CN208496978U - Six axis parallel institutions and robot - Google Patents
Six axis parallel institutions and robot Download PDFInfo
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- CN208496978U CN208496978U CN201721924829.6U CN201721924829U CN208496978U CN 208496978 U CN208496978 U CN 208496978U CN 201721924829 U CN201721924829 U CN 201721924829U CN 208496978 U CN208496978 U CN 208496978U
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- actuating arm
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- fixed part
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Abstract
The utility model provides six axis parallel institutions of one kind and robot, is related to the technical field of automatic operation, including fixed part and movable part, and there are six driving structures for setting between the fixed part and movable part；The driving structure includes driving motor, the first actuating arm and the second actuating arm；The driving motor is arranged on the fixed part；First actuating arm one end is mounted on the driving motor, and the other end is connected with second actuating arm；Second actuating arm is connected with the movable part, and drives the movable part movement.The fixed part of six axis parallel institutions of six axis parallel institution and robot provided by the utility model can be mounted on the rack, movable part can be used in installing processing unit (plant), pass through the control of driving structure, keep movable part movement more flexible, and kinematic accuracy is high, six axis parallel institutions have six-freedom degree, can satisfy the use demand of high-precision industry.
Description
Technical field
The utility model relates to the technical fields of automatic operation, more particularly, to a kind of six axis parallel institutions and machine
People.
Background technique
In factory automation production line, string, six axis parallel institutions have obtained extensive reference.Especially six axis parallel machines
Structure, it is extensive because it has many advantages, such as that rigidity is big, bearing capacity is strong, precision is high, self weight duty ratio is small, power performance is good
The fields such as the assembly applied to cosmetics, food and Key works Drug packing and electronic product.In automatic production line, Delta machine
Structure etc. is all widely applied.
Parallel robot is also widely used for other field, comprising: submarine, driving of a tank campaign simulation in military field
Device, the vector spray of New-Generation Fighter, the docking facilities of submarine and spacecraft, attitude controller etc.；Biomedical work
The injection and segmentation of cell manipulation robot, achievable cell in journey.
Six axis parallel institutions can be defined as moving platform and are connected with fixed platform by least two independent kinematic chains,
Mechanism has two or more freedom degrees, and a kind of close loop mechanism driven with parallel way.
The characteristics of parallel robot, is rendered as no accumulated error, and precision is higher；Driving device can be placed on fixed platform or connect
The position of nearly fixed platform, such motion parts are light-weight, and speed is high, and dynamic response is good.
As the precision requirement of production is higher and higher, six present axis parallel institutions are not able to satisfy production requirement, especially
The high fields of precision requirements such as the assembly of 3C electronics industry components, assembling, carrying, loading and unloading, sorting, polishing, engraving.
Utility model content
The purpose of this utility model is to provide six axis parallel institutions and robots, to alleviate present six axis parallel institution essence
Density is not able to satisfy the technical issues of demand of high precision production.
A kind of six axis parallel institution provided by the utility model, including fixed part and movable part, in the fixed part and work
At least two driving structures are provided between dynamic portion；
The driving structure includes driving motor, the first actuating arm and the second actuating arm；The driving motor is arranged in institute
It states on fixed part；First actuating arm one end is mounted on the driving motor, and the other end is connected with second actuating arm；
Second actuating arm is connected with the movable part, and drives the movable part movement.
Further, six driving motors are oppositely arranged two-by-two.
Further, rotation mouth is provided on the fixed part, and first actuating arm can be transferred to the rotation mouth.
Further, the number of the rotation mouth is the half of the driving motor number.
Further, the mounting hole for fixed installation is provided on the fixed part.
Further, first actuating arm is connect with second actuating arm by connector.
Further, described connector one end is mounted on first actuating arm, and the other end and the second actuating arm are hinged.
Further, it is provided with rotating hole on first actuating arm, the connector is mounted in rotating hole, and described
Connector can rotate in the rotating hole.
Further, second actuating arm is connect with the movable part by universal joint.
The utility model also provides a kind of robot, using six axis parallel institutions described above.
The fixed part of six axis parallel institutions of six axis parallel institution and robot provided by the utility model can be mounted on
In rack, movable part can be used in installing processing unit (plant), by the control of six driving structures, keep movable part movement cleverer
It is living, and kinematic accuracy is high, six axis parallel institutions have six-freedom degree, can satisfy the use demand of high-precision industry.
Using tool, there are six the parallel-connection structures of driving structure for robot, and it is bigger to allow the robot to motion range, Neng Gouzeng
Add the tilt angle of moving radius and movable part, kinematic accuracy is higher, has six-freedom degree, moves more flexible；And
Bearing capacity is strong, can adapt to the neck such as the assembly of 3C electronics industry components, assembling, carrying, loading and unloading, sorting, polishing, engraving
Domain.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the perspective view of six axis parallel institution provided by the embodiment of the utility model；
Fig. 2 is the partial enlarged view of six axis parallel institutions shown in Fig. 1；
Fig. 3 is the front view of six axis parallel institutions shown in Fig. 1；
Fig. 4 is the partial enlarged view of six axis parallel institutions shown in Fig. 3；
Fig. 5 is the top view of six axis parallel institutions shown in Fig. 1.
