CN201728487U - Parallel mechanism with two degrees of freedom of rotating and lifting for robots - Google Patents
Parallel mechanism with two degrees of freedom of rotating and lifting for robots Download PDFInfo
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- CN201728487U CN201728487U CN2010202229648U CN201020222964U CN201728487U CN 201728487 U CN201728487 U CN 201728487U CN 2010202229648 U CN2010202229648 U CN 2010202229648U CN 201020222964 U CN201020222964 U CN 201020222964U CN 201728487 U CN201728487 U CN 201728487U
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- guide rod
- fixed disk
- nut
- bearing
- lifting platform
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Abstract
The utility model relates to a parallel mechanism with two degrees of freedom of rotating and lifting, which belongs to the technical field of welding robots. The mechanism comprises a rack, a rotating mechanism and a lifting mechanism. The rotating mechanism is realized by the transmission of gears, and the lifting mechanism is realized by lead screws. The two mechanisms are decoupled by a bearing. The condition that the lifting movement is not influenced during the rotating movement in a welding process can be realized, vise versa. The parallel mechanism with the two degrees of freedom of rotating and lifting has simple structure, is convenient to process and is convenient to install and disassemble. The two degrees of freedom of the rotating and the lifting of the mechanism are mutually independent and do not interfere with each other, which is convenient to realize control. In addition, because a motor controlling the two degrees of freedom is immovable relative to world coordinates in the welding process, the problems of the winding of conducting wires and the like, which are generated because of rotation, are also avoided.
Description
Technical field
The utility model provides a kind of robot parallel mechanism with rotation and lifting two degrees of freedom, belongs to the Technology of Welding Robot field.
Background technology
In the modern times, welding was produced, the intubate welding was very general a kind of type of attachment in the industries such as chemical industry and boiler.General factory is still finished by manual welding, and the manufacturing cycle is long, and labour intensity is big, and the low welding quality of production efficiency is difficult to keep stable.In welding is produced, adopt Robotics, can boost productivity, improve working conditions, stablize and guarantee the automation welding of welding quality, realization intersection weld seam.
At present, existing welding robot adopts prosthetic robot mostly.This class welding robot will be finished weld task, must the interlock of all joints, employing be serial mechanism.And the interlock of each parts is neither directly perceived for the control of welding robot in welding process, and is also inconvenient.
The utility model content
The purpose of this utility model has been to overcome the above-mentioned defective of existing welding robot, provides a kind of welding gun that can make can finish rotation and elevating movement, guarantees the rotation of welding gun and the two-freedom-degree parallel mechanism welding robot that lifting is independent of each other simultaneously.
The technical solution adopted in the utility model is as follows: a kind of parallel institution with rotation and lifting two degrees of freedom, comprise frame, rotating mechanism, elevating mechanism, frame wherein comprises fixed disk, lower fixed disk, connecting rod, support, wherein going up fixed disk is connected by 8 connecting rods with lower fixed disk, respectively there is a through hole at upper and lower fixed disk center, and card respectively has 2 to be mutually 90 degree, to be used for bearings mounted through hole; The centre bore of lower fixed disk cooperates with support, support and workpiece anchoring;
Rotating mechanism comprises gear shaft I, drive motors I, rotary barrel, lifting platform guide rod seat, lifting platform guide rod, internal gear; Wherein drive motors I links to each other with gear shaft I, engagement in gear shaft I and the internal gear, and gear shaft I is installed in by bearing in the through hole of upper and lower fixed disk card of frame, and internal gear is installed on the rotary barrel inwall; Rotary barrel is installed on the support by bearing, and can rotate around support; The rotary barrel outer wall is equipped with lifting platform guide rod seat longitudinally, and the guide rod seat is equipped with two lifting platform guide rods;
Described elevating mechanism comprises gear shaft II, drive motors II, bearing outside, leading screw, nut guide rod, feed screw nut, nut guide rod seat, lifting platform, gear II, rigidity axle sleeve, connecting rod; Wherein drive motors II links to each other with gear shaft II, gear shaft and gear II external toothing, gear shaft II is installed in by bearing in another through hole of upper and lower fixed disk card of frame, the installation shaft of gear II and leading screw combine as a whole with the rigidity axle sleeve, be installed in by bearing in the centre bore of the upper and lower fixed disk of frame, nut is housed on the leading screw, nut is done elevating movement along two nut guide rods, the nut guide rod is fixed on the nut guide rod seat, and the guide rod seat is installed on the fixed disk; The outer wall of nut is installed in the inner ring of bearing, and bearing outer ring is contained in the bearing outside, and bearing outside links to each other with lifting platform by connecting rod, and can drive lifting platform and move up and down along the lifting platform guide rod.
