CN103802094A - Parallel robot - Google Patents
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- CN103802094A CN103802094A CN201410051838.3A CN201410051838A CN103802094A CN 103802094 A CN103802094 A CN 103802094A CN 201410051838 A CN201410051838 A CN 201410051838A CN 103802094 A CN103802094 A CN 103802094A
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Abstract
The invention discloses a parallel robot which comprises a center motor (1), a robot bottom plate (2), motor reducer assemblies (3), an upper arm (4), a lower arm (5), a lower chassis (6) and a center telescopic rod (7). The parallel robot is characterized in that the motor reducer assemblies (3) are installed below the robot bottom plate (2) and distributed in the angle of 120 degrees at the center of the robot bottom plate (2). The upper arm (4) and the lower arm (5) are connected through a ball-shaped joint head to form an arm. The motor reducer assemblies (3) and the lower chassis (6) are connected through the three arms. The center telescopic rod (7) is connected with the center motor (1) and a center rotation shaft of the lower chassis (6). The parallel robot is reasonable in structural layout, light in weight, large in telescopic extent of the center telescopic rod (7) and little in rolling friction resistance and is applied to secondary packaging and material sorting in industrial production. The lengths of the arms can be adjusted according to different products.
Description
Technical field
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of parallel robot.
Background technology
Robotics is the new and high technology of the multidisciplinary formation such as COMPREHENSIVE CALCULATING machine, cybernetics, theory of mechanisms, information and sensing technology, artificial intelligence, bionics, and the sorting machine people who is applied to industry-by-industry is also known and is widely used in industrial production by increasing enterprise.In industry, carry out secondary package and Material Sorting and often adopt industrial sorting machine people, academicly also referred to as DELTA parallel robot.Robot is the most competitive technology of automatic technology, comply with the demand of market to sorting mechanical automation, from the production line of food, medicine, cosmetics to all spendable highspeed sorters device people of various fields such as solar panel assemblings, risk pressure, in the work of repeatability, rapidity, accuracy, danger, robot has become the important aid of industrial circle.
In prior art, there is the shortcoming of following several aspects: (1) base arrangement is unreasonable, overall structure heaviness;
(2) center expansion link adopts sliding friction, and resistance is large; (3) upper arm adopts overall structure, and brachium is fixed, flexible poor, can not adapt to the product requirement of different model.Therefore, how improving the application performance of parallel robot, make parallel robot better for industrial production, is the technical problem to be solved in the present invention.
Summary of the invention
The object of this invention is to provide a kind of parallel robot, base arrangement connection and reasonable arrangement, lightweight; Center steering expansion link adopts optical axis and linear bearing, and flexible amplitude is large, and rolling frictional resistance is little; Brachium can regulate according to different product.
To achieve these goals, the technical solution that the present invention takes is:
A kind of parallel robot, comprise middle electrocardiograph (1), robot base plate (2), motor reducer assembly (3), upper arm (4), underarm (5), low bottom-disc (6), center expansion link (7), it is characterized in that, described motor reducer assembly (3) is arranged on the below of robot base plate (2), being 120 degree with the center of robot base plate (2) distributes, described upper arm (4) and underarm (5) connect to form an arm by spherical joint head, motor reducer assembly (3) is connected by three arms with low bottom-disc (6), the center steering axle of electrocardiograph (1) and low bottom-disc (6) during described center expansion link (7) connects.
One end of described upper arm (4) is arranged on motor reducer assembly by screw.
Described upper arm (4) adopts the carbon fiber bar of different model.
Described robot base plate (2) center position is provided with the fixing hole of middle electrocardiograph (1), is fan blade type integral structure centered by fixing hole.
Described middle electrocardiograph (1) is arranged on robot base plate (2) by the fixing hole of robot base plate (2) center.
In each fan blade type structure of described robot base plate (2), be provided with lightening hole (8), totally three places.
Described center expansion link (7) is made up of three hollow optical axises and three linear bearings, wherein, two central optical axis in outside are fixed on the lower shoe of center with a linear bearing, and a middle central optical axis is fixed on the upper plate center with two linear bearings.
The two ends of described center expansion link (7) are candan universal joint.
Described low bottom-disc (6) adopts rotary pneumatic joint structure, is connected and vacuum slot is installed with vacuum generator.
Described underarm (5) is connected by bulb with low bottom-disc (6).
Beneficial effect of the present invention is:
1, base plate center fixed center motor, makes motor easy for installation, and it is uniform that three motor reducer assemblies are 120 degree, makes its integral arrangement reasonable.
2, lightening hole setting can effectively be reduced base plate weight, improves its supporting power.
3, center expansion link adopts hollow optical axis and linear bearing, simple and reasonable, and it is convenient to assemble and dismantle, and integral telescopic amount is larger, and linear bearing is rolling friction, and resistance reduces greatly, guarantees the flexible stability of bar, makes it capable of expansion and contraction.
