CN204209682U - The parallel robot that two mover linear electric motors drive - Google Patents
The parallel robot that two mover linear electric motors drive Download PDFInfo
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- CN204209682U CN204209682U CN201420543658.2U CN201420543658U CN204209682U CN 204209682 U CN204209682 U CN 204209682U CN 201420543658 U CN201420543658 U CN 201420543658U CN 204209682 U CN204209682 U CN 204209682U
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- mover
- side chain
- moving platform
- electric motors
- linear electric
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Abstract
The utility model relates to the parallel robot that a kind of pair of mover linear electric motors drive, comprise two mover linear electric motors, the first side chain, the second side chain and moving platform, two mover linear electric motors comprise stator and are arranged on the first mover, the second mover on stator, first mover is connected with moving platform by the first side chain, second mover is connected with moving platform by the second side chain, first side chain, the second side chain include connecting rod, and the first side chain, the second side chain realize the connection of the first mover, the second mover and moving platform by connecting rod.The utility model adopts two mover linear electric motors, and control algolithm is more simple, and equipment control accuracy is higher, reduces the complexity of parallel institution, decreases parallel institution constraint of kinematic pair, makes it install, and debugging is simple.The utility model is novel, and structure is simple, and reliability is high, and transfer distance, position is accurate, is adapted at realizing the gently little goods of fast accurate movement in enormous quantities in numerous industries such as electronics, light industry, food and medicine.
Description
Technical field
The utility model relates to industrial carrying machine people field, the parallel robot of specifically a kind of pair of mover linear electric motors driving.
Background technology
The world today is increasingly competitive, is the production equipment of enhancing productivity and the employing of competitiveness many enterprises is advanced, as transfer robot, manipulator.And some automatics only need less freedom of motion just can meet the demands on the automatic production lines such as medicine, food and microelectronic product assembling.Relative to traditional serial mechanism, parallel institution is the motion of multiple component common support moving platform, and more easily realizes compact conformation, modularized design, the high speed of high rigidity and motion.Therefore the parallel institution of some lower-mobilities receives many researchers concern.In existing plane two-degree-of-freedoparallel parallel robot, as " only containing the two-degrees-of-freedom translation parallel robot mechanism of revolute pair " that the patent No. is CN1355087A, propose a kind of only containing the parallel robot mechanism of revolute pair, in this mechanism, driver element is two servomotors, and 2 are arranged in frame as the revolute pair driven, are realized the translation of moving platform by parallelogram branched structure, cause parallel-connection structure relative complex, installation, debug difficulties.
Utility model content
The purpose of this utility model is the parallel robot providing a kind of pair of mover linear electric motors to drive, complicated to solve prior art parallel-connection structure, the problem of installation and debugging difficulty.
In order to realize above-mentioned object, adopt following technical scheme.The parallel robot that a kind of pair of mover linear electric motors drive, comprise two mover linear electric motors, the first side chain, the second side chain and moving platform, described pair of mover linear electric motors comprise stator and are arranged on the first mover, the second mover on stator, described first mover is connected with moving platform by the first side chain, described second mover is connected with moving platform by the second side chain, described first side chain, the second side chain include connecting rod, and described first side chain, the second side chain realize the connection of the first mover, the second mover and moving platform by connecting rod.Two mover linear electric motors drive the first mover and the second mover to move on stator, moving platform motion is driven by the connecting rod of the first side chain, the second side chain, its motion implementation is as follows: two movers are synchronized when moving in the same way, can realize the motion of moving platform horizontal direction; During the reverse synchronized motion of two movers, the motion of moving platform vertical direction can be realized; Two movers in the same way friction speed, oppositely friction speed motion time, the binary motion of moving platform can be realized.Mover, side chain and moving platform form restriction relation, and the connecting rod quantity of the first side chain and the second side chain can be arranged according to actual needs, such as: the first side chain and the second side chain respectively arrange a connecting rod, can realize above-mentioned motion mode; First side chain arranges a connecting rod, and the second side chain arranges two connecting rods, connects moving platform three points, make moving platform more steady in motion process by three connecting rods; First side chain and the second side chain respectively arrange two connecting rods, improve the smoothness of moving platform further.
