CN205734892U - A kind of logistic sorting machine device robot mechanism based on series-parallel connection - Google Patents

A kind of logistic sorting machine device robot mechanism based on series-parallel connection Download PDF

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Publication number
CN205734892U
CN205734892U CN201620420447.9U CN201620420447U CN205734892U CN 205734892 U CN205734892 U CN 205734892U CN 201620420447 U CN201620420447 U CN 201620420447U CN 205734892 U CN205734892 U CN 205734892U
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China
Prior art keywords
axis
bar
parallel
parallel institution
ball screw
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Expired - Fee Related
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CN201620420447.9U
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Chinese (zh)
Inventor
曹毅
曹中浩
刘剑
刘俊辰
张辉
李希文
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Jiangnan University
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Jiangnan University
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Abstract

This utility model provides a kind of logistic sorting machine device robot mechanism based on series-parallel connection, and it can solve the problem that traditional logistics sorting machine robot mechanism cannot meet the requirement of modern automation sorting work.It includes base plate, support and mechanical hand, two supports being parallel to each other along Z-axis direction vertically it are fixed with on base plate, it is characterized in that: it also includes a binary serial mechanism and the parallel institution of a Three Degree Of Freedom, mechanical hand is installed on the bottom of described parallel institution, parallel institution can realize X axis by driving mechanical hands, Y-axis, the rectilinear movement of Z-axis direction, it is rigidly connected by attachment structure between parallel institution and serial mechanism, serial mechanism supports and is installed on two supports, serial mechanism can drive parallel institution and be installed on the mechanical hand entirety of parallel institution bottom around X axis rotation, Y-axis rotates.

