CN205129850U - Move secondary drive's four degree of freedom parallel transfer robots - Google Patents

Move secondary drive's four degree of freedom parallel transfer robots Download PDF

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Publication number
CN205129850U
CN205129850U CN201520835629.8U CN201520835629U CN205129850U CN 205129850 U CN205129850 U CN 205129850U CN 201520835629 U CN201520835629 U CN 201520835629U CN 205129850 U CN205129850 U CN 205129850U
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China
Prior art keywords
pair
branch
sliding
parallel
base
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Application number
CN201520835629.8U
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Chinese (zh)
Inventor
李秦川
徐灵敏
柴馨雪
黄鹏成
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浙江理工大学
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Priority to CN201520835629.8U priority Critical patent/CN205129850U/en
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Publication of CN205129850U publication Critical patent/CN205129850U/en

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Abstract

The utility model relates to a move secondary drive's four degree of freedom parallel transfer robots. 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: plant move secondary drive's four degree of freedom parallel transfer robots, its 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, sliding sleeve and the slide bar in sliding pair of every sub - branch in connecting gradually second revolute pair between second connecting rod and base, third connecting rod, third revolute pair, sliding pair.

Description

The parallel transfer robot of four-degree-of-freedom that a kind of moving sets drives

Technical field

The utility model relates to industrial robot field, is specifically a kind ofly driven by moving sets, for carrying or sorting part and have the parallel robot of 3 one-movement-freedom-degrees and 1 rotational freedom.

Background technology

The Major Function of transfer robot 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 carrying 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 a kind of fast response time is proposed, rigidity is high, compact conformation, simple, the low-cost transfer robot of installation are necessary.

Utility model content

The purpose of this utility model overcomes the deficiency in above-mentioned background technology, the parallel transfer robot of the four-degree-of-freedom providing a kind of moving sets 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 transfer robot of four-degree-of-freedom that moving sets 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 and is connected to the sliding sleeve in the second revolute pair between second connecting rod and base, third connecting rod, the 3rd revolute pair, sliding pair and the slide bar in sliding pair in turn.

In described Liang Gezi branch, the pivot center of two the second revolute pairs is parallel mutually with the pivot center of two the 3rd revolute pairs, the sliding axle line parallel of two sliding pairs, and the slip axis of sliding pair is vertical with the pivot center of the second revolute pair;

The pivot center of the first revolute pair in described each branch, the slip axis of sliding pair are all parallel to each other with the pivot center of screw pair, and the pivot center of the second revolute pair is perpendicular to the pivot center of screw pair.

The slide bar of described sliding pair is connected with base, sliding pair is installed the driver comprising motor and screw mandrel.

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 carrying and sorting machine people.

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

As shown in Figure 1, the parallel transfer robot of four-degree-of-freedom that a kind of moving sets 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, sliding sleeve 41, the slide bar 42 that are connected in turn between second connecting rod and base; Sliding sleeve and slide bar composition sliding pair.

In mechanism of each sub-branch, the pivot center of the second revolute pair and the 3rd revolute pair is parallel to each other, and the slip axis of sliding pair is perpendicular to the pivot center of the second revolute pair and the 3rd revolute pair; Between the Liang Gezi branch of each branch, the slip axis of two sliding pairs is parallel to each other, and 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; The pivot center of the first revolute pair in each branch is parallel with the pivot center of screw pair, and the pivot center of screw pair is perpendicular to the pivot center of the second revolute pair and the 3rd revolute pair, and the pivot center of screw pair and the pivot center of sliding pair are parallel to each other.

The slide bar of described sliding pair is connected with base, sliding pair is installed the driver (conventional structure omits in figure) comprising motor and screw mandrel, and motor drives screw mandrel to complete the rectilinear motion of sliding pair.

Claims (3)

1. the parallel transfer robot of four-degree-of-freedom of moving sets 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 and is connected to the sliding sleeve (41) in the second revolute pair (22) between second connecting rod and base, third connecting rod (13), the 3rd revolute pair (23), sliding pair and the slide bar (42) in sliding pair in turn.
2. the parallel transfer robot of four-degree-of-freedom of a kind of moving sets driving according to claim 1, it is characterized in that: in described Liang Gezi branch, the pivot center of the second revolute pair is parallel mutually with the pivot center of the 3rd revolute pair, the sliding axle line parallel of two sliding pairs, and the slip axis of sliding pair is vertical with the pivot center of the second revolute pair;
The pivot center of the first revolute pair in described each branch, the slip axis of sliding pair are all parallel to each other with 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 transfer robot of four-degree-of-freedom of a kind of moving sets driving according to claim 2, is characterized in that: the slide bar of described sliding pair is connected with base, sliding pair is installed the driver comprising motor and screw mandrel.
CN201520835629.8U 2015-10-26 2015-10-26 Move secondary drive's four degree of freedom parallel transfer robots CN205129850U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520835629.8U CN205129850U (en) 2015-10-26 2015-10-26 Move secondary drive's four degree of freedom parallel transfer robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520835629.8U CN205129850U (en) 2015-10-26 2015-10-26 Move secondary drive's four degree of freedom parallel transfer robots

Publications (1)

Publication Number Publication Date
CN205129850U true CN205129850U (en) 2016-04-06

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CN201520835629.8U CN205129850U (en) 2015-10-26 2015-10-26 Move secondary drive's four degree of freedom parallel transfer robots

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364922A (en) * 2015-10-26 2016-03-02 浙江理工大学 Four-freedom-degree parallel type transfer robot driven by movable pairs
CN105923160A (en) * 2016-05-16 2016-09-07 安庆米锐智能科技有限公司 Clamping device for logistics unmanned aerial vehicle
CN109480922A (en) * 2018-12-14 2019-03-19 上海交通大学 A kind of remote center movement parallel institution of four-degree-of-freedom for Minimally Invasive Surgery

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364922A (en) * 2015-10-26 2016-03-02 浙江理工大学 Four-freedom-degree parallel type transfer robot driven by movable pairs
CN105364922B (en) * 2015-10-26 2017-04-19 浙江理工大学 Four-freedom-degree parallel type transfer robot driven by movable pairs
CN105923160A (en) * 2016-05-16 2016-09-07 安庆米锐智能科技有限公司 Clamping device for logistics unmanned aerial vehicle
CN109480922A (en) * 2018-12-14 2019-03-19 上海交通大学 A kind of remote center movement parallel institution of four-degree-of-freedom for Minimally Invasive Surgery

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C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20160406

Effective date of abandoning: 20170419

AV01 Patent right actively abandoned