CN109278029A - A kind of production line and its coaxial parallel robot - Google Patents
A kind of production line and its coaxial parallel robot Download PDFInfo
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- CN109278029A CN109278029A CN201811511536.4A CN201811511536A CN109278029A CN 109278029 A CN109278029 A CN 109278029A CN 201811511536 A CN201811511536 A CN 201811511536A CN 109278029 A CN109278029 A CN 109278029A
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- driving portion
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- parallel robot
- rotary shaft
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- 238000009434 installation Methods 0.000 description 8
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- 230000009471 action Effects 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
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- 230000003252 repetitive effect Effects 0.000 description 3
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- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000019643 circumnutation Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
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- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
The invention discloses a kind of coaxial parallel robots, including the upper driving portion and lower driving portion for being arranged along the vertical direction and being located on same vertical axis；It further include two groups of transmission components being connected respectively with the output shaft of the upper driving portion with the output shaft of the lower driving portion, transmission component described in two groups of the fixation axis connection being arranged along the vertical direction；Transmission component described in two groups is separately connected one group of transmission arm extended along the direction far from the fixing axle, the end of transmission arm described in two groups is rotatablely connected, transmission mechanism is formed, the transmission mechanism further includes set on the end of transmission arm described in two groups, to adjust the execution unit for executing station by mutual rotate of transmission arm described in two groups.The invention also discloses a kind of production lines including above-mentioned coaxial parallel robot.Above-mentioned coaxial parallel robot, rotary inertia is small, rigidity is high, working range is big, stability is good and is easily installed.
Description
Technical field
The present invention relates to Industrial Robot Technology field, in particular to a kind of production line and its coaxial parallel robot.
Background technique
For at present, in the automatic production line of the industries such as electronics and medicine, the operations such as sorting, pickup, vanning need
End effector carries out a large amount of high speed repetitive operation in space.
Above-mentioned repetitive operation generallys use mechanical arm and manpower is replaced to complete, in the prior art, the knot of manipulator
Structure setting is unreasonable, and driving device is often arranged on joint, and there are rotary inertias for such arrangement greatly, poor rigidity, response
Speed is slow and picks up the disadvantages of range is small, especially becomes apparent in the working environment that operating space is big and load capacity is big.
Summary of the invention
The object of the present invention is to provide a kind of production line and its coaxial parallel robot, the rotation of coaxial parallel robot is used
Measure that small, rigidity is high, working range is big, stability is good and is easily installed.
To achieve the above object, the present invention provides a kind of coaxial parallel robot, including is arranged along the vertical direction and is located at
Upper driving portion and lower driving portion on same vertical axis；Further include two groups respectively with the output shaft of the upper driving portion and described
The connected transmission component of the output shaft of lower driving portion, transmission component described in two groups of the fixation axis connection being arranged along the vertical direction；Two
The group transmission component is separately connected one group of transmission arm extended along the direction far from the fixing axle, transmission arm described in two groups
End rotation connection, forms transmission mechanism, and the transmission mechanism further includes set on the end of transmission arm described in two groups, to pass through
The mutual rotation of transmission arm described in two groups adjusts the execution unit for executing station.
Preferably, the end of transmission arm described in two groups passes through the rotary shaft rotation connection being arranged along the vertical direction, the rotation
Shaft is installed with the piston cylinder being arranged along the vertical direction, and the execution unit is located at the bottom of the piston cylinder and along the vertical direction
Setting, to realize that the execution unit follows the piston cylinder vertically moving.
It preferably, further include the sub- driving portion of the transmission arm described in any group, the sub- driving portion and the rotary shaft
It is connected, to adjust the rotation angle of the rotary shaft.
Preferably, the piston cylinder is fixedly connected with the rotary shaft, and piston moves downward for the piston cylinder driving；Also wrap
Include the mounting base for connecting the piston cylinder and the execution unit, the mounting base include setting along the vertical direction and with the work
The vertical plate and horizontally disposed level board that plug cylinder is slidably connected, one end of the level board and the vertical plate
Bottom end is connected, and the level board is fixedly connected with the piston, and the execution unit is set to the bottom of the level board.