Description

A kind of logistic sorting machine device robot mechanism based on series-parallel connection
Technical field
This utility model relates to stream machine technical field, especially relates to logistics sorting arrangement field, a kind of logistic sorting machine device robot mechanism based on series-parallel connection.
Background technology
Robotics plays the most important effect as the support technology of advanced manufacturing industry, the development to social productive forces.Along with developing rapidly of Logistic Industry in China; contradiction between the ever-increasing market demand and production efficiency; the production efficiency of logistics sorting arrangement is had higher requirement, it is achieved the automatization of sorting can protect workman personal safety, reduce product breakage, article are piled up neatly rapidly, improve logistics circulate efficiency.Traditional logistics sorting machine people typically uses serial mechanism or parallel institution, and serial mechanism space is relatively big, but is not suitable for requirement at high speed, the working environment of high accuracy;Parallel institution compensate for the deficiency of serial mechanism in application, but owing to parallel institution work space is little, drive mechanism is more, it is impossible to meets modern automation sorting needs high efficiency, the requirement of operability, therefore can not extensively apply;The most traditional logistic sorting machine device people cannot meet modern automation sorting work demand.
Utility model content
For the problems referred to above, this utility model provides a kind of logistic sorting machine device robot mechanism based on series-parallel connection, and it can solve the problem that traditional logistics sorting machine robot mechanism cannot meet the requirement of modern automation sorting work.
A kind of logistic sorting machine device robot mechanism based on series-parallel connection, it includes base plate, support and mechanical hand, two supports being parallel to each other along Z-axis direction vertically it are fixed with on described base plate, it is characterized in that: it also includes a binary serial mechanism and the parallel institution of a Three Degree Of Freedom, described mechanical hand is installed on the bottom of described parallel institution, described parallel institution can drive described mechanical hand to realize X axis, Y-axis, the rectilinear movement of Z-axis direction, it is rigidly connected by attachment structure between described parallel institution and described serial mechanism, described serial mechanism supports and is installed on described two supports, described serial mechanism can drive described parallel institution and be installed on the mechanical hand entirety of parallel institution bottom around X axis rotation, Y-axis rotates.
Further, described serial mechanism includes fixing round bar, described fixing round bar is arranged along X axis and is installed on described two supports, described fixing round bar hangs rotationally and is provided with two montants, and the bottom of described two montants is connected by revolute pair respectively has one group to rotate bar.
Further, described revolute pair is rolling bearing, and described rolling bearing is arranged at the bottom of described montant along Y-axis.
Further, described attachment structure includes cross bar and the sleeve arranged along X axis, rotates bottom bar affixed with described cross bar by described sleeve respectively described in two groups, and described parallel institution is installed on described cross bar by auxiliary connection.
Further, described parallel institution includes X axis horizon bar, Y-axis horizon bar and the ball screw arrangement along Z-axis direction, described ball screw arrangement is provided with two groups, the top of described two groups of ball screw arrangement is installed on described cross bar by described auxiliary connection respectively, described Y-axis horizon bar is installed in ball screw arrangement described in one of which, another is organized and is provided with, on described ball wire mount structure, the connecting rod that described Y-axis horizon bar is parallel, the front end of described connecting rod is affixed with described X axis horizon bar, on described X axis horizon bar, on Y-axis horizon bar, correspondence is provided with the first tilting bar the most movably, second tilting bar, described first tilting bar, all tops with described mechanical hand, the bottom of the second tilting bar are connected.
Further, described ball screw arrangement includes screw rod and ball screw bearing, described ball screw bearing threads is connected on described screw rod, the top of described screw rod is installed on described cross bar by described auxiliary connection, and described Y-axis horizon bar, one end of connecting rod are set with on the screw rod of corresponding described ball screw arrangement and are supported spacing by the described ball screw bearing of its correspondence bottom it.
Further, being provided with connector, the bottom of described first tilting bar is rotatably installed on the Y-axis front end of described connector the top side detachable of described mechanical hand, and the bottom of described second tilting bar is rotatably installed on the X axis left end of described connector.
Having the beneficial effects that of this utility model logistic sorting machine device robot mechanism: it realizes mechanical hand at X axis, Y-axis and the linear motion in three directions of Z-axis direction by mechanical hand is installed on the parallel institution with Three Degree Of Freedom;And it is rigidly connected with having binary serial mechanism by attachment structure by this being had the parallel institution of Three Degree Of Freedom, this has binary serial mechanism and drives parallel institution and mechanical hand overall around X axis rotation, Y-axis rotation, thus realizes the three of mechanical hand five degree of freedom and move two rotational motions;Therefore using what this utility model mechanism was capable of mechanical hand to capture sort operation continuously, its sorting speed is fast, positioning precision is high, work space is big, can be greatly improved sorting efficiency, reduce and sort error rate, meet the automated job requirement of sorting operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of logistic sorting machine device robot mechanism based on series-parallel connection of utility model.
