CN104493831A - Full-range parallel four-joint controller - Google Patents
Full-range parallel four-joint controller Download PDFInfo
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- CN104493831A CN104493831A CN201410807619.3A CN201410807619A CN104493831A CN 104493831 A CN104493831 A CN 104493831A CN 201410807619 A CN201410807619 A CN 201410807619A CN 104493831 A CN104493831 A CN 104493831A
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- large arm
- forearm
- parallel
- control devices
- arm
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Abstract
The invention discloses a full-range parallel four-joint controller comprising a bench. The edge of the upper end face of the bench is provided with two support posts corresponding to each other. An electrical control box is rested on the support posts. Two servo motors are disposed within the electrical control box. The output ends of the servo motors are provided with two reducers, respectively; the end of the output shaft of one reducer is provided with a first large arm; the end of the output shaft of the other reducer is provided with a second large arm; the other end of the first large arm is movably connected with a first small arm; the other end of the second large arm is movably connected with a second small arm; the other end of the first small arm is movably connected with the other end of the second small arm. The full-range parallel four-joint controller has the advantages that the servo motors drive the reducers to run, the reducers drive the first large arm and the second large arm to rotate, the first large arm drives the first small arm to move, the second large arm drives the second small arm to move, and the connecting ends of the first and second small arms serve as motion actuating ends capable of moving in a 360-degree full range at the front and rear ends of a machine with no dead angle.
Description
Technical field
The present invention relates to machinery production field, particularly a kind of gamut four joint control devices in parallel.
Background technology
Usually, plane articulation robot has four axles and four freedoms of motion, X, Y respectively, the translational degree of freedom of Z-direction and the rotary freedom (can be described as R axle) around Z axis, therefore front-end architecture can movement arbitrarily in two dimensional surface, it has the feature of high rigidity in vertical direction and the low rigidity (compliance) in horizontal plane, but main except for its this special compliance of having in practical operation, but because it more can realize the motion in two dimensional surface simply, thus it is generally adopted in assembling work.
Three, four joints of the plane articulation robot of traditional structure are respectively main shaft provides vertical rectilinear motion and rotary motion, and wherein the vertical rectilinear motion of the 3rd axle is provided by ball-screw, and the rotation of the 4th axle is provided by ball spline.Traditional structure has following deficiency: because forearm end employs ball-screw and ball spline simultaneously, and complex structure, increases this body weight and inertia.And due to ball-screw and ball spline installation requirement high, the precision of system must be caused like this to reduce.
Summary of the invention
The object of the invention is the above-mentioned defect for prior art, provide the gamut that a kind of structure is simple, control is convenient, control accuracy is high four joint control devices in parallel.
For solving the above-mentioned defect of prior art, technical scheme provided by the invention is: a kind of gamut four joint control devices in parallel, comprise workbench, the edge, upper surface of described workbench is provided with two mutual corresponding support columns, two described support columns are added is provided with an electric control box, two servomotors are provided with in described electric control box, the output of two servomotors is respectively equipped with a reductor, wherein the output shaft end of a described reductor is provided with the first large arm, the output shaft end of another described reductor is provided with the second large arm, the other end of described first large arm is connected with the first forearm, the other end of described second large arm is connected with the second forearm, the other end of described first forearm and the second forearm is flexibly connected.
One as gamut of the present invention four joint control devices in parallel improve in, described first large arm is flexibly connected with described first forearm by the first crossed roller bearing, described second large arm is flexibly connected with described second forearm by the second crossed roller bearing, and the end of described first forearm is flexibly connected by the 3rd crossed roller bearing with the end of described second forearm.
One as gamut of the present invention four joint control devices in parallel is improved, and described reductor is harmonic wave speed reducing machine.
One as gamut of the present invention four joint control devices in parallel is improved, and the length of described first forearm and the second forearm is equal, and the length of described first large arm and the second large arm is equal.
One as gamut of the present invention four joint control devices in parallel is improved, and described workbench is circular or square.
One as gamut of the present invention four joint control devices in parallel is improved, and is provided with multiple radiator fan in the case of described electric control box.
One as gamut of the present invention four joint control devices in parallel is improved, and described electric control box is spirally connected with described support column or welds.
One as gamut of the present invention four joint control devices in parallel is improved, and is provided with scram button, gauge tap, protective tube and multiple aviation plug outside the case shell of described electric control box.