Further, described first side chain is provided with three connecting rods, and the second side chain is provided with two connecting rods.Two in first side chain three connecting rod are connected with the side of moving platform near the first mover, remain one and are connected with the side of moving platform near the second mover, and the second side chain two connecting rod is connected with the side of moving platform near the second mover.This structure effectively can improve the rigidity of parallel institution.
Further, described parallel robot also comprises guide rail and is arranged on the slide block on guide rail, and described slide block is connected with the pedestal of two mover linear electric motors.Guide rail is horizontally disposed with and not parallel with stator, drive slide block along guide rail movement, two mover linear electric motors can be made along guide rail movement, thus move in the direction driving moving platform cannot realize along above-mentioned two degrees of freedom, moving platform is made to increase one degree of freedom, realize the motion of three degree of freedom, can practical application be better met.
Further, described connecting rod is connected with the first mover, the second mover, moving platform by hinge or revolute pair.
Further, described moving platform is provided with paw can adapt to interface and be connected with paw.Described paw is sucker, Pneumatic clamping paw, electronic gripping paw, electromagnetism draw paw, welding gun, glue rifle, detecting instrument.
Compared with prior art, the utility model adopts two mover linear electric motors, and control algolithm is more simple, and equipment control accuracy is higher, reduces the complexity of parallel institution, decreases parallel institution constraint of kinematic pair, makes it install, and debugging is simple.The utility model is novel, and structure is simple, and reliability is high, and transfer distance, position is accurate, is adapted at realizing the gently little goods of fast accurate movement in enormous quantities in numerous industries such as electronics, light industry, food and medicine.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of the utility model embodiment one;
Fig. 3 is the structural representation of the utility model embodiment two;
Fig. 4 is the structural representation of the utility model embodiment three;
Fig. 5 is the structural representation of the utility model embodiment four.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model will be further described.
Structure of the present utility model as shown in Figure 1, comprises two mover linear electric motors 1, first side chain, the second side chain and moving platform 4.Two mover linear electric motors 1 comprise stator 11 and the first mover 12, second mover 13, first mover 12 be arranged on stator is connected with moving platform 4 by the first side chain, and the second mover 13 is connected with moving platform 4 by the second side chain.First side chain, the second side chain include connecting rod 2, and the quantity of the connecting rod 2 of the first side chain and the second side chain can be arranged according to actual needs.Connecting rod 2 is connected with the first mover 12, second mover 13, moving platform 4 by hinge 3, the replaceable one-tenth revolute pair of each hinge 3.Moving platform 4 is provided with paw and can adapts to interface 5, can install different paws 6 according to actual needs, paw 6 can be sucker, Pneumatic clamping paw, electronic gripping paw, electromagnetism absorption paw, welding gun, glue rifle, detecting instrument or other specific purpose tool etc.
Two mover linear electric motors 1 drive two movers 12 to move on stator 11, drive moving platform 4 to move by connecting rod 2, and its motion implementation is as follows: two movers 12 are synchronized when moving in the same way, can realize the motion of moving platform 4 horizontal direction; During the reverse synchronized motion of two movers 12, the motion of moving platform 4 vertical direction can be realized; Two movers 12 in the same way friction speed, oppositely friction speed motion time, the binary motion of moving platform 4 can be realized.
Embodiment one first side chain and the second side chain respectively arrange a connecting rod, as shown in Figure 2.
Embodiment 2 first side chain arranges a connecting rod, and the second side chain arranges two connecting rods, as shown in Figure 3.
Embodiment 3 first side chain and the second side chain respectively arrange two connecting rods, as shown in Figure 4.
Embodiment 4 first side chain arranges three connecting rods, and the second side chain arranges two connecting rods, as shown in Figure 5.Two in first side chain three connecting rod are connected with the side of moving platform 4 near the first mover 12, and remain one and be connected with the side of moving platform 4 near the second mover 13, the second side chain two connecting rod is connected with the side of moving platform 4 near the second mover 13.This structure effectively can improve the rigidity of parallel institution.The slide block 7 that this structure also comprises guide rail 8 and is arranged on guide rail 8, slide block 7 is connected with the pedestal of two mover linear electric motors 1, and guide rail 8 is fixedly mounted on as in the structures such as frame 9.Guide rail 8 is horizontally disposed with and not parallel with stator 11, slide block 7 is driven to move along guide rail 8, two mover linear electric motors 1 can be made to move along the direction of guide rail 8, thus drive moving platform 4 to move along the direction of guide rail 8, moving platform 4 is made to increase one degree of freedom, realize the motion of three degree of freedom, can practical application be better met.