Compared with prior art, the utlity model has following beneficial effect: the rotation and lifting two degrees of freedom parallel institution welding robot that the utility model provides is simple in structure, easy to process, is convenient to installation and removal.Separate, the mutually noninterfere of rotation and lifting two degrees of freedom of welding robot, the realization of being convenient to control.In welding process,, the problems such as lead winding that produce because of rotation have also been avoided in addition because this binary motor of control is fixed with respect to world coordinates.
Below in conjunction with the description of drawings and the specific embodiment the utility model is described in further detail.
Description of drawings
Fig. 1: rotation and lifting mechanism shaft side view
Fig. 2: the in-house structure chart of rotation and lifting
Fig. 3: rotary freedom forward cutaway view
Fig. 4: lifting free degree side sectional view
Fig. 5: frame axis side view
Fig. 6: rotating mechanism axonometric drawing
Fig. 7: elevating mechanism axonometric drawing
Among the figure: 1, connecting rod, 2, last fixed disk, 3, connecting rod nut, 4, bearing cap I, 5, bolt of bearing cap, 6, gear shaft I, 7, drive motors I, 8, bearing cap II, 9, gear shaft II, 10, drive motors II, 11, rotary barrel, 12, bearing outside, 13, the nut bearing, 14, top cover, 15, leading screw, 16, the nut guide rod, 17, feed screw nut, 18, lifting platform guide rod seat, 19, the lifting platform guide rod, 20, bolt, 21, the leading screw bearing, 22, nut guide rod seat, 23, lifting platform, 24, gear II, 25, internal gear, 26, the rigidity axle sleeve, 27, bearing, 28, locking nut, 29, lower fixed disk, 30, support, 31, connecting rod.
The specific embodiment
By the embodiment of the present utility model of Fig. 1 to Fig. 7 as can be known, mechanism provided by the utility model has rotation and two frees degree of lifting.Rotation realizes that by engagement in the gear lifting realizes by leading screw.Two frees degree are by 13 decoupling zeros of nut bearing, and the two is independent mutually, and mutually noninterfere becomes parallel institution.Frame maintains static with respect to world coordinate system, and it is threaded by connecting rod 1 by last fixed disk 2, lower fixed disk 29, and frame lower is equipped with support 30, and entire mechanism is anchored on the workpiece.
When drive motors 17 starts, drive motors 17 will rotatablely move and be passed to gear shaft 16, gear shaft 16 is installed in the installing hole of frame, gear shaft 16 and internal gear 25 interior engagements, thereby driving internal gear 25 rotates, and internal gear 25 usefulness bolts are installed on the rotary barrel 11, and rotary barrel 11 bottoms have bearing to be installed on the support 30, therefore can realize rotary freedom with internal gear 25.
When drive motors II10 starts, drive motors II10 will rotatablely move and be passed to gear shaft II9, gear shaft II9 and gear II24 engagement, the bottom of gear II24 is installed on the lower fixed disk 29 with bearing, top links to each other by rigidity axle sleeve 26 with leading screw 15, so the rotation of gear II24 causes moving up and down of screw mandrel 15.Feed screw nut 17 is arranged on the leading screw 15, and the drive nut 17 that moves up and down of screw mandrel 15 slides up and down on nut guide rod 16.Nut guide rod 16 is installed on the nut guide rod seat 22, be installed in again on the lower fixed disk 29, nut 17 is enclosed within the inner ring of nut bearing 13, bearing outer ring is with bearing outside 12, connecting rod 31 is contained in the hole of bearing outside 12, the other end of connecting rod 31 is equipped with lifting platform 23, and lifting platform 23 slides on lifting platform guide rod 19, and lifting platform guide rod 19 is installed on the rotary barrel 11 by lifting platform guide rod seat 18.Therefore, moving up and down and can passing through nut bearing 13, bearing outside 12, connecting rod 31 successively of nut 17 finally is passed to lifting platform 23, thereby realizes the elevating movement of lifting platform 23.