Preferably, the end of transmission arm described in two groups passes through the rotary shaft rotation connection being arranged along the vertical direction, further includes
With the bracket of the rotation axis connection, the execution unit is set to the bracket and horizontally disposed.
Preferably, the bracket includes the connecting plate being wholely set, upper surface and lower end surface, and the connecting plate is along vertical side
To setting, and the connecting plate connects the upper surface and the lower end surface, the equal level in the upper surface and the lower end surface are set
It sets, the upper surface is connected to the upper end of the rotary shaft, and the lower end surface is connected to the lower end of the rotary shaft, the execution
Component is set to the connecting plate.
Preferably, transmission arm described in one group includes swing arm and connecting rod, the first end of the swing arm and the transmission component phase
Even, the second end of the swing arm is rotationally connected with the first end of the connecting rod, and the second end of the connecting rod and the rotary shaft turn
Dynamic connection.
Preferably, the transmission mechanism is two groups, and transmission mechanism described in two groups is driven by upper driving portion and lower driving portion
Dynamic, transmission mechanism described in two groups is located at the two sides of the fixing axle.
Preferably, two swing arms in transmission mechanism described in one group respectively with the difference in another transmission mechanism
The swing arm be integrated setting, and two be wholely set piece swing arm be straight panel, two pieces of straight panel shapes are at cross-like.
It further include being set between charging tray and pipeline, such as the present invention also provides a kind of production line, including charging tray and pipeline
Above-mentioned coaxial parallel robot.
Relative to above-mentioned background technique, coaxial parallel robot provided by the invention, including upper driving portion and lower driving portion,
Upper driving portion and lower driving portion are arranged along the vertical direction, and upper driving portion and lower driving part are on same vertical axis；
In other words, upper driving portion and the lower coaxial setting of driving portion avoid and driving portion are arranged on joint in the prior art, in turn
Reduce rotary inertia, speeds response；Simultaneously as upper driving portion and the lower coaxial setting of driving portion, it is thus only necessary to upper driving
One in both portion and lower driving portion is fixed the positioning that both driving portion and lower driving portion can be realized, consequently facilitating
The integral installation of coaxial parallel robot.In addition to this, it drives transmission mechanism to make 360 ° by upper driving portion and lower driving portion to turn
It is dynamic, namely execution unit is driven to make 360 ° of rotations, enable any position of the execution unit in circumference range to execute operation,
Increase working range.
Production line provided by the invention with coaxial parallel robot, such as above-mentioned beneficial effect, details are not described herein again.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural representation of specific embodiment of coaxial parallel robot provided by the embodiment of the present invention
Figure；
Fig. 2 is that the schematic diagram after upper housing and lower case is removed in Fig. 1；
Fig. 3 is the schematic diagram of the production line with the coaxial parallel robot in Fig. 1；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is the structural representation of another specific embodiment of coaxial parallel robot provided by the embodiment of the present invention
Figure；
Fig. 6 is the structural representation of another specific embodiment of coaxial parallel robot provided by the embodiment of the present invention
Figure；
Fig. 7 is the structure chart of two groups of transmission mechanisms in Fig. 6；
Fig. 8 is the schematic diagram of the production line with the coaxial parallel robot in Fig. 6.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make those skilled in the art more fully understand the present invention program, with reference to the accompanying drawing and it is embodied
The present invention is described in further detail for mode.
A kind of coaxial parallel robot 100 provided by the invention, provides following three kinds of specific embodiments herein.
Embodiment one:
The overall structure of coaxial parallel robot 100 mainly includes upper driving portion as shown in Figure of description 1 and attached drawing 2
101 and lower driving portion 701, both upper driving portion 101 and lower driving portion 701 are arranged along the vertical direction, and the two be located at it is same perpendicular
In straight axis；That is, the output shaft of the output shaft of upper driving portion 101 and lower driving portion 701 also should be on same vertical line.
