CN205129837U - Secondary drive's four degree of freedom parallels letter sorting machine people rotates - Google Patents

Secondary drive's four degree of freedom parallels letter sorting machine people rotates Download PDF

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Publication number
CN205129837U
CN205129837U CN201520834557.5U CN201520834557U CN205129837U CN 205129837 U CN205129837 U CN 205129837U CN 201520834557 U CN201520834557 U CN 201520834557U CN 205129837 U CN205129837 U CN 205129837U
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China
Prior art keywords
branch
revolute pair
connecting rod
base
pair
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Withdrawn - After Issue
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CN201520834557.5U
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Chinese (zh)
Inventor
李秦川
徐灵敏
柴馨雪
黄鹏成
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Zhejiang Sci Tech University ZSTU
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Zhejiang Sci Tech University ZSTU
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Priority to CN201520834557.5U priority Critical patent/CN205129837U/en
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Abstract

The utility model relates to a secondary drive's four degree of freedom parallels letter sorting machine people rotates. The purpose is that the robot that provides should have that compact structure, simple to operate, response speed are fast, the characteristics of low price. Technical scheme is: a secondary drive's four degree of freedom parallels letter sorting machine people rotates which characterized in that: this robot includes end effector, base and parallel connection two branch with the motion of drive end effector between end effector and base, every branch is including connecting gradually the screw pair between end effector and base, first connecting rod, first revolute pair, second connecting rod and two parallelly connected sub - branch, screw pair among two branch is coaxial, every sub - branch is including connecting gradually second revolute pair, third connecting rod, third revolute pair, fourth connecting rod, the fourth revolute pair between second connecting rod and base.

Description

The parallel sorting machine people of four-degree-of-freedom that a kind of revolute pair drives
Technical field
The utility model relates to industrial robot field, is specifically a kind ofly driven by revolute pair, for sorting or carrying part and have the parallel robot of 3 one-movement-freedom-degrees and 1 rotational freedom.
Background technology
The Major Function of sorting machine people moves to take part and assembly work, is widely used in the fields such as plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry.
The business-like robot of current sorting class belongs to SCARA type or Delta type mostly.SCARA robot has along X, Y, three translation freedoms of Z-direction and the rotary freedom around Z axis; The working space of SCARA robot is large, but due to the restriction of serial mechanism self structure, the rigidity of SCARA mechanism is less than parallel institution, and response speed is also slow than parallel institution.Delta robot belongs to parallel robot, and motor is fixed on pedestal, has because dynamic response is fast, rigidity is high, but is provided with reductor due to inside, and price is more expensive, needs to use portal frame during installation, comparatively complicated.
At society, robot replaces the duplication of labour of people masterpiece to be development trend, thus propose that a kind of fast response time, rigidity are high, compact conformation, simple, low-cost sorting machine people is necessary in installation.
Utility model content
The purpose of this utility model overcomes the deficiency in above-mentioned background technology, the parallel sorting machine people of the four-degree-of-freedom providing a kind of revolute pair to drive, and this robot should have compact conformation, easy for installation, fast response time, low-cost feature.
The technical solution of the utility model is:
The parallel sorting machine people of four-degree-of-freedom that revolute pair drives, is characterized in that: this robot comprises end effector, base and is connected in parallel between end effector and base with the Liang Ge branch driving end effector to move;
Described each branch comprises and is connected to screw pair between end effector with base, first connecting rod, the first revolute pair, second connecting rod and Liang Gezi branch in parallel in turn; Screw pair in Liang Ge branch is coaxial;
Mechanism of described each sub-branch comprises the second revolute pair, third connecting rod, the 3rd revolute pair, double leval jib, the 4th revolute pair that are connected in turn between second connecting rod and base.
In described Liang Gezi branch, the pivot center of the pivot center of two the second revolute pairs, the pivot center of two the 3rd revolute pairs, two the 4th revolute pairs is parallel mutually; The pivot center of the first revolute pair in described each branch is parallel to the pivot center of screw pair, and the pivot center of the second revolute pair is perpendicular to the pivot center of screw pair.
Described 4th revolute pair is connected with base, the 4th revolute pair is installed the driver comprising motor and gear.
The beneficial effects of the utility model are:
The utility model is the parallel institution of compact conformation, not only has higher rigidity, and motion cumulative errors are less than serial mechanism; Parallel institution of the present utility model not only compact conformation, all more for convenience, and symmetrical configuration, can carry out processing and controlling easily in installation and maintenance; The utility model eliminates reductor, reduces cost; Therefore, the utility model is significant for the further genralrlization of sorting and transfer robot.
Accompanying drawing explanation
Fig. 1 is the perspective view of the utility model embodiment.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model is not limited to following examples.
Embodiment
The parallel sorting machine people of four-degree-of-freedom that a kind of revolute pair as shown in Figure 1 drives, comprises base 5, end effector 6, Liang Ge branch.This end effector is provided with the equipment for capturing part.
Described Liang Ge branch for driving the motion of end effector, and is connected in parallel between end effector and base; All there are five frees degree in described each branch, comprises and is connected to screw pair 31 between end effector with base, first connecting rod 11, first revolute pair 21, second connecting rod 12 and Liang Gezi branch in parallel in turn; Visible in figure: the screw pair in Liang Ge branch is coaxial.
Mechanism of described each sub-branch comprises the second revolute pair 22, third connecting rod 13, the 3rd revolute pair 23, double leval jib 14, the 4th revolute pair 24 that are connected in turn between second connecting rod and base.
In mechanism of each sub-branch, the pivot center of the second revolute pair, the 3rd revolute pair and the 4th revolute pair is parallel to each other; Between the Liang Gezi branch of each branch, the pivot center of two the second revolute pairs is parallel to each other, and the pivot center of two the 3rd revolute pairs is parallel to each other, and the pivot center of two the 4th revolute pairs is parallel to each other; In each branch, the pivot center of the first revolute pair and the pivot center of screw pair are parallel to each other, and the pivot center of screw pair is perpendicular to the pivot center of the second revolute pair, the 3rd revolute pair and the 4th revolute pair.
Described 4th revolute pair is connected with base, and the 4th revolute pair is installed the driver (conventional structure omits in figure) comprising motor and gear, motor-driven gear completes the rotation of double leval jib.