Claims (1)
1. parallel institution with rotation and lifting two degrees of freedom, comprise frame, rotating mechanism, elevating mechanism, it is characterized in that: described frame comprises fixed disk (2), lower fixed disk (29), connecting rod (1), support (30), wherein going up fixed disk (2) is connected by 8 connecting rods (1) with lower fixed disk (29), respectively there is a through hole at upper and lower fixed disk center, and card respectively has 2 to be mutually 90 degree, to be used for bearings mounted through hole; The centre bore of lower fixed disk (29) cooperates with support (30), support (30) and workpiece anchoring;
Described rotating mechanism comprises gear shaft I (6), drive motors I (7), rotary barrel (11), lifting platform guide rod seat (18), lifting platform guide rod (19), internal gear (25); Wherein drive motors I (7) links to each other with gear shaft I (6), gear shaft I (6) and the interior engagement of internal gear (25), gear shaft I (6) is installed in by bearing in the through hole of upper and lower fixed disk (2), (29) card of frame, and internal gear (25) is installed on rotary barrel (11) inwall; Rotary barrel (11) is installed on the support (30) by bearing, and can rotate around support; Rotary barrel (11) outer wall is equipped with lifting platform guide rod seat (18) longitudinally, and the guide rod seat is equipped with two lifting platform guide rods (19);
Described elevating mechanism comprises gear shaft II (9), drive motors II (10), bearing outside (12), leading screw (15), nut guide rod (16), feed screw nut (17), nut guide rod seat (22), lifting platform (23), gear II (24), rigidity axle sleeve (26), connecting rod (31); Wherein drive motors II (10) links to each other with gear shaft II (9), gear shaft (9) and gear II (24) external toothing, gear shaft II (9) by bearing be installed in frame on, lower fixed disk (2), (29) in another through hole of card, the installation shaft of gear II (24) and leading screw (15) combine as a whole with rigidity axle sleeve (26), be installed on the frame by bearing, lower fixed disk (2), (29) in the centre bore, nut (17) is housed on the leading screw, nut is done elevating movement along two nut guide rods (16), nut guide rod (16) is fixed on the nut guide rod seat (22), and guide rod seat (22) is installed on the fixed disk (2); The outer wall of nut is installed in the inner ring of bearing, and bearing outer ring is contained in the bearing outside (12), and bearing outside links to each other with lifting platform (23) by connecting rod (31), and can drive lifting platform (23) and move up and down along lifting platform guide rod (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202229648U CN201728487U (en) | 2010-06-04 | 2010-06-04 | Parallel mechanism with two degrees of freedom of rotating and lifting for robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202229648U CN201728487U (en) | 2010-06-04 | 2010-06-04 | Parallel mechanism with two degrees of freedom of rotating and lifting for robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201728487U true CN201728487U (en) | 2011-02-02 |
Family
ID=43519645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202229648U Expired - Lifetime CN201728487U (en) | 2010-06-04 | 2010-06-04 | Parallel mechanism with two degrees of freedom of rotating and lifting for robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201728487U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862928A (en) * | 2010-06-04 | 2010-10-20 | 北京工业大学 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
| CN107792815A (en) * | 2017-11-29 | 2018-03-13 | 中国科学院沈阳自动化研究所 | A kind of single driving multi output elevating mechanism |
| CN108372501A (en) * | 2016-05-16 | 2018-08-07 | 泉州台商投资区铭源机械设备有限公司 | A kind of robot and its working method |
| CN110202550A (en) * | 2019-06-28 | 2019-09-06 | 华南理工大学 | A kind of three-degree-of-freedom spherical parallel mechanism transmission device |
-
2010
- 2010-06-04 CN CN2010202229648U patent/CN201728487U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862928A (en) * | 2010-06-04 | 2010-10-20 | 北京工业大学 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
| CN101862928B (en) * | 2010-06-04 | 2012-06-27 | 北京工业大学 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
| CN108372501A (en) * | 2016-05-16 | 2018-08-07 | 泉州台商投资区铭源机械设备有限公司 | A kind of robot and its working method |
| CN108372501B (en) * | 2016-05-16 | 2020-08-07 | 山东和兑智能科技有限公司 | Robot and working method thereof |
| CN107792815A (en) * | 2017-11-29 | 2018-03-13 | 中国科学院沈阳自动化研究所 | A kind of single driving multi output elevating mechanism |
| CN110202550A (en) * | 2019-06-28 | 2019-09-06 | 华南理工大学 | A kind of three-degree-of-freedom spherical parallel mechanism transmission device |
| CN110202550B (en) * | 2019-06-28 | 2024-04-26 | 华南理工大学 | Three-degree-of-freedom spherical parallel mechanism transmission device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110202 Effective date of abandoning: 20120627 |