The output shaft of the output shaft of upper driving portion 101 and lower driving portion 701 should be located at one end close to each other namely upper drive
Straight down, the output shaft of lower driving portion 701 is straight up for the output shaft in dynamic portion 101；Upper driving portion 101 and lower driving portion 701
Size shape may be configured as identical, upper driving portion 101 and lower driving portion 701 can be the power such as driving motor in the prior art
Element.
Reference book attached drawing 2, the output axis connection of upper driving portion 101 upload dynamic component, the output shaft of lower driving portion 701
Underdrive component is connected, upper transmission component and underdrive component are horizontally disposed；Wherein, upper transmission component and underdrive group
Part can play the effects of deceleration, may be configured as the structures such as reduction gearing or synchronous belt, and upper transmission component and underdrive group
The set-up mode of part can be identical.For the specific set-up mode of upper transmission component and underdrive component, specific reality is given below
Apply example.
Fixing axle 4 is arranged along the vertical direction, and the upper end of fixing axle 4 connects upper transmission component, the lower end connection of fixing axle 4
Underdrive component；At the same time, the also settable upper housing 1 of coaxial parallel robot 100 and lower case 7, will be upper using upper housing 1
Driving portion 101 coats wherein, and driving portion 101 is avoided to be exposed to the external world；Therewith similarly, lower driving portion 701 is set to lower case 7
Inside；At this time also using the fixed upper housing 1 of fixing axle 4 and lower case 7, namely using the completion of fixing axle 4 to upper driving portion
101 and lower driving portion 701 connection.
Fixing axle 4 is not conllinear relative to the output shaft of upper driving portion 101 and the output shaft of lower driving portion 701；In other words,
The output shaft of the output shaft of upper driving portion 101 and lower driving portion 701 is collinear in the first vertical line, and fixing axle 4 is located at second and erects
On straight line, the first vertical line and the second vertical line are parallel to each other.
Upper transmission component connects transmission arm on one group, and underdrive component connects one group of underdrive arm；Upper transmission arm and under pass
Swing arm extends along the direction far from fixing axle 4, and upper transmission arm and underdrive arm can be horizontally disposed with, and the end of upper transmission arm is under
The end of transmission arm is rotatablely connected；That is, the first end of upper transmission arm connects upper transmission component, transmission arm is in upper transmission in realization
It is rotated under the drive of component；The first end of underdrive arm connects underdrive component, realizes underdrive arm in the band of underdrive component
Dynamic lower rotation；The second end of upper transmission arm and the rotation connection of the second end of underdrive arm, and the second end of upper transmission arm and under pass
The second end of swing arm is located remotely from fixing axle 4, as shown in Figure of description 1 and attached drawing 2.
Transmission mechanism 110 includes upper transmission arm and underdrive arm, and as shown in Figure of description 6, transmission mechanism 110 further includes
Execution unit set on the end of upper transmission arm and underdrive arm；For execution unit, suction in the prior art may be configured as
The components such as disk, dispensing, gluing, clamping jaw, to realize different function；By taking this paper Figure of description as an example, execution unit is specially
Sucker, to realize the absorption for waiting glass 400 pick-up piece, as shown in Figure of description 3.
Fixing axle 4 plays the role of support and connection, when rotating under drive of the upper transmission arm in upper transmission component, uploads
Swing arm is rotated around fixing axle 4, and fixing axle 4 does not rotate；Similarly, transmission arm rotates under the drive of underdrive component instantly
When, underdrive upper-arm circumference is rotated around fixing axle 4, and fixing axle 4 does not rotate.