Icon: 100- fixed part；200- movable part；300- driving motor；The first actuating arm of 400-；500- second drives
Arm；600- connector；700- rotates mouth；800- mounting hole.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Fig. 1 is the perspective view of six axis parallel institution provided by the embodiment of the utility model；Fig. 2 is that six axis shown in Fig. 1 are in parallel
The partial enlarged view of mechanism；Fig. 3 is the front view of six axis parallel institutions shown in Fig. 1；Fig. 4 is six axis parallel institutions shown in Fig. 3
Partial enlarged view；Fig. 5 is the top view of six axis parallel institutions shown in Fig. 1.
As Figure 1-Figure 5, a kind of six axis parallel institution provided by the utility model, including fixed part 100 and movable part
200, there are six driving structures for setting between the fixed part 100 and movable part 200；
The driving structure includes driving motor 300, the first actuating arm 400 and the second actuating arm 500；The driving motor
300 are arranged on the fixed part 100；Described first actuating arm, 400 one end is mounted on the driving motor 300, the other end
It is connected with second actuating arm 500；
Second actuating arm 500 is connected with the movable part 200, and the movable part 200 is driven to move.
In some embodiments, fixed part 100 consolidates entire six axis parallel institution to realize for being fixed on the rack
It is fixed；Movable part 200 is for installing machining tool, according to the difference of use, on movable part 200 can installs fixture, cutter etc. no
Same tool.
The lower end of fixed part 100 is arranged in the driving motor 300 of driving structure, and driving motor 300 can drive the first drive
Swing arm 400 moves, and the first actuating arm 400 drives the movement of the second actuating arm 500, and 500 lower end of the second actuating arm and movable part 200 connect
It connects, so that movable part 200 be made to move, the operations such as the machining tool on movable part 200 is processed, produced；And fixed part and work
Six driving structures are set between dynamic portion, make six axis parallel-connection structures that there is six-freedom degree, are moved more flexible；And carrying energy
Power is strong, can adapt to the fields such as the assembly of 3C electronics industry components, assembling, carrying, loading and unloading, sorting, polishing, engraving.
As shown in Figure 1, further, six driving motors 300 are opposite two-by-two to be set on above-described embodiment basis
It sets.
There are six driving structures for setting between fixed part 100 and movable part 200, and six driving structures are interior, and there are six driving electricity
Machine 300；Six driving motors 300 are divided into three pairs and are arranged in 100 lower end of fixed part, and each pair of driving motor 300 is oppositely arranged, the
One actuating arm 400 is between each pair of driving motor 300.
There are six automatic degree, six driving structure cooperation driving movable parts 200 to make movable part 200 for six axis parallel institutions tool
Mobile accuracy is higher, enables adaptation to the field of precision requirement height, operation complexity.
As shown in figure 5, further, being provided with rotation mouth on the fixed part 100 on above-described embodiment basis
700, and first actuating arm 400 can be transferred to the rotation mouth 700.
In some embodiments, fixed part 100 has rotation mouth 700, and driving motor 300 drives the rotation of the first actuating arm 400,
Driving motor 300 first actuating arm 400 can be rotated to rotation mouth 700 at, in this way increase movable part 200 moving radius with
Upper and lower stroke and horizontal inclination maximum meet the needs of different work, flexibly so that the motion range of movable part 200 is bigger
Property is stronger.
100 lower end of fixed part is provided with mounting rack, the left and right sides of rotation mouth 700 is arranged in mounting rack；Driving motor
300 are mounted on mounting rack.
As shown in Figure 1, shown in Figure 5, on above-described embodiment basis, further, the number of the rotation mouth 700 is described
300 several half of driving motor.
In some embodiments, driving motor 300 is oppositely arranged two-by-two, is provided on each driving motor 300
First actuating arm 400, two the first actuating arms 400 are just arranged between two driving motors 300, when 300 band of driving motor
When dynamic first actuating arm 400 movement, it is provided with rotation mouth 700 on fixed part 100, such fixed part 100 can be reduced pair
The limitation of first actuating arm 400 movement, the motion range of movable part 200 are just bigger.
Fixed part 100 can be fixed disk, and fixed disk is circle, when setting is there are six driving structure, in fixation
There are three rotate mouth 700 for setting on disk；And three rotation mouths 700 are uniformly arranged in fixed disk.
Rotation mouth 700 in fixed disk can be U-shaped mouth.
