre of the connecting rod head four, there is central axis in axis hole, and the side of connecting rod head four is equipped with clamp screw keyhole,
The upper end of connecting rod head four is hinged with top connection, the side of top connection fluted four, there is the bolt hole of fixed connecting rod two on groove four
Three, the lower end of connecting rod head four is hinged with lower contact, the side of lower contact fluted five, there is the bolt of fixed connecting rod two on groove five
Kong Si.
The beneficial effects of the present invention are: compared with prior art, using technical solution of the present invention, this parallel robot tool
Have following characteristics: 1) without accumulated error, precision is higher；2) driving device can be placed in the position on fixed platform or close to fixed platform,
Motion parts are light-weight in this way, and speed is high, and dynamic response is good；3) compact-sized, rigidity is high, large carrying capacity；4) full symmetric
Parallel institution have preferable isotropism；5) working space is smaller.The design is structurally reasonable, takes up an area less, speed high dynamic
It responds, is easy to operate, is easy to use, and manufacturing cost is low.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is side view of the present invention；
Fig. 3 is stationary frame structure schematic diagram of the present invention；
Fig. 4 is one perspective view of connecting rod head of the present invention；
Fig. 5 is two perspective view of connecting rod head of the present invention；
Fig. 6 is four perspective view of connecting rod head of the present invention；
Fig. 7 is usage state diagram one of the present invention；
Fig. 8 is usage state diagram two of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below with reference to this specification attached drawing to this hair
It is bright to be described in further detail.
Embodiment 1: as shown in attached drawing 1~3, a kind of two axis parallel robots, it includes fixed frame 2, the fixed frame
The crossbeam of frame 2 is equipped with two pieces of servo motor mounting plates 10, and servo motor 1 is connected on servo motor mounting plate 10, described
1 axis of servo motor is connected with connecting rod 1 by connecting rod head 1, and two connecting rods 1 are hinged with two by connecting rod head 25 respectively
Connecting rod 27, it is hinged by connecting rod head 48 between the connecting rod 27, central axis 9 is equipped in the centre of connecting rod head 48.
Further, fixed frame 2 is aluminium type material, is connect by bolt 102 with servo motor mounting plate 10, bolt hole 101
For oval pore structure.
Further, the centre of connecting rod head 1 is axis hole 31,1 axis of servo motor is connected in axis hole 31, in connecting rod head one
3 end side fluted 1, the top of groove 1 are equipped with locking screw keyhole 33, and groove 1 is equipped with connection connecting rod one
4 bolt hole 1.
Further, one end side of connecting rod head 25 is equipped with groove 2 51, is hinged with connecting rod 27, connecting rod in groove 2 51
First 25 other end side fluted 3 52, groove 3 52 are equipped with the bolt hole 2 53 of connection connecting rod 1.
Further, groove 2 51 is equipped with pin shaft hole 54, and pin shaft hole 54 is located on the eccentric position of connecting rod head 25.
Further, there is axis hole 81 in the centre of connecting rod head 48, there is central axis 9 in axis hole 81, and the side of connecting rod head 48 is set
There is clamp screw keyhole 84, the upper end of connecting rod head 48 is hinged with top connection 87, the side of top connection 87 fluted 4 82, groove four
There is the bolt hole 3 83 of fixed connecting rod 27 on 82, the lower end of connecting rod head 48 is hinged with lower contact 88, and the side of lower contact 88 has
Groove 5 86 has the bolt hole 4 85 of fixed connecting rod 24 on groove 5 86.
Place is not described in detail by the present invention, is the well-known technique of those skilled in the art of the present technique.Finally, it is stated that the above reality
It applies example to be only used to illustrate the technical scheme of the present invention and not to limit it, although having carried out specifically the present invention referring to preferred embodiment
It is bright, those skilled in the art should understand that, can with modification or equivalent replacement of the technical solution of the present invention are made, and
The objective and range for not departing from technical solution of the present invention, are intended to be within the scope of the claims of the invention.