For the set-up mode of fixing axle 4, the upper and lower ends of fixing axle 4 can be fixed with upper housing 1 and lower case 7 respectively to be connected
It connects, upper transmission component and underdrive component can be rotatably connected relative to fixing axle 4；Specifically, in upper transmission component and can consolidate
The inner ring of settable bearing between dead axle 4, bearing is fixedly connected with fixing axle 4, the outer ring of bearing and the fixed company of upper transmission component
It connects, when upper transmission component rotates under the action of the output shaft of upper driving portion 101, then the outer ring of bearing and upper transmission component are same
Step rotation, the inner ring of bearing and fixing axle 4 are fixed at this time；Connection type between underdrive component and fixing axle 4 with it is upper
State similar, details are not described herein again.
Reference book attached drawing 1, the second end of upper transmission arm and the second end of underdrive arm are connected by the rotation of rotary shaft 12
It connects, rotary shaft 12 is arranged along the vertical direction；Rotary shaft 12 is fixedly connected with piston cylinder 14, and piston cylinder 14 is arranged along the vertical direction, and
Piston cylinder 14 is located at the lower section of rotary shaft 12；In conjunction with Figure of description 1 and attached drawing 2, vertical enforcement division 151 is located at piston cylinder 14
Bottom.
Coaxial parallel robot 100 during the work time, it is synchronous with lower driving portion 701 to can use driving portion 101
One of both rotation or upper driving portion 101 and lower driving portion 701 individually rotate the position for changing rotary shaft 12, Ye Jigai
The position for becoming vertical enforcement division 151 drives vertical enforcement division 151 to carry out upper and lower position using piston cylinder 14 (on vertical direction)
It adjusts, further adjusts the position of vertical enforcement division 151, so that it is more accurate to pick up positioning.As described above, vertical enforcement division
151 may be configured as vertical sucker.
Transmission mechanism 110 further includes sub- driving portion 11, and sub- driving portion 11 can be the power parts such as torque motor, sub- driving
Portion 11 is set to one group of transmission arm, and sub- driving portion 11 is connected with rotary shaft 12, to adjust the rotation angle of rotary shaft 12.
As described above, the position of rotary shaft 12 can only be changed using the rotation of upper driving portion 101 and lower driving portion 701
It sets, and the rotation angle of rotary shaft 12 can not usually be adjusted by the rotation of upper driving portion 101 and lower driving portion 701, it is sharp as a result,
The rotation angle of rotary shaft 12 is adjusted with sub- driving portion 11, and then adjusts the rotation angle of vertical enforcement division 151；Wherein, sub- drive
It can be connected by connecting rod between dynamic portion 11 and rotary shaft 12, when group driving portion 11 moves, connecting rod quilt driving portion 11 is pushed, even
The movement of bar is transferred to rotary shaft 12, so that rotary shaft 12 rotates, and then drives the rotation of vertical enforcement division 151, namely
Adjust the execution station of execution unit.
Reference book attached drawing 2, piston cylinder 14 can be cylinder or hydraulic cylinder etc., and piston cylinder 14 and rotary shaft 12 are fixed
Connection, piston is located at the lower section of piston cylinder 14, and under the action of piston cylinder 14, piston can be moved downward namely piston is vertical
It is down-set.
Piston cylinder 14 is connected by mounting base 160 with vertical enforcement division 151, and mounting base 160 is L-shaped, and mounting base 160 includes perpendicular
Straight panel and level board, level board are located at the end of vertical plate, and mounting base 160 can be bending and molding, by one piece of metal plate through curved
The mounting base 160 of L-type is formed after folding；Vertical plate is connected with the sliding of piston cylinder 14, and level board is located at the lower section of piston cylinder 14, and water
The upper surface of plate is fixedly connected with piston.
When piston is driven and moved downward by piston cylinder 14, then piston driving mounting base 160 moves downward, at this time vertically
Plate is slided relative to piston cylinder 14 namely piston cylinder 14 is static, and piston is synchronous with mounting base 160 downward relative to piston cylinder 14
Movement, vertical execution unit 151 can adjusting position in the vertical direction at this time.As shown in Figure of description 3 and attached drawing 4, when
When coaxial parallel robot 100 is applied to production line, realized respectively by the driving of upper driving portion 101 and lower driving portion 701
The 360 ° of circumnutations of transmission arm and underdrive arm, while cooperating the rotation of rotary shaft 12 that a certain range inner circle circumferential direction may be implemented
The precise positioning of any position, so that work area is wide, accurate positioning；Simultaneously based on upper driving portion 101 described above under
The weight that the set-up mode of driving portion 701 reduces coaxial parallel robot 100 improves rigidity to reduce rotary inertia,
Reduce the response time.