As shown in figure 5, further, being provided on the fixed part 100 for fixing on above-described embodiment basis
The mounting hole 800 of installation.
In some embodiments, have mounting hole 800 on fixed part 100, six axis parallel institutions when in use, need into
Row installation；There is mounting hole 800 on fixed part 100, easily entire six axis parallel institution is installed, such as by six axis parallel institutions
Be mounted on the rack, thus realize by six axis parallel institutions application in the production line, may be implemented electronics industry components assembly,
The operations such as assembling, carrying, loading and unloading and sorting.
As shown in Figure 2, Figure 4 shows, on above-described embodiment basis, further, first actuating arm 400 and described the
Two actuating arms 500 are connected by connector 600.
In some embodiments, connector 600 is provided between the first actuating arm 400 and the second actuating arm 500；To real
The connection of existing first actuating arm 400 and the second actuating arm 500, such connection type the first actuating arm 400 and the second actuating arm
Varied angle power transmits between 500.
First actuating arm 400 and the second actuating arm 500 can also be hinged using flexural pivot or Hooke.
As shown in figure 4, further, described 600 one end of connector is mounted on described the on above-described embodiment basis
On one actuating arm 400, the other end and the second actuating arm 500 are hinged.
In some embodiments, connector 600 also can be set on the second actuating arm 500, the first actuating arm 400 and company
Fitting 600 is hinged.
As shown in Fig. 2, further, being provided with rotation on first actuating arm 400 on above-described embodiment basis
Hole, the connector 600 are mounted in rotating hole, and the connector 600 can rotate in the rotating hole.
In some embodiments, the side of the first actuating arm 400 is provided with rotating hole, and connector 600 can be in rotating hole
Interior rotation is hinged with the second actuating arm 500 in connector 600；When the rotation of the first actuating arm 400, the first actuating arm
400 and the second angle between actuating arm 500 can be with change, to realize the first actuating arm 400 and the second actuating arm 500
It being capable of the transmitting of varied angle power.
Connector 600 can be universal-joint fork, and one end is arranged in the rotating hole of the first actuating arm 400, the U-shaped of the other end
Opening and the second actuating arm 500 are hinged.
Such as Fig. 3, on above-described embodiment basis, further, second actuating arm 500 and the movable part 200
It is connected by universal joint.
In some embodiments, fixed part 100 is capable of fixing on the rack, and 100 lower end of fixed part is provided with driving electricity
Machine 300, driving motor 300 drive the movement of the first actuating arm 400, and the first actuating arm 400 drives the movement of the second actuating arm 500, the
Two actuating arms 500 drive movable part 200 to move, in order to enable movable part 200 is more flexible to move, the first actuating arm 400
It is connected with the second actuating arm 500 by universal joint, the second actuating arm 500 is connected with movable part 200 by universal joint.
Universal joint is including actively fork, cross axle and from moving fork, and actively fork setting exists on the second actuating arm from moving fork setting
On movable part 200.
It is arranged on movable part 200 from moving fork, has rotating hole on movable part 200, be mounted on movable part 200 from moving fork
In rotating hole, and it can be rotated in rotating hole from moving fork.
Movable part 200 can be the movable disk of regular hexagon, the second actuating arm 500 and the movable disk of each pair of driving structure
Tie point is evenly distributed in movable disk, and perforation is provided among movable disk, and machining tool can be conveniently installed at activity
On disk.
Movable part 200 and the second actuating arm 500 can also be hinged using flexural pivot or Hooke.
The utility model also provides a kind of robot, using six axis parallel institutions described above.
Six axis parallel institutions are a kind of close loop mechanisms, are had the advantage that
Rigidity mass ratio is big.Because using parallel closed loop leverage, it is typical two that leverage, which is theoretically solely subjected to drawing, compressive load,
Power bar, and more bar stress, so that transmission mechanism has very high bearing strength.
Dynamic property is superior.Heavy moving parts are light, and inertia is low, can be effectively improved the dynamic property of servo controller, make
Moving platform obtains very high feed speed and acceleration, is suitable for high-speed numeric control operation.
Kinematic accuracy is high.This be with conventional serial mechanism in comparison, the mismachining tolerance of conventional serial mechanism is each
The accumulation of error in joint, and the error in each joint of parallel institution can be cancelled out each other, mutually be made up, therefore, six axis parallel machines
Structure is the developing direction of the following lathe.
Multifunctional flexible is strong.May make up various informative layout and degrees of freedom combination, on moving platform install cutter into
The milling of row multi-coordinate, mill, brill, extraordinary Machining of Curved Surface etc., also mountable fixture carries out complicated Space configuration, adaptable, is soft
The ideal mechanism of property.
Long service life.Since force structure is reasonable, moving component abrasion is small, and does not have guide rail, and iron filings or cold are not present
But liquid enters guide rail interior and causes it to scratch, wear or corrosion phenomena.