4, in the situation that two ends connector is constant, use the carbon fiber bar of different length, obtain the upper arm that length is different, improved the flexibility of upper arm, greatly reduced rotary inertia and the weight of upper arm, speed is high, dynamic response is good, has improved the intensity of upper arm simultaneously.
5, the present invention adopts rotary pneumatic joint structure, has both realized the rotation of central shaft, has realized again communicating of gas circuit, and by bearing seal, has not only saved sealing ring and also simplified the structure, and makes reasonable structural arrangement, easy to install.
6, parallel robot of the present invention is applied to secondary package and the Material Sorting in industrial production, has a extensive future.
Accompanying drawing explanation
Accompanying drawing 1 is perspective view of the present invention.
Accompanying drawing 2 is front view of the present invention.
Accompanying drawing 3 is top view of the present invention.
Wherein, 1, middle electrocardiograph; 2, robot base plate; 3, motor reducer assembly; 4, upper arm; 5, underarm; 6, low bottom-disc; 7, center expansion link; 8, lightening hole.
The specific embodiment
Below in conjunction with Fig. 1, the present invention is further described.
A kind of parallel robot, comprise middle electrocardiograph 1, robot base plate 2, motor reducer assembly 3, upper arm 4, underarm 5, low bottom-disc 6, center expansion link 7, it is characterized in that, described motor reducer assembly 3 is arranged on the below of robot base plate 2, being 120 degree with the center of robot base plate 2 distributes, described upper arm 4 and underarm 5 connect to form an arm by spherical joint head, motor reducer assembly 3 is connected by three arms with low bottom-disc 6, the center steering axle of electrocardiograph 1 and low bottom-disc 6 during described center expansion link 7 connects.
One end of described upper arm 4 is arranged on motor reducer assembly by screw.
Described upper arm 4 adopts the carbon fiber bar of different model.
Described robot base plate 2 center positions are provided with the fixing hole of middle electrocardiograph 1, are fan blade type integral structure centered by fixing hole.
Described middle electrocardiograph 1 is arranged on robot base plate 2 by the fixing hole of robot base plate 2 centers.
In each fan blade type structure of described robot base plate 2, be provided with lightening hole 8, totally three places.
Described center expansion link 7 is made up of three hollow optical axises and three linear bearings, wherein, two central optical axis in outside are fixed on the lower shoe of center with a linear bearing, and a middle central optical axis is fixed on the upper plate center with two linear bearings.
The two ends of described center expansion link 7 are candan universal joint.
Described low bottom-disc 6 adopts rotary pneumatic joint structure, is connected and vacuum slot is installed with vacuum generator.
Described underarm 5 is connected by bulb with low bottom-disc 6.
Under the coordination of motor drives, three arms pass motion to low bottom-disc, and center expansion link, under the driving of middle electrocardiograph, drives the rotation of low bottom-disc center steering axle, realizes the three-dimensional translating of low bottom-disc.
Above embodiment is only in order to illustrate the present invention and unrestricted technical scheme described in the invention, and still, those of ordinary skill in the art should be appreciated that and still can modify or be equal to replacement the present invention; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (10)
1. a parallel robot, comprise middle electrocardiograph (1), robot base plate (2), motor reducer assembly (3), upper arm (4), underarm (5), low bottom-disc (6), center expansion link (7), it is characterized in that, described motor reducer assembly (3) is arranged on the below of robot base plate (2), being 120 degree with the center of robot base plate (2) distributes, described upper arm (4) and underarm (5) connect to form an arm by spherical joint head, motor reducer assembly (3) is connected by three arms with low bottom-disc (6), the center steering axle of electrocardiograph (1) and low bottom-disc (6) during described center expansion link (7) connects.
2. a kind of parallel robot according to claim 1, is characterized in that, one end of described upper arm (4) is arranged on motor reducer assembly by screw.
3. a kind of parallel robot base plate according to claim 1, is characterized in that, described upper arm (4) adopts the carbon fiber bar of different model.
4. a kind of parallel robot according to claim 1, is characterized in that, described robot base plate (2) center position is provided with the fixing hole of middle electrocardiograph (1), is fan blade type integral structure centered by fixing hole.
5. a kind of parallel robot base plate according to claim 1, is characterized in that, described middle electrocardiograph (1) is arranged on robot base plate (2) by the fixing hole of robot base plate (2) center.
6. a kind of parallel robot according to claim 1, is characterized in that, is provided with lightening hole (8), totally three places in each fan blade type structure of described robot base plate (2).
7. according to a kind of parallel robot claimed in claim 1, it is characterized in that, described center expansion link (7) is made up of three hollow optical axises and three linear bearings, wherein, two central optical axis in outside are fixed on the lower shoe of center with a linear bearing, and a middle central optical axis is fixed on the upper plate center with two linear bearings.