When transmission mechanism 110 turns to certain position, it can make to upload a guarantor in both swing arm and underdrive arm
It holds motionless, another is rotated, thus adjustable operating position in a certain range.It is also possible to make transmission arm
It is rotated simultaneously with underdrive arm, in the larger context, i.e., any position in circumference adjusts operating position, so,
Working range is big, and working method can be controlled flexibly.
In addition to this, the lower end of lower case 7 is provided with installation pedestal, coaxial parallel robot 100 can be mounted on
The position arbitrarily needed, occupies little space, and is easily installed.As shown in Figure of description 3 and attached drawing 4, in coaxial parallel robot
100 side is provided with the charging tray 200 for placing glass 400, and the other side is provided with pipeline 300, when transmission mechanism 110 rotates
When to the top of glass 400, driven by rotation rotary shaft 12 to 400 precise positioning of glass to be adsorbed, then by piston cylinder 14
Moving downward mounting base 160 drives vertical enforcement division 151 to move downward absorption glass 400, draws piston cylinder after glass 400
14 withdraw drive mounting base 160 and the withdrawal of vertical enforcement division 151, transmission arm, underdrive arm and rotary shaft 12 are rotated further by, by glass
To suitable position, then 14 drive installation seat 160 of piston cylinder moves downward 400 orientation adjustment of glass, then glass 400 is discharged defeated
In line sending 300, into next step operating process.Coaxial parallel robot 100 is subtracted by the setting of upper transmission arm and underdrive arm
The small use in joint position motor reduces rotary inertia to reduce the quality of transmission arm and underdrive arm, increases
Rigidity, has speeded response, can be widely used in the production line.
For the specific set-up mode of upper transmission arm and underdrive arm, as shown in Figure of description 1 to attached drawing 5, upper transmission
Arm includes upper swing arm 9 and upper connecting rod 10, and underdrive arm includes lower swing arm 8 and lower link 13, and upper transmission arm and underdrive arm are perpendicular
Histogram is non-interference upwards；Upper swing arm 9 and upper connecting rod 10 are rotatablely connected, and lower swing arm 8 and lower link 13 are rotationally connected with rotary shaft
12, the end of lower link 13 and the end of upper connecting rod 10 are rotatablely connected.
Upper swing arm 9 rotates under the action of upper driving portion 101, and lower swing arm 8 rotates under the action of lower driving portion 701；Such as
Above, when upper driving portion 101 and lower driving portion 701 turn to certain position, can make in 8 the two of upper swing arm 9 and lower swing arm
One remain stationary, another is rotated, thus the position of adjustable rotary shaft 12 in a certain range.Meanwhile it can also
So that upper swing arm 9 and lower swing arm 8 rotate simultaneously, in the larger context, i.e., any position in circumference adjusts rotary shaft
12 position, so, working range is big, and working method can be controlled flexibly.
For the specific set-up mode of upper transmission component and underdrive component, upper transmission component includes upper output wheel, upper same
Step wheel 3 and upper synchronous belt 2；Upper output wheel is fixedly connected with the output shaft of upper driving portion 101, the two synchronous rotary；Upper synchronizing wheel 3
Diameter be greater than the diameter of upper output wheel, upper synchronous belt 2 connects upper output wheel and upper synchronizing wheel 3, is driven in the upper connection of synchronizing wheel 3
Arm；Wherein, the settable installation via hole of upper synchronizing wheel 3, wears for fixing axle 4, and bearing, as described above, axis is arranged in installation via hole
Installation via hole is fixed in the outer ring held, and the inner ring of bearing is fixed on the periphery of fixing axle 4；That is, fixing axle 4 is separately connected together
Step wheel and lower synchronizing wheel, the rotation axis three of fixing axle 4, the rotation axis of upper synchronizing wheel and lower synchronizing wheel are conllinear.Certainly, on
It can also be supported using duplex bearing between synchronizing wheel and fixing axle 4, duplex bearing can be avoided the inclination of synchronizing wheel generation, improve
The stability of support.