Reference: 10-base plate;20-support;30-mechanical hand;31-connector;41-fixes round bar;42-montant;43-rolling bearing;44-rotates bar;51-cross bar;52-sleeve;53-auxiliary connection;The axial horizon bar of 61-X;The axial horizon bar of 62-Y;63-screw rod;64-ball screw bearing;65-connecting rod;66-the first tilting bar;67-the second tilting bar.
Detailed description of the invention
See Fig. 1, a kind of logistic sorting machine device robot mechanism based on series-parallel connection of this utility model includes base plate 10, support 20,30, binary serial mechanism of mechanical hand and the parallel institution of a Three Degree Of Freedom, and base plate 10 is vertically fixed with two supports 20 being parallel to each other along Z-axis direction.
Serial mechanism includes that fixing round bar 41, fixing round bar arrange along X axis and are installed on two supports 20, fixing round bar 41 hangs rotationally and is provided with two montants 42, and the bottom of two montants 42 is connected by rolling bearing 43 respectively has one group to rotate bar 44;And rolling bearing 43 is arranged at the bottom of montant 42 along Y-axis, thus rolling bearing 43 is capable of rotating bar 44 around Y-axis rotation as revolute pair.
Attachment structure includes cross bar 51 and the sleeve 52 arranged along X axis, is installed on cross bar 51 by sleeve 52 respectively bottom two groups of rotation bars 44, and parallel institution is installed on cross bar 51 by auxiliary connection 53.
Parallel institution includes the ball screw arrangement that X axis horizon bar 61, Y-axis horizon bar 62 and two groups are arranged along Z-axis direction;Ball screw arrangement includes screw rod 63 and ball screw bearing 64, and ball screw bearing 64 is threadedly connected on screw rod 63, and the top of screw rod 63 is installed on cross bar 51 by auxiliary connection 53;In Fig. 1, be positioned on the screw rod 63 of on the left of X axis one group of ball screw arrangement be set with Y-axis horizon bar 62, be positioned on the right side of X axis another group ball screw arrangement screw rod 3 on be set with the connecting rod 65 parallel with Y-axis horizon bar 62, Y-axis horizon bar 62, the bottom of connecting rod 65 are supported spacing by the ball screw bearing 64 of each self-corresponding ball screw arrangement respectively, prevent Y-axis horizon bar 62, connecting rod 65, X axis horizon bar 61 from being glided by the action of gravity of the grabbed object of mechanical hand 30;The front end of connecting rod 65 is connected with X axis horizon bar 61, on X axis horizon bar 61, on Y-axis horizon bar 62, correspondence is provided with first tilting bar the 66, second tilting bar 67 the most movably, and all tops with mechanical hand 30, the bottom of first tilting bar the 66, second tilting bar 67 are connected.
The screw top installation settings of mechanical hand 30 has a connector 31, thus realizes mechanical hand 30 the detachable safety to adapt to different size mechanical hand and use, it is adaptable to the sorting of different size type of item;The bottom of the first tilting bar 66 is rotatably installed on the Y-axis front end of connector 31, and the bottom of the second tilting bar 67 is rotatably installed on the X axis left end of connector 31.
In a kind of logistic sorting machine device robot mechanism based on series-parallel connection of this utility model:
First tilting bar 66 of parallel institution can slide along X axis horizon bar 61 so that mechanical hand 30 moves along X axis;Second tilting bar 67 can slide along Y-axis horizon bar 62, thus driving mechanical hands 30 moves along Y-axis;And the X axis horizon bar 61 of parallel institution, Y-axis horizon bar 62 can move in the Z-direction of screw rod 63 under the promotion of each self-corresponding ball screw bearing 64 respectively or be moved down along screw rod 63 by action of gravity when ball screw bearing 64 moves down, thus realize up and down motion in the Z-axis direction;The most whole parallel institution can realize the rectilinear movement in three degree of freedom direction of X axis, Y-axis, Z-axis direction by driving mechanical hands 30;
The screw rod 63 of two ball screw arrangement in parallel institution is rigidly connected with two rotation bars 44 of serial mechanism by attachment structure i.e. auxiliary connection 53, cross bar 51, sleeve 52, and rotate bar 44 and be connected with montant further through rolling bearing 43, thus realize whole parallel institution and can rotate around rolling bearing 43 with attachment structure, owing to rolling bearing 43 is arranged along Y-axis, thus also it is achieved that whole parallel institution can rotate around Y-axis with attachment structure;Simultaneously, two montants 42 of serial mechanism hang rotationally and are installed on fixing round bar 41, thus two montants 42 can drive the rotation bar 44 of its correspondence and attachment structure, parallel institution and mechanical hand 30 to rotate around fixing round bar 41 together, is also achieved that the mechanical hand 30 rotation around X-direction;Therefore serial mechanism can realize around the rotation of Y-axis and the rotation of two degree of freedom around X axis rotation by driving mechanical hands 30;
To sum up, the serial mechanism of the parallel institution of Three Degree Of Freedom with two-freedom is rigidly connected by this utility model mechanism, it is possible to realizes the three of mechanical hand and moves the five degree of freedom motion of two rotations, thus meets the automated job requirement of sorting operation.