Claims (3)

1. the parallel sorting machine people of four-degree-of-freedom of revolute pair driving, is characterized in that: this robot comprises end effector (6), base (5) and is connected in parallel between end effector and base with the Liang Ge branch driving end effector to move;
Described each branch comprises and is connected to screw pair (31) between end effector with base, first connecting rod (11), the first revolute pair (21), second connecting rod (12) and Liang Gezi branch in parallel in turn; Screw pair in Liang Ge branch is coaxial;
Mechanism of described each sub-branch comprises the second revolute pair (22), third connecting rod (13), the 3rd revolute pair (23), double leval jib (14), the 4th revolute pair (24) that are connected in turn between second connecting rod and base.
2. the parallel sorting machine people of four-degree-of-freedom of a kind of revolute pair driving according to claim 1, it is characterized in that: in described Liang Gezi branch, the pivot center of the pivot center of two the second revolute pairs, the pivot center of two the 3rd revolute pairs, two the 4th revolute pairs is parallel mutually; The pivot center of the first revolute pair in described each branch is parallel to the pivot center of screw pair, and the pivot center of the second revolute pair is perpendicular to the pivot center of screw pair.
3. the parallel sorting machine people of four-degree-of-freedom of a kind of revolute pair driving according to claim 2, is characterized in that: described 4th revolute pair is connected with base, the 4th revolute pair is installed the driver comprising motor and gear.
CN201520834557.5U 2015-10-26 2015-10-26 Secondary drive's four degree of freedom parallels letter sorting machine people rotates Withdrawn - After Issue CN205129837U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520834557.5U CN205129837U (en) 2015-10-26 2015-10-26 Secondary drive's four degree of freedom parallels letter sorting machine people rotates

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520834557.5U CN205129837U (en) 2015-10-26 2015-10-26 Secondary drive's four degree of freedom parallels letter sorting machine people rotates

Publications (1)

Publication Number Publication Date
CN205129837U true CN205129837U (en) 2016-04-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520834557.5U Withdrawn - After Issue CN205129837U (en) 2015-10-26 2015-10-26 Secondary drive's four degree of freedom parallels letter sorting machine people rotates

Country Status (1)

Country Link
CN (1) CN205129837U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364910A (en) * 2015-10-26 2016-03-02 浙江理工大学 Four-freedom-degree parallel sorting robot driven by rotation pairs

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364910A (en) * 2015-10-26 2016-03-02 浙江理工大学 Four-freedom-degree parallel sorting robot driven by rotation pairs
CN105364910B (en) * 2015-10-26 2017-06-13 浙江理工大学 It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving

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Granted publication date: 20160406

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