Therewith similarly, underdrive component includes lower output wheel, lower synchronizing wheel 5 and lower synchronous belt 6, lower output wheel and lower drive
The output shaft in dynamic portion 701 is fixedly connected, the two synchronous rotary；The diameter of lower synchronizing wheel 5 is greater than the diameter of lower output wheel, lower synchronization
Band 6 connects lower output wheel and lower synchronizing wheel 5, and lower synchronizing wheel 5 connects underdrive arm；Wherein, between lower synchronizing wheel 5 and fixing axle 4
Set-up mode it is similar as above, details are not described herein again.
It is arranged as can be seen that the axial direction of fixing axle 4 can be set there are two bearing, for the bearing being located above, bearing
Outer ring be sheathed on the installation via hole of synchronizing wheel 3, the inner ring of bearing is sheathed on the periphery of fixing axle 4；For underlying
For bearing, the outer ring of bearing is sheathed on the installation via hole of lower synchronizing wheel 5, and the inner ring of bearing is sheathed on the periphery of fixing axle 4；This
Sample one, fixing axle 4 is using duplex bearing supported, that is to say, that two bearings for being fixed at fixing axle 4 can be avoided because upper
Unstable phenomenon is supported caused by synchronizing wheel 3 and lower 5 run-off the straight of synchronizing wheel, to reduce the inaccurate probability of positioning.
Certainly, the specific embodiment of transmission component and underdrive component in one of which is provided, only above in order to realize
The transmission of upper transmission component and underdrive component may be arranged as gear drive and link mechanism etc., and repeats no more herein.
Embodiment two:
Shown in reference book attached drawing 5, the overall structure of coaxial parallel robot 100 is similar with embodiment one, difference
It is only that the difference of execution unit and its mounting means；Specifically, the second end of the second end of upper transmission arm and underdrive arm
It is rotatablely connected by rotary shaft 12, rotary shaft 12 is arranged along the vertical direction；Bracket 161 connects rotary shaft 12, horizontal enforcement division 152
It is fixed on bracket 161.Certainly, horizontal enforcement division 152 may be configured as horizontal sucker.
Compared to vertical enforcement division 151, horizontal enforcement division 152 is directly fixed on bracket 161, such coaxial parallel connection
Robot 100 is usually lifted at the top of lathe, thereby executing corresponding actions.
Bracket 161 includes connecting plate, upper surface and the lower end surface being wholely set, and bracket 161 can pass through for a block of metal plate
Bending forms twice, and connecting plate is arranged along the vertical direction, and connecting plate connection upper surface and lower end surface, upper surface and lower end surface are equal
Horizontally disposed, upper surface is connected to the upper end of rotary shaft 12, and lower end surface is connected to the lower end of rotary shaft 12, horizontal enforcement division 152
Set on connecting plate.Similarly, torque motor can also be arranged in upper transmission arm and underdrive arm, and torque motor connects rotary shaft 12,
To adjust the rotation angle of rotary shaft 12, bracket 161 and horizontal enforcement division 152, and then realize the execution station of execution unit
Change in location.
Embodiment three:
Shown in reference book attached drawing 6, transmission mechanism 110 is two groups, and two groups of transmission mechanisms 110 pass through upper driving portion
101 and the driving of lower driving portion 701, two groups of transmission mechanisms 110 are located at the two sides of fixing axle 4.That is, being directed to enforcement division
The specific set-up mode of part can refer to embodiment one and embodiment two, difference of the present embodiment three compared to above-mentioned two embodiment
It is the group number of transmission mechanism 110.
