CN205219146U

CN205219146U - Four degree of freedom triangles humanoid robot that connects in parallel

Info

Publication number: CN205219146U
Application number: CN201520989867.4U
Authority: CN
Inventors: 曹鲜红; 谭军
Original assignee: Shenzhen Linglve CNC Equipment Co Ltd
Current assignee: Shenzhen Linglve CNC Equipment Co Ltd
Priority date: 2015-12-02
Filing date: 2015-12-02
Publication date: 2016-05-11
Anticipated expiration: 2025-12-02

Abstract

The utility model discloses a four degree of freedom triangles humanoid robot that connects in parallel, including three swing arm joint and a central rotary joint, the swing arm joint comprises the 2nd servo motor, second speed reducer, swing arm, 4 globe joints, 2 connecting rods and 2 extension springs, the center rotary joint comprise a servo motor, first speed reducer and spider, three swing arm joint is into 120 degrees contained angles and distributes to the projection of three swing arm on the horizontal plane is handed over in a bit, and central rotary joint direct mount is on the spider. The utility model discloses high inflexible RV speed reducer is adopted in the swing arm joint, effectual movement accuracy and the rigidity that has improved the robot, and central rotary joint has adopted light -weighted RV speed reducer as a fourth degree of freedom, provides plane rotation the motion.

Description

A kind of four-degree-of-freedom triangle parallel robots

Technical field

The utility model relates to a kind of industrial robot, is specifically related to a kind of four-degree-of-freedom triangle parallel robots.

Background technology

Four-degree-of-freedom triangle parallel robots belongs at a high speed, the parallel robot of underloading, general by teach programming or vision system captured target object, by the locus at three axis servomotor determination gripping apparatus centers (TCP) in parallel, the transport of realize target object, the operations such as processing.Be mainly used in the processing such as food, medicine and electronic product, assembling.Four-degree-of-freedom triangle parallel robots is lightweight with it, volume is little, movement velocity is fast, registration, cost are low, efficiency high, is just commercially widely used.But current this structure exists rigidity deficiency, the centre rotational axis design adopted is simplified not.

Summary of the invention

Technical problem to be solved in the utility model is to provide a kind ofly simplifies and has the four-degree-of-freedom triangle parallel robots of high rigid structure.

The utility model is achieved through the following technical solutions: a kind of four-degree-of-freedom triangle parallel robots, comprise three swing arm joints and a central rotation joint, described swing arm joint is made up of the second servomotor, the second reductor, swing arm, 4 ball-joints, 2 connecting rods and 2 extension springs;

Described central rotation joint is made up of the first servomotor, the first reductor and spider, described three swing arm joints become 120 degree of angle distributions, and three swing arm projections in the horizontal plane meet at a bit, and central rotation joint is directly installed on spider.

As preferred technical scheme, described second servomotor is strap brake absolute value formula servomotor, and the second reductor is the high-precision RV reductor of high rigidity.

As preferred technical scheme, the first servomotor that described central rotation joint adopts is that lower powered absolute value declines small servo, and the first reductor is light-weighted RV reductor.

As preferred technical scheme, described swing arm, 4 ball-joints, 2 connecting rods, spider form the four-bar linkage structure of parallelogram, and 2 extension springs are connected between 2 connecting rods.

As preferred technical scheme, between described speed reducer mounting base and base plate, alignment pin is installed, and is screwed connection.

The beneficial effects of the utility model are: the utility model swing arm joint adopts the RV reductor of high rigidity, effectively raise kinematic accuracy and the rigidity of robot, central rotation joint have employed light-weighted RV reductor as the 4th free degree, provides planar rotational movement.

Accompanying drawing explanation

In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is structural representation of the present utility model;

Fig. 2 is structure cross-sectional schematic of the present utility model;

Fig. 3 is axial partial schematic diagram of the present utility model;

In figure: 1, spider, 2, ball-joint, the 3, first servomotor, 4, extension spring, 5, swing arm, 6, base plate, 7, output board, 8, motor cover, 9, connecting rod, 10, the first reductor, the 11, second servomotor, the 12, second reductor, 13, speed reducer mounting base.

Detailed description of the invention

All features disclosed in this description, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.

Arbitrary feature disclosed in this description (comprising any accessory claim, summary and accompanying drawing), unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object.That is, unless specifically stated otherwise, each feature is an example in a series of equivalence or similar characteristics.

As shown in Figure 1-Figure 3, plane articulated robot is containing three swing arm joints and a central rotation joint, and described swing arm joint is made up of servomotor (11), the second reductor (12), swing arm (5), 4 ball-joints (2), 2 connecting rods (9) and 2 extension springs (4); Described central rotation joint is by the first servomotor (3), and the first reductor (10) and spider (1) form.

As Fig. 1, shown in Fig. 2, when the second servomotor (11), when the second reductor (12) rotates, and the output of reductor (12) is fixedly connected with output board (7), output board (7) is fixedly connected with swing arm (5) again, thus drives swing arm (5) to do oscillating motion.Because swing arm (5), 4 ball-joints (2), 2 connecting rods (9) and spider (1) form the four-bar linkage structure of parallelogram, therefore the oscillating motion of swing arm (5), directly order about four-bar linkage structure and do corresponding change.

Furthermore, the swing arm joint be made up of the second servomotor (11), the second reductor (12), swing arm (5), 4 ball-joints (2), 2 connecting rods (9) and 2 extension springs (4) has 3 groups, the oscillating motion synthesis of 3 groups, force spider (1) to do translational motion, thus corresponding change in location can be realized to satisfy the demand.

Furthermore, centered by the angular deflection conversion of motion of swing arm (5), coil (1) translational motion, thus realize transportation function at a high speed.

The above, be only detailed description of the invention of the present utility model, but protection domain of the present utility model is not limited thereto, and any change of expecting without creative work or replacement, all should be encompassed within protection domain of the present utility model.Therefore, the protection domain that protection domain of the present utility model should limit with claims is as the criterion.

Claims

1. a four-degree-of-freedom triangle parallel robots, it is characterized in that: comprise three swing arm joints and a central rotation joint, described swing arm joint is made up of the second servomotor (11), the second reductor (12), swing arm (5), 4 ball-joints (2), 2 connecting rods (9) and 2 extension springs (4);

Described central rotation joint is made up of the first servomotor (3), the first reductor (10) and spider (1), described three swing arm joints become 120 degree of angle distributions, and the projection in the horizontal plane of three swing arms (5) meets at a bit, and central rotation joint is directly installed on spider (1).

2. four-degree-of-freedom triangle parallel robots according to claim 1, it is characterized in that: described second servomotor (11) is strap brake absolute value formula servomotor, the second reductor (12) is the high-precision RV reductor of high rigidity.

3. four-degree-of-freedom triangle parallel robots according to claim 1, it is characterized in that: the first servomotor (3) that described central rotation joint adopts to decline small servo for lower powered absolute value, and the first reductor (10) is light-weighted RV reductor.

4. four-degree-of-freedom triangle parallel robots according to claim 1, it is characterized in that: described swing arm (5), 4 ball-joints (2), 2 connecting rods (9), spider (1) form the four-bar linkage structure of parallelogram, and 2 extension springs (2) are connected between 2 connecting rods (9).

5. four-degree-of-freedom triangle parallel robots according to claim 1, is characterized in that: be provided with alignment pin between described speed reducer mounting base (12) and base plate (6), and be screwed connection.