8. according to a kind of parallel robot claimed in claim 1, it is characterized in that, the two ends of described center expansion link (7) are candan universal joint.
9. according to a kind of parallel robot claimed in claim 1, it is characterized in that, described low bottom-disc (6) adopts rotary pneumatic joint structure, is connected and vacuum slot is installed with vacuum generator.
10. according to a kind of parallel robot claimed in claim 1, it is characterized in that, described underarm (5) is connected by bulb with low bottom-disc (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410051838.3A CN103802094A (en) | 2014-02-14 | 2014-02-14 | Parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410051838.3A CN103802094A (en) | 2014-02-14 | 2014-02-14 | Parallel robot |
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| CN103802094A true CN103802094A (en) | 2014-05-21 |
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| CN201410051838.3A Pending CN103802094A (en) | 2014-02-14 | 2014-02-14 | Parallel robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493837A (en) * | 2014-11-18 | 2015-04-08 | 南通君彰复合材料科技有限公司 | Carbon-fiber mechanical arm |
| CN108858180A (en) * | 2017-05-10 | 2018-11-23 | 大族激光科技产业集团股份有限公司 | Central shaft transmission device, parallel robot |
| CN109421039A (en) * | 2017-08-23 | 2019-03-05 | 发那科株式会社 | Robot and parallel link robot |
| CN109834729A (en) * | 2017-11-29 | 2019-06-04 | 沈阳新松机器人自动化股份有限公司 | Parallel robot abnormity main mechanical arm |
| CN109937761A (en) * | 2019-01-11 | 2019-06-28 | 浙江理工大学 | The mobile inspection of greenhouse seedbed is filled the gaps with seedlings robot |
| CN111670095A (en) * | 2017-11-23 | 2020-09-15 | 株式会社利知院 | Parallel type integrated driving device |
| CN114617114A (en) * | 2022-04-19 | 2022-06-14 | 浙江理工大学 | Solar weeding robot and control method thereof |
| CN114700927A (en) * | 2022-04-19 | 2022-07-05 | 浙江理工大学 | Combined weeding robot with parallel mechanical arms and flexible mechanical arm and control method |
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| DE102008019966A1 (en) * | 2008-04-21 | 2009-10-22 | Elau Gmbh | Delta robot for packing lightweight foodstuff, has spring comprising hooks at both ends attached to pins in pivot connectors, and bracket formed at each pivot connector and connected with rods at both side pieces of bracket |
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| DE102008019966A1 (en) * | 2008-04-21 | 2009-10-22 | Elau Gmbh | Delta robot for packing lightweight foodstuff, has spring comprising hooks at both ends attached to pins in pivot connectors, and bracket formed at each pivot connector and connected with rods at both side pieces of bracket |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493837A (en) * | 2014-11-18 | 2015-04-08 | 南通君彰复合材料科技有限公司 | Carbon-fiber mechanical arm |
| CN108858180A (en) * | 2017-05-10 | 2018-11-23 | 大族激光科技产业集团股份有限公司 | Central shaft transmission device, parallel robot |
| CN109421039A (en) * | 2017-08-23 | 2019-03-05 | 发那科株式会社 | Robot and parallel link robot |
| US10960534B2 (en) | 2017-08-23 | 2021-03-30 | Fanuc Corporation | Robot and parallel link robot |
| CN111670095A (en) * | 2017-11-23 | 2020-09-15 | 株式会社利知院 | Parallel type integrated driving device |
| CN111670095B (en) * | 2017-11-23 | 2023-01-13 | 株式会社利知院 | Parallel type integrated driving device |
| CN109834729A (en) * | 2017-11-29 | 2019-06-04 | 沈阳新松机器人自动化股份有限公司 | Parallel robot abnormity main mechanical arm |
| CN109937761A (en) * | 2019-01-11 | 2019-06-28 | 浙江理工大学 | The mobile inspection of greenhouse seedbed is filled the gaps with seedlings robot |
| CN109937761B (en) * | 2019-01-11 | 2021-12-14 | 浙江理工大学 | Greenhouse seedbed moving, inspection and seedling supplementing robot |
| CN114617114A (en) * | 2022-04-19 | 2022-06-14 | 浙江理工大学 | Solar weeding robot and control method thereof |
| CN114700927A (en) * | 2022-04-19 | 2022-07-05 | 浙江理工大学 | Combined weeding robot with parallel mechanical arms and flexible mechanical arm and control method |
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Address after: 256600 No. 1, Kam Yip Road, hi tech Zone, Shandong, Qingdao Applicant after: QINGDAO PHAESTUS IS ENGINEERING CO., LTD. Address before: 256600 No. 1, Kam Yip Road, hi tech Zone, Shandong, Qingdao Applicant before: QINGDAO HUIZHI ROBOT CO., LTD. |
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Application publication date: 20140521 |