The utility model to be aly applied on light industry, for the automation equipment of the automatic packaging, sorting of article, conveniently material can be removed second ground and pile is neat from first.In the free degree, can be Two coordinate robot, realize the carrying of the vertical of article and horizontal direction, by improving the Cartesian robot that also can realize three axle movements.The grabbing device that the utility model can realize article is vertically, and article are carried by the displacement of horizontal direction.
Disclosedly above be only a kind of preferred embodiment of the present utility model, certainly can not limit the interest field of the utility model with this, therefore according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (6)
1. the parallel robot of a two mover linear electric motors driving, it is characterized in that, comprise two mover linear electric motors, the first side chain, the second side chain and moving platform, described pair of mover linear electric motors comprise stator and are arranged on the first mover, the second mover on stator, described first mover is connected with moving platform by the first side chain, described second mover is connected with moving platform by the second side chain, described first side chain, the second side chain include connecting rod, and described first side chain, the second side chain realize the connection of the first mover, the second mover and moving platform by connecting rod.
2. parallel robot according to claim 1, is characterized in that, described first side chain is provided with three connecting rods, and the second side chain is provided with two connecting rods.
3. parallel robot according to claim 1 and 2, is characterized in that, also comprises guide rail and is arranged on the slide block on guide rail, and described slide block is connected with two mover linear electric motors.
4. parallel robot according to claim 1 and 2, is characterized in that, described connecting rod is connected with the first mover, the second mover, moving platform by hinge or revolute pair.
5. parallel robot according to claim 1 and 2, is characterized in that, described moving platform is provided with paw and can adapts to interface and be connected with paw.
6. parallel robot according to claim 5, is characterized in that, described paw is sucker, Pneumatic clamping paw, electronic gripping paw, electromagnetism draw paw, welding gun, glue rifle, detecting instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420543658.2U CN204209682U (en) | 2014-09-22 | 2014-09-22 | The parallel robot that two mover linear electric motors drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420543658.2U CN204209682U (en) | 2014-09-22 | 2014-09-22 | The parallel robot that two mover linear electric motors drive |
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| Publication Number | Publication Date |
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| CN204209682U true CN204209682U (en) | 2015-03-18 |
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| CN201420543658.2U Active CN204209682U (en) | 2014-09-22 | 2014-09-22 | The parallel robot that two mover linear electric motors drive |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308831A (en) * | 2014-09-22 | 2015-01-28 | 汕头大学 | Parallel robot driven by double-rotor linear motor |
| CN105729450A (en) * | 2016-05-09 | 2016-07-06 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
| CN109363716A (en) * | 2018-09-26 | 2019-02-22 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and its floating installation |
| CN109363715A (en) * | 2018-09-26 | 2019-02-22 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and its floating installation |
| CN112536580A (en) * | 2019-09-20 | 2021-03-23 | 深圳科瑞技术股份有限公司 | XZ-axis high-speed high-precision platform |
-
2014
- 2014-09-22 CN CN201420543658.2U patent/CN204209682U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308831A (en) * | 2014-09-22 | 2015-01-28 | 汕头大学 | Parallel robot driven by double-rotor linear motor |
| CN104308831B (en) * | 2014-09-22 | 2017-01-25 | 汕头大学 | Parallel robot driven by double-rotor linear motor |
| CN105729450A (en) * | 2016-05-09 | 2016-07-06 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
| CN109363716A (en) * | 2018-09-26 | 2019-02-22 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and its floating installation |
| CN109363715A (en) * | 2018-09-26 | 2019-02-22 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and its floating installation |
| CN109363715B (en) * | 2018-09-26 | 2023-11-07 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic equipment and floating device thereof |
| CN112536580A (en) * | 2019-09-20 | 2021-03-23 | 深圳科瑞技术股份有限公司 | XZ-axis high-speed high-precision platform |
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