Compared with prior art, advantage of the present invention is: the present invention adopts driven by servomotor reductor, reductor carries out work, reductor drives the first large arm and the second large arm rotates, first arm straps moves the first arm movements, second largest arm straps moves the second arm movements, the link of the first forearm and the second forearm makes Motor execution end, can carry out 360 ° of gamuts move without dead angle in mechanical rear and front end.This control device adopts inverted structure, can realize gamut motion, and compared with existing formal dress robot, range of movement expansion is twice above, and control accuracy error is ± 0.005.
Accompanying drawing explanation
Fig. 1 is front of the present invention perspective view.
Fig. 2 is reverse side perspective view of the present invention.
Reference numeral title: 1, workbench 2, support column 3, electric control box 4, reductor 5, first large arm 6, second large arm 7, first forearm 8, second forearm 9, first crossed roller bearing 10, second crossed roller bearing 11, the 3rd crossed roller bearing 12, radiator fan 13, scram button 14, gauge tap 15, protective tube 16, aviation plug.
Detailed description of the invention
Just the invention will be further described with reference to the accompanying drawings below.
As depicted in figs. 1 and 2, a kind of gamut four joint control devices in parallel, comprise workbench 1, the edge, upper surface of workbench 1 is provided with two mutual corresponding support columns 2, two support columns 2 are added is provided with an electric control box 3, two servomotors are provided with in electric control box 3, the output of two servomotors is respectively equipped with a reductor 4, wherein the output shaft end of a reductor 4 is provided with the first large arm 5, the output shaft end of another reductor 4 is provided with the second large arm 6, the other end of the first large arm 5 is connected with the first forearm 7, the other end of the second large arm 6 is connected with the second forearm 8, the other end of the first forearm 7 and the second forearm 8 is flexibly connected.
Preferably, first large arm 5 is flexibly connected with the first forearm 7 by the first crossed roller bearing 9, second large arm 6 is flexibly connected with the second forearm 8 by the second crossed roller bearing 10, and the end of the first forearm 7 is flexibly connected by the 3rd crossed roller bearing 11 with the end of the second forearm 8.
Preferably, reductor 4 is harmonic wave speed reducing machine.The bearing capacity of harmonic wave speed reducing machine is high, and in harmonic drive, tooth and the engagement of tooth are that face contacts, and add that total number of teeth in engagement (overlap coefficient) is many simultaneously, thus unit are load is little, and bearing capacity is high compared with other type of belt drive; The gearratio of the large single-stage harmonic gear transmission of gearratio, can reach i=70 ~ 500; And volume is little, lightweight; Transmission efficiency is high, the life-span is long; Stable drive, nothing are impacted, noiselessness, kinematic accuracy advantages of higher.
Preferably, the length of described first forearm 7 and the second forearm 8 is equal, and the length of the first large arm 5 and the second large arm 6 is equal.
Preferably, workbench 1 is circular or square.
Preferably, multiple radiator fan 12 is provided with in the case of electric control box 3.Radiator fan 12, for being discharged by the hot gas in electric control box 3 three, is conducive to the servomotor heat radiation in electric control box 3.
Preferably, scram button 13, gauge tap 14, protective tube 15 and multiple aviation plug 16 is provided with outside the case shell of electric control box 3.
Preferably, electric control box 3 is spirally connected with support column 2 or welds.
Control principle of the present invention: driven by servomotor reductor 4, reductor 4 carries out work, reductor 4 drives the first large arm 5 and the second large arm 6 to rotate, first large arm 5 drives the first forearm 7 to move, second large arm 6 drives the second forearm 8 to move, the link of the first forearm 7 and the second forearm 8 makes Motor execution end, can carry out 360 ° of gamuts move without dead angle in mechanical rear and front end.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also carry out suitable change and amendment to above-mentioned embodiment.Therefore, the present invention is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present invention modifications and changes more of the present invention.In addition, although employ some specific terms in this description, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (8)
1. gamut four joint control devices in parallel, comprise workbench (1), the edge, upper surface of described workbench (1) is provided with two mutual corresponding support columns (2), two described support columns (2) are added is provided with an electric control box (3), it is characterized in that, two servomotors are provided with in described electric control box (3), the output of two servomotors is respectively equipped with a reductor (4), wherein the output shaft end of a described reductor (4) is provided with the first large arm (5), the output shaft end of another described reductor (4) is provided with the second large arm (6), the other end of described first large arm (5) is connected with the first forearm (7), the other end of described second large arm (6) is connected with the second forearm (8), the other end of described first forearm (7) and the second forearm (8) is flexibly connected.
2. gamut according to claim 1 four joint control devices in parallel, it is characterized in that, described first large arm (5) is flexibly connected with described first forearm (7) by the first crossed roller bearing (9), described second large arm (6) is flexibly connected with described second forearm (8) by the second crossed roller bearing (10), and the end of described first forearm (7) is flexibly connected by the 3rd crossed roller bearing (11) with the end of described second forearm (8).
3. gamut according to claim 1 four joint control devices in parallel, it is characterized in that, described reductor (4) is harmonic wave speed reducing machine.
4. gamut according to claim 1 four joint control devices in parallel, it is characterized in that, the length of described first forearm (7) and the second forearm (8) is equal, and the length of described first large arm (5) and the second large arm (6) is equal.
5. gamut according to claim 1 four joint control devices in parallel, is characterized in that, described workbench (1) is circular or square.
6. gamut according to claim 1 four joint control devices in parallel, is characterized in that, be provided with multiple radiator fan (12) in the case of described electric control box (3).
7. gamut according to claim 1 four joint control devices in parallel, it is characterized in that, described electric control box (3) is spirally connected with described support column (2) or welds.
8. gamut according to claim 1 four joint control devices in parallel, is characterized in that, be provided with scram button (13), gauge tap (14), protective tube (15) and multiple aviation plug (16) outside the case shell of described electric control box (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410807619.3A CN104493831A (en) | 2014-12-23 | 2014-12-23 | Full-range parallel four-joint controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410807619.3A CN104493831A (en) | 2014-12-23 | 2014-12-23 | Full-range parallel four-joint controller |
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| Publication Number | Publication Date |
|---|---|
| CN104493831A true CN104493831A (en) | 2015-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410807619.3A Pending CN104493831A (en) | 2014-12-23 | 2014-12-23 | Full-range parallel four-joint controller |
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| CN (1) | CN104493831A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07116988A (en) * | 1993-10-21 | 1995-05-09 | Fanuc Ltd | Robot device |
| JP2000254881A (en) * | 1999-03-05 | 2000-09-19 | Tekkusu Iijii:Kk | Parallel link mechanism robot for conveying wafer |
| CN1583372A (en) * | 2004-05-28 | 2005-02-23 | 哈尔滨工业大学 | Three freedom serial-parallel mixed robot driven by ball spline |
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101804631A (en) * | 2009-02-13 | 2010-08-18 | 发那科株式会社 | The parallel robot that possesses the wrist portion of 3DOF |
| CN202169229U (en) * | 2011-06-04 | 2012-03-21 | 罗云兵 | Industrial spraying robot |
| CN103481283A (en) * | 2013-09-17 | 2014-01-01 | 江南大学 | Three-axis five-bar parallel manipulator |
| CN104139395A (en) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | Detection robot |
| CN204397905U (en) * | 2014-12-23 | 2015-06-17 | 东莞市顺如电子科技有限公司 | Gamut four joint control devices in parallel |
-
2014
- 2014-12-23 CN CN201410807619.3A patent/CN104493831A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07116988A (en) * | 1993-10-21 | 1995-05-09 | Fanuc Ltd | Robot device |
| JP2000254881A (en) * | 1999-03-05 | 2000-09-19 | Tekkusu Iijii:Kk | Parallel link mechanism robot for conveying wafer |
| CN1583372A (en) * | 2004-05-28 | 2005-02-23 | 哈尔滨工业大学 | Three freedom serial-parallel mixed robot driven by ball spline |
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101804631A (en) * | 2009-02-13 | 2010-08-18 | 发那科株式会社 | The parallel robot that possesses the wrist portion of 3DOF |
| CN202169229U (en) * | 2011-06-04 | 2012-03-21 | 罗云兵 | Industrial spraying robot |
| CN103481283A (en) * | 2013-09-17 | 2014-01-01 | 江南大学 | Three-axis five-bar parallel manipulator |
| CN104139395A (en) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | Detection robot |
| CN204397905U (en) * | 2014-12-23 | 2015-06-17 | 东莞市顺如电子科技有限公司 | Gamut four joint control devices in parallel |
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Application publication date: 20150408 |