CN205363878U - Plane parallel robot - Google Patents
Plane parallel robot Download PDFInfo
- Publication number
- CN205363878U CN205363878U CN201521076871.8U CN201521076871U CN205363878U CN 205363878 U CN205363878 U CN 205363878U CN 201521076871 U CN201521076871 U CN 201521076871U CN 205363878 U CN205363878 U CN 205363878U
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- Prior art keywords
- slave arm
- driving device
- chain
- robot
- arm
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Abstract
The utility model discloses a plane parallel robot, the industrial production field of the light little article of the high -speed pick -and -place of specially adapted, this robot includes drive arrangement 1, installation rack 2, end effector mechanism 3 and four -bar linkage 4. A plane parallel robot utilizes synchronous belt drive to realize the mounting console rotary motion of robot, has effectively increased planar operating space of robot, adopt the unequal four -bar linkage 4 of armed lever can realize planar rapidogen position certainly of end, end effector mechanism 3 utilizes the pneumatic element to realize the quick pick -and -place of article. The utility model provides a parallel mechanism has simplified in the robot, can realize fast planar fixing a position, repeated positioning accuracy is high, is an economy, practical robot.
Description
Technical field
This utility model belongs to industrial robot field, is specifically related to a kind of planar parallel robot.
Background technology
Parallel robot has without cumulative error, the advantage such as precision is high, dynamic response is good compared with serial manipulator, thus is widely used in the production in light industry fields such as medicine, electronics, packaging.This field ubiquity is to finished product, semi-finished product high speed pick-and-place and sorting demand.At present, the space parallel mechanism of commercial production application artificial two side chains of more parallel manipulator or three side chains.This mechanism comprises frame, moving platform and major and minor side chain, is generally arranged in frame by servomotor, realizes moving platform two-dimensional translation by major and minor side chain parallel-crank mechanism.
This type of parallel robot is many compared with serial manipulator advantage, but relatively big in vertical operation space, and structure is complicated, cost is high, and article little relative to pick-and-place volume, lightweight then seem uneconomical.It is big that this utility model devises a kind of simple in construction, planar operating space, it is adaptable to the economical robot of slight small item product pick-and-place.
Summary of the invention
For prior art problem, it is big that this utility model provides a kind of simple in construction, planar operating space, it is adaptable to the economical robot of slight small item product pick-and-place.Described technical scheme is as follows:
A kind of planar parallel robot, including driving device, installs stand, end effector mechanism and quadric chain.
Described driving device includes first chain drive mechanism, second chain drive mechanism, C type mounting seat, support rotating driving device；Described first chain drive mechanism is arranged at described C type mounting seat and dead in line with described second chain drive mechanism is vertically opposite, and is connected with its side chain linkage respectively；Described support rotating driving device includes stand and installs panel, synchronous pulley one, synchronous pulley two, rotates support；Described synchronous pulley one is arranged on described driving device end, and described synchronous pulley two is sleeved on described rotation support, and described rotation support is affixed with described C type mounting seat, and described rotation support is movably connected with described stand installation panel simultaneously；Described synchronous pulley one is arranged at described driving device output end, and described rotation support is rotated by described synchronous pulley two, it may be achieved its integral-rotation.
Quadric chain includes the first side chain, two movement branched chain of the second side chain；Described first side chain includes the first master arm, the first slave arm, described first master arm and described first slave arm chain connection；Second side chain includes the second master arm, the second slave arm, described second master arm and described second slave arm chain connection.Described first slave arm is hinged with described second slave arm end, and described first master arm is isometric with described second slave arm, and described first slave arm is isometric with described second master arm.
Described end effector mechanism includes end clamping axle, rotary cylinder, gripper cylinder.Described end clamping axle is the first slave arm and the second slave arm jointed shaft, and described rotary cylinder is arranged at above described gripper cylinder.
This utility model adopts the parallel-crank mechanism of master arm Length discrepancy, may be formed at the two-freedom planar parallel robot arbitrarily moved certain working place, utilize toothed belt transmission to realize robot integral-rotation, it may be achieved robot multistation work simultaneously, improve robot service efficiency.Additionally, end effector mechanism can suitably carry out pose adjustment for pick-and-place article, increase planar parallel robot range of application.