Claims (7)

1. a logistic sorting machine device robot mechanism based on series-parallel connection, it includes base plate, support and mechanical hand, two supports being parallel to each other along Z-axis direction vertically it are fixed with on described base plate, it is characterized in that: it also includes a binary serial mechanism and the parallel institution of a Three Degree Of Freedom, described mechanical hand is installed on the bottom of described parallel institution, described parallel institution can drive described mechanical hand to realize X axis, Y-axis, the rectilinear movement of Z-axis direction, it is rigidly connected by attachment structure between described parallel institution and described serial mechanism, described serial mechanism supports and is installed on described two supports, described serial mechanism can drive described parallel institution and be installed on the mechanical hand entirety of parallel institution bottom around X axis rotation, Y-axis rotates.
A kind of logistic sorting machine device robot mechanism based on series-parallel connection the most according to claim 1, it is characterized in that: described serial mechanism includes fixing round bar, described fixing round bar is arranged along X axis and is installed on described two supports, hanging rotationally on described fixing round bar and be provided with two montants, the bottom of described two montants is connected by revolute pair respectively has one group to rotate bar.
A kind of logistic sorting machine device robot mechanism based on series-parallel connection the most according to claim 2, it is characterised in that: described revolute pair is rolling bearing, and described rolling bearing is arranged at the bottom of described montant along Y-axis.
4. according to a kind of based on series-parallel connection the logistic sorting machine device robot mechanism described in Claims 2 or 3, it is characterized in that: described attachment structure includes cross bar and the sleeve arranged along X axis, rotating bottom bar affixed with described cross bar by described sleeve respectively described in two groups, described parallel institution is installed on described cross bar by auxiliary connection.
nullA kind of logistic sorting machine device robot mechanism based on series-parallel connection the most according to claim 4,It is characterized in that: described parallel institution includes X axis horizon bar、Y-axis horizon bar and the ball screw arrangement along Z-axis direction,Described ball screw arrangement is provided with two groups,The top of described two groups of ball screw arrangement is installed on described cross bar by described auxiliary connection respectively,Described Y-axis horizon bar is installed in ball screw arrangement described in one of which、Another is organized and is provided with, on described ball wire mount structure, the connecting rod that described Y-axis horizon bar is parallel,The front end of described connecting rod is affixed with described X axis horizon bar,On described X axis horizon bar、On Y-axis horizon bar, correspondence is provided with the first tilting bar the most movably、Second tilting bar,Described first tilting bar、All tops with described mechanical hand, the bottom of the second tilting bar are connected.
A kind of logistic sorting machine device robot mechanism based on series-parallel connection the most according to claim 5, it is characterized in that: described ball screw arrangement includes screw rod and ball screw bearing, described ball screw bearing threads is connected on described screw rod, the top of described screw rod is installed on described cross bar by described auxiliary connection, and described Y-axis horizon bar, one end of connecting rod are set with on the screw rod of corresponding described ball screw arrangement and are supported spacing by the described ball screw bearing of its correspondence bottom it.
A kind of logistic sorting machine device robot mechanism based on series-parallel connection the most according to claim 5, it is characterized in that: the top of described mechanical hand is provided with connector, the bottom of described first tilting bar is rotatably installed on the Y-axis front end of described connector, and the bottom of described second tilting bar is rotatably installed on the X axis left end of described connector.
CN201620420447.9U 2016-05-11 2016-05-11 A kind of logistic sorting machine device robot mechanism based on series-parallel connection Expired - Fee Related CN205734892U (en)

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105751206A (en) * 2016-05-11 2016-07-13 江南大学 Series-parallel-based material sorting robot mechanism
CN108143521A (en) * 2017-12-12 2018-06-12 常州大学 A kind of apery humeroradial joint in elbow joint
CN109319479A (en) * 2018-10-26 2019-02-12 徐进 A kind of overturning transfer robot frame
CN110142217A (en) * 2019-04-28 2019-08-20 扬州市职业大学(扬州市广播电视大学) A kind of express delivery based on Internet of Things distributes system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105751206A (en) * 2016-05-11 2016-07-13 江南大学 Series-parallel-based material sorting robot mechanism
CN105751206B (en) * 2016-05-11 2017-11-17 江南大学 Logistic sorting machine device robot mechanism based on series-parallel connection
CN108143521A (en) * 2017-12-12 2018-06-12 常州大学 A kind of apery humeroradial joint in elbow joint
CN109319479A (en) * 2018-10-26 2019-02-12 徐进 A kind of overturning transfer robot frame
CN109319479B (en) * 2018-10-26 2020-05-15 浙江万衡工贸有限公司 Overturning transfer robot frame
CN110142217A (en) * 2019-04-28 2019-08-20 扬州市职业大学(扬州市广播电视大学) A kind of express delivery based on Internet of Things distributes system

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20161130

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CF01 Termination of patent right due to non-payment of annual fee