There are two upper transmission arm and two underdrive arms, upper transmission component and underdrive groups for the coaxial tool of parallel robot 100
The specific set-up mode of part and above it is identical, difference be only in that transmission component is fixedly connected with transmission arm on two groups, underdrive
Component is fixedly connected with two groups of underdrive arms, and transmission arm and one group of underdrive arm form one group of driver on one group of the same side
Two groups of transmission mechanisms 110 can be driven in structure 110, a upper driving portion 101 and a lower driving portion 701；So set, utilizing two
Group transmission mechanism 110 can be realized 360 ° of rotations, and not have backhaul；It picks up and puts in side that is, avoiding transmission mechanism 110
It circles round again after having set and resets repetitive operation, and then improve work efficiency.When the transmission mechanism 110 of side is discharging pickup
Glass 400 when, the transmission mechanism 110 of the other side can pick up next block of glass simultaneously, can improve work efficiency in this way,
Avoid the reciprocal backhaul action of transmission mechanism 110.
As shown in Figure of description 7, specifically, for one group of transmission mechanism 110 comprising lower swing arm 8, upper swing arm 9, on
Connecting rod 10 and lower link 13, specific set-up mode and motion process are as described above；For another group of transmission mechanism 110, packet
Include right side lower swing arm 08, right side upper swing arm 09, right side upper connecting rod 010 and right side lower link 013, right side lower swing arm 08 and lower swing arm
8 are integrated setting, constitute one piece of straight panel, and the middle part of straight panel has flange, to install the bottom of fixing axle 4, driving portion instantly
When 701 rotation, then 8 synchronous rotary of right side lower swing arm 08 and lower swing arm that is wholely set；Therewith similarly, 09 He of right side upper swing arm
Upper swing arm 9 is integrated setting, constitutes one piece of straight panel, the middle part of straight panel has flange, to install the top of fixing axle 4, and two
Block straight panel shape then drives the right side upper swing arm being wholely set when the rotation of upper driving portion 101 at cross-like, such as Figure of description 7
09 and 9 synchronous rotary of upper swing arm；In addition, the set-up mode of right side upper connecting rod 010 and right side lower link 013 and above-mentioned upper connecting rod 10
It is similar with the set-up mode of lower link 13, it will not be described in great detail herein.
The present invention also provides a kind of production line, including charging tray 200 and pipeline 300, such as Figure of description 3, attached drawing 4 and attached
Shown in Fig. 8, production line further includes set on the coaxial parallel robot 100 between charging tray 200 and pipeline 300.Coaxial parallel machine
The set-up mode of device people 100 three specific embodiments as mentioned in the above, the other component of production line can refer to the prior art, herein
It repeats no more.
It should be noted that in the present specification, such as first and second etc relational terms are used merely to one
Entity is distinguished with other several entities, and without necessarily requiring or implying between these entities, there are any this actual
Relationship or sequence.
Production line provided by the present invention and its coaxial parallel robot are described in detail above.It is used herein
A specific example illustrates the principle and implementation of the invention, and the above embodiments are only used to help understand
Method and its core concept of the invention.It should be pointed out that for those skilled in the art, not departing from this
, can be with several improvements and modifications are made to the present invention under the premise of inventive principle, these improvement and modification also fall into the present invention
In scope of protection of the claims.
Claims (10)
1. a kind of coaxial parallel robot, which is characterized in that including being arranged along the vertical direction and being located on same vertical axis
Upper driving portion (101) and lower driving portion (701)；Further include two groups respectively with the output shaft of the upper driving portion (101) and described
The connected transmission component of the output shaft of lower driving portion (701), the fixing axle being arranged along the vertical direction (4) connect two groups described in be driven
Component；Transmission component described in two groups is separately connected one group of transmission arm extended along the direction far from the fixing axle (4), two groups of institutes
The end rotation connection for stating transmission arm, forms transmission mechanism (110), and the transmission mechanism (110) further includes being set to described in two groups
The end of transmission arm adjusts the execution unit for executing station to the mutual rotation by transmission arm described in two groups.