Accompanying drawing explanation
Fig. 1 is this utility model one planar parallel robot structural representation
Fig. 2 is driving device structure schematic diagram
Fig. 3 is linkage arrangement schematic diagram
Fig. 4 is end clamping device structural representation
In figure: 1, driving device；2, stand is installed；3, end effector mechanism；4, quadric chain；5, first chain drive mechanism；6, C type mounting seat；7, panel installed by stand；8, synchronous pulley one；9, second chain drive mechanism；10, support rotating driving device；11, support is rotated；12, synchronous pulley two；13, the first master arm；14, the second master arm；15, the second slave arm；16, the first slave arm；17, end clamping axle；18, rotary cylinder；19, gripper cylinder
Detailed description of the invention
Referring to figs. 1 through Fig. 4, the utility model relates to a kind of planar parallel robot, its preferably embodiment be:
A kind of planar parallel robot provided by the utility model, including driving device 1, installs stand 2, end effector mechanism 3 and quadric chain 4.Driving device 1 includes 5, second chain drive mechanism 9 of first chain drive mechanism, C type mounting seat 6, support rotating driving device 10；First chain drive mechanism 5 and second chain drive mechanism 9 is vertically opposite is arranged at described C type mounting seat 6 and dead in line, and be connected with its side chain linkage respectively.Support rotating driving device 10 includes stand and installs panel 7, synchronous pulley 1, synchronous pulley 2 12, rotates support 11；Described synchronous pulley 1 is arranged on driving device reductor end, and synchronous pulley 2 12 is sleeved on rotation support 11, rotates support 11 affixed with described C type mounting seat 6, rotates support 11 simultaneously and stand is installed panel 7 and can be dynamically connected.Servomotor drives described synchronous pulley 1 by planetary reducer, rotates support 11 and is rotated at synchronous pulley 2 12, it may be achieved rotates support 11 integral-rotation.
Quadric chain 4 includes containing two side chains, and the first side chain includes first master arm the 13, first slave arm 16, the first master arm 13 and described first slave arm 16 chain connection；Second side chain includes second master arm the 14, second slave arm 15, the second master arm 14 and the second slave arm 15 chain connection.First slave arm 13 and the second slave arm 15 end are hinged, and the first master arm 13 and the second slave arm 15 are isometric, and the first slave arm 16 and the second master arm 14 are isometric.
End effector mechanism 3 includes end clamping axle 17, rotary cylinder 18, gripper cylinder 19.End clamping axle 17 is the first slave arm 16 and the second slave arm 15 jointed shaft, and rotary cylinder 18 is arranged at above gripper cylinder 19, can end materials attitude suitably be adjusted.
Claims (3)
1. a planar parallel robot, including driving device (1), installs stand (2), end effector mechanism (3) and quadric chain (4)；Driving device (1) includes first chain drive mechanism (5), second chain drive mechanism (9), C type mounting seat (6), support rotating driving device (10)；First chain drive mechanism (5) is vertically opposite with second chain drive mechanism (9) is arranged at described C type mounting seat (6) and dead in line, and is connected with its side chain linkage respectively；Support rotating driving device (10) includes stand and installs panel (7), synchronous pulley one (8), synchronous pulley two (12), rotates support (11)；Synchronous pulley one (8) is arranged on driving device reductor end, synchronous pulley two (12) is sleeved in rotation support (11), rotate support (11) affixed with described C type mounting seat (6), rotate support (11) simultaneously and can be dynamically connected with stand installation panel (7)；Described synchronous pulley one (8) is arranged on described driving device output end, rotates support (11) and is rotated at synchronous pulley two (12)；Quadric chain (4) includes containing two side chains, first side chain includes the first master arm (13), the first slave arm (16), the first master arm (13) and described first slave arm (16) chain connection；Second side chain includes the second master arm (14), the second slave arm (15), the second master arm (14) and the second slave arm (15) chain connection；First slave arm (13) is hinged with the second slave arm (15) end, first master arm (13) is isometric with the second slave arm (15), and the first slave arm (16) is isometric with the second master arm (14)；End effector mechanism (3) includes end clamping axle (17), rotary cylinder (18), gripper cylinder (19)；End clamping axle (17) is the first slave arm (16) and the second slave arm (15) jointed shaft, and rotary cylinder (18) is arranged at gripper cylinder (19) top.
2. a kind of planar parallel robot according to claim 1, it is characterised in that quadric chain 4 adopts armed lever inequilateral parallel-crank mechanism.
3. a kind of planar parallel robot according to claim 1, it is characterised in that described driving device adopts speed reducer for servo motor structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521076871.8U CN205363878U (en) | 2015-12-21 | 2015-12-21 | Plane parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521076871.8U CN205363878U (en) | 2015-12-21 | 2015-12-21 | Plane parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205363878U true CN205363878U (en) | 2016-07-06 |
Family
ID=56258685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521076871.8U Expired - Fee Related CN205363878U (en) | 2015-12-21 | 2015-12-21 | Plane parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205363878U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601549A (en) * | 2021-09-03 | 2021-11-05 | 重庆理工大学 | Method for controlling planar motion of article by using mechanical arm |
-
2015
- 2015-12-21 CN CN201521076871.8U patent/CN205363878U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601549A (en) * | 2021-09-03 | 2021-11-05 | 重庆理工大学 | Method for controlling planar motion of article by using mechanical arm |
| CN113601549B (en) * | 2021-09-03 | 2023-01-03 | 重庆理工大学 | Method for controlling planar motion of article by using mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160706 Termination date: 20161221 |