Claims (5)
1. a kind of two axis parallel robots, it includes fixed frame (2), it is characterised in that: on the crossbeam of the fixed frame (2)
It equipped with two pieces of servo motor mounting plates (10), is connected on servo motor mounting plate (10) servo motor (1), the servo electricity
Machine (1) axis is connected with connecting rod one (4) by connecting rod head one (3), and two connecting rods one (4) are hinged with by connecting rod head two (5) respectively
Two connecting rods two (7), between the connecting rod two (7) hingedly by connecting rod head four (8), in the centre of connecting rod head four (8) is equipped with
Mandrel (9).
2. a kind of two axis parallel robot according to claim 1, it is characterised in that: the fixed frame (2) is aluminium profiles
Material is connect by bolt (102) with servo motor mounting plate (10), and bolt hole (101) is oval pore structure.
3. a kind of two axis parallel robot according to claim 1, it is characterised in that: the centre of the connecting rod head one (3)
For axis hole (31), it is connected with servo motor (1) axis in axis hole (31), in fluted one (32) in the end side of connecting rod head one (3),
The top of groove one (32) is equipped with locking screw keyhole (33), and groove one (32) is equipped with the bolt hole one of connection connecting rod one (4)
(34).
4. a kind of two axis parallel robot according to claim 1, it is characterised in that: one end of the connecting rod head two (5)
Side is equipped with groove two (51), is hinged with connecting rod two (7) in groove two (51), the other end side of connecting rod head two (5) is fluted
Three (52), groove three (52) are equipped with the bolt hole two (53) of connection connecting rod one (4).
5. a kind of two axis parallel robot according to claim 4, it is characterised in that: the groove two (51) is equipped with pin
Axis hole (54), pin shaft hole (54) are located on the eccentric position of connecting rod head two (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810879825.3A CN109051750A (en) | 2018-08-03 | 2018-08-03 | A kind of two axis parallel robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810879825.3A CN109051750A (en) | 2018-08-03 | 2018-08-03 | A kind of two axis parallel robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109051750A true CN109051750A (en) | 2018-12-21 |
Family
ID=64833010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810879825.3A Pending CN109051750A (en) | 2018-08-03 | 2018-08-03 | A kind of two axis parallel robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109051750A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101966502A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Vehicle painting hybrid rotor based on spatial and planar parallel mechanism with three degrees of freedom |
| US20110271785A1 (en) * | 2008-11-10 | 2011-11-10 | Etel S.A. | Parallel Robot of the Scara Type |
| CN202169229U (en) * | 2011-06-04 | 2012-03-21 | 罗云兵 | Industrial spraying robot |
| CN103624766A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Machine vision parallel sorting robot |
| CN106671066A (en) * | 2017-03-01 | 2017-05-17 | 东北大学 | Vertical type reconfigurable multifunctional parallel mechanism |
| US20170203433A1 (en) * | 2014-08-06 | 2017-07-20 | Sony Corporation | Parallel link robot and parallel link structure |
| CN208683916U (en) * | 2018-08-03 | 2019-04-02 | 奇瑞万达贵州客车股份有限公司 | A kind of two axis parallel robot devices |
-
2018
- 2018-08-03 CN CN201810879825.3A patent/CN109051750A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110271785A1 (en) * | 2008-11-10 | 2011-11-10 | Etel S.A. | Parallel Robot of the Scara Type |
| CN101966502A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Vehicle painting hybrid rotor based on spatial and planar parallel mechanism with three degrees of freedom |
| CN202169229U (en) * | 2011-06-04 | 2012-03-21 | 罗云兵 | Industrial spraying robot |
| CN103624766A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Machine vision parallel sorting robot |
| US20170203433A1 (en) * | 2014-08-06 | 2017-07-20 | Sony Corporation | Parallel link robot and parallel link structure |
| CN106671066A (en) * | 2017-03-01 | 2017-05-17 | 东北大学 | Vertical type reconfigurable multifunctional parallel mechanism |
| CN208683916U (en) * | 2018-08-03 | 2019-04-02 | 奇瑞万达贵州客车股份有限公司 | A kind of two axis parallel robot devices |
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