2. coaxial parallel robot according to claim 1, which is characterized in that the end of transmission arm described in two groups passes through edge
Rotary shaft (12) rotation connection of vertical direction setting, the rotary shaft (12) are installed with the piston cylinder being arranged along the vertical direction
(14), the execution unit is located at the bottom of the piston cylinder (14) and is arranged along the vertical direction, to realize the execution unit
Follow the piston cylinder (14) vertically moving.
3. coaxial parallel robot according to claim 2, which is characterized in that further include set on transmission arm described in any group
Sub- driving portion (11), the sub- driving portion (11) is connected with the rotary shaft (12), to adjust the rotary shaft (12)
Rotate angle.
4. coaxial parallel robot according to claim 3, which is characterized in that the piston cylinder (14) and the rotary shaft
(12) it is fixedly connected, piston moves downward for piston cylinder (14) driving；It further include connecting the piston cylinder (14) and described holding
The mounting base (160) of row component, the mounting base (160) include setting along the vertical direction and slide company with the piston cylinder (14)
The vertical plate and horizontally disposed level board connect, one end of the level board are connected with the bottom end of the vertical plate,
The level board is fixedly connected with the piston, and the execution unit is set to the bottom of the level board.
5. coaxial parallel robot according to claim 1, which is characterized in that the end of transmission arm described in two groups passes through edge
Rotary shaft (12) rotation connection of vertical direction setting further includes the bracket (161) with the rotary shaft (12) connection, described to hold
Row component is set to the bracket (161) and horizontally disposed.
6. coaxial parallel robot according to claim 5, which is characterized in that the bracket (161) includes being wholely set
Connecting plate, upper surface and lower end surface, the connecting plate is arranged along the vertical direction, and the connecting plate connect the upper surface and
The lower end surface, the upper surface and the lower end surface are horizontally disposed, and the upper surface is connected to the rotary shaft (12)
Upper end, the lower end surface are connected to the lower end of the rotary shaft (12), and the execution unit is set to the connecting plate.
7. the coaxial parallel robot according to claim 2 to 6 any one, which is characterized in that transmission arm described in one group
Including swing arm and connecting rod, the first end of the swing arm is connected with the transmission component, and the second end of the swing arm is rotationally connected with
The first end of the connecting rod, the second end of the connecting rod and rotary shaft rotation connection (12).
8. coaxial parallel robot according to claim 7, which is characterized in that the transmission mechanism (110) be two groups, two
The group transmission mechanism (110) is driven by upper driving portion and lower driving portion, and transmission mechanism described in two groups (110) is located at
The two sides of the fixing axle (4).
9. coaxial parallel robot according to claim 8, which is characterized in that in transmission mechanism described in one group (110)
Two swing arms are integrated setting with the different swing arms in another transmission mechanism (110) respectively, and integrally set
Two swing arms set are straight panel, and two pieces of straight panel shapes are at cross-like.
10. a kind of production line, including charging tray (200) and pipeline (300), which is characterized in that further include being set to the charging tray
(200) the coaxial parallel robot between pipeline (300), as described in 1 to 9 any one of the claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811511536.4A CN109278029A (en) | 2018-12-11 | 2018-12-11 | A kind of production line and its coaxial parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811511536.4A CN109278029A (en) | 2018-12-11 | 2018-12-11 | A kind of production line and its coaxial parallel robot |
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| Publication Number | Publication Date |
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| CN109278029A true CN109278029A (en) | 2019-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811511536.4A Pending CN109278029A (en) | 2018-12-11 | 2018-12-11 | A kind of production line and its coaxial parallel robot |
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| Country | Link |
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| CN (1) | CN109278029A (en) |
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| CN113443220A (en) * | 2021-07-28 | 2021-09-28 | 河北科技大学 | Fresh corn packaging production line |
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