Parallel institution is due to structure, its space is smaller, and serial parallel mechanism then compensates for parallel institution
Deficiency, its existing light weight, rigidity is big, feature with high accuracy.
In some embodiments, robot has six axis parallel institutions, and the movable part 200 on six axis parallel institutions can pacify
Actuator is filled, realizes corresponding function；Robot uses PLC controller for main control unit centered on industrial control computer,
And then the control of SERVO CONTROL and switching value, SERVO CONTROL, pneumatic system control and Transmission system control including robot body
System etc.；To realize the operation of robot complexity.
The fixed part 100 of six axis parallel institutions of six axis parallel institution and robot provided by the utility model can be installed
On the rack, movable part 200 can be used in installing processing unit (plant), by the control of driving structure, make the movement of movable part 200 more
Flexibly, and kinematic accuracy is high, by increasing the number of driving structure, can satisfy the use demand of high-precision industry.
Using tool, there are six the parallel-connection structures of driving structure for robot, and it is bigger to allow the robot to motion range, Neng Gouzeng
Add the tilt angle of moving radius and movable part 200, kinematic accuracy is higher, has six-freedom degree, moves more flexible；
And bearing capacity is strong, can adapt to the neck such as the assembly of 3C electronics industry components, assembling, carrying, loading and unloading, sorting, polishing, engraving
Domain.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of six axis parallel institutions, which is characterized in that including fixed part and movable part, between the fixed part and movable part
There are six driving structures for setting；
The driving structure includes driving motor, the first actuating arm and the second actuating arm；The driving motor is arranged described solid
Determine in portion；First actuating arm one end is mounted on the driving motor, and the other end is connected with second actuating arm；
Second actuating arm is connected with the movable part, and drives the movable part movement.
2. a kind of six axis parallel institution according to claim 1, which is characterized in that six driving motors are opposite two-by-two
Setting.
3. a kind of six axis parallel institution according to claim 2, which is characterized in that be provided with rotation on the fixed part
Mouthful, and first actuating arm can be transferred to the rotation mouth.
4. a kind of six axis parallel institution according to claim 3, which is characterized in that the number of the rotation mouth is the drive
The half of dynamic motor number.
5. a kind of six axis parallel institution according to claim 1, which is characterized in that be provided on the fixed part for solid
The mounting hole of Dingan County's dress.
6. a kind of six axis parallel institution according to claim 1, which is characterized in that first actuating arm and described second
Actuating arm is connected by connector.
7. a kind of six axis parallel institution according to claim 6, which is characterized in that described connector one end is mounted on described
On first actuating arm, the other end and the second actuating arm are hinged.
8. a kind of six axis parallel institution according to claim 7, which is characterized in that be provided with rotation on first actuating arm
Turn hole, the connector are mounted in rotating hole, and the connector can rotate in the rotating hole.
9. six axis parallel institution according to claim 1-8, which is characterized in that second actuating arm with it is described
Movable part is connected by universal joint.
10. a kind of robot, which is characterized in that use the described in any item six axis parallel institutions of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721924829.6U CN208496978U (en) | 2017-12-29 | 2017-12-29 | Six axis parallel institutions and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721924829.6U CN208496978U (en) | 2017-12-29 | 2017-12-29 | Six axis parallel institutions and robot |
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| Publication Number | Publication Date |
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| CN208496978U true CN208496978U (en) | 2019-02-15 |
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ID=65302567
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721924829.6U Active CN208496978U (en) | 2017-12-29 | 2017-12-29 | Six axis parallel institutions and robot |
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| CN (1) | CN208496978U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901029A (en) * | 2017-12-29 | 2018-04-13 | 勃肯特（天津）机器人技术有限公司 | Six axis parallel institutions and robot |
| CN111687821A (en) * | 2020-06-24 | 2020-09-22 | 哈尔滨工业大学 | Rotary parallel flying mechanical arm system and expected rotation angle calculating method |
-
2017
- 2017-12-29 CN CN201721924829.6U patent/CN208496978U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901029A (en) * | 2017-12-29 | 2018-04-13 | 勃肯特（天津）机器人技术有限公司 | Six axis parallel institutions and robot |
| CN107901029B (en) * | 2017-12-29 | 2024-04-16 | 勃肯特(余姚)机器人技术有限公司 | Six-axis parallel mechanism and robot |
| CN111687821A (en) * | 2020-06-24 | 2020-09-22 | 哈尔滨工业大学 | Rotary parallel flying mechanical arm system and expected rotation angle calculating method |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210513 Address after: No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province Patentee after: Bokent (Yuyao) robot technology Co.,Ltd. Address before: Room 101, 1st floor, building A2, area a, airport international headquarters base, No.8 Pingying Road, Dongli District, Tianjin Patentee before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |