CN104690713A - Four-DOF (degree of freedom) parallel sorting robot - Google Patents
Four-DOF (degree of freedom) parallel sorting robot Download PDFInfo
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- CN104690713A CN104690713A CN201510030463.7A CN201510030463A CN104690713A CN 104690713 A CN104690713 A CN 104690713A CN 201510030463 A CN201510030463 A CN 201510030463A CN 104690713 A CN104690713 A CN 104690713A
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Abstract
The invention discloses a four-DOF (degree of freedom) parallel sorting robot and belongs to the technical field of industrial robots. The robot comprises a rack, an end effector, a first branched chain, a second branched chain and a synchronous belt branched chain, wherein the first branched chain comprises a first driving arm, a first driven arm, a second driving arm and a connecting rod; the second branched chain comprises a third driving arm, a third driven arm and a third secondary driven arm; the synchronous belt branched chain comprises belt pulleys and synchronous belts; the first branched chain and the second branched chain are connected with driving devices through the driving arms respectively; the synchronous belt branched chain is connected with a fourth driving device through a first belt pulley; the first branched chain, the second branched chain and the synchronous belt branched chain are connected with the end effector. The robot has the characteristics of simplicity in manufacturing, convenience in mounting and debugging, lower manufacturing cost and the like.
Description
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of four-degree-of-freedom sorting machine people in parallel.
Background technology:
In the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation often needs end effector to carry out the manipulator of high-speed job in space.General industry robot price is higher, and equipment is valuable, and structure is accurate not, and size is larger, and take up room large, structure bulky, cannot meet people simultaneously to many-sided high requirement such as functional, little space, lightness, high accuracy.The four-degree-of-freedom robot of current sorting class belongs to SCARA type or DELTA type mostly.Although can meet industrial requirements, SCARA robot architecture is relatively heavy, and DELTA robot takes up room relatively large.For meeting the demand in the quick lightness market of underload, rod member transmission and toothed belt transmission are one relative developing direction preferably.Adapt to key industry sorting application, not high to environmental requirement, have more flexibility.The research and development speed of robot can be improved, reduce costs, provide direction and theoretical foundation for robot designs further.
Summary of the invention:
The object of the present invention is to provide a kind of four-degree-of-freedom sorting machine people in parallel, this robot is lighter, is convenient to carrying; And it is little to take up space, good sorting effect can be played in little opereating specification, be applicable to collection and the assembly work of the types such as Small electronic component.
A kind of four-degree-of-freedom provided by the present invention sorting machine people in parallel comprises frame 5, end effector 7, first side chain 21, second side chain 22, Timing Belt side chain 23 and drive unit.
Described first side chain 21 comprises the first branched chain, the second branched chain and connecting rod 11, described first branched chain comprises the first master arm 15, first slave arm 14, described second branched chain comprises the second master arm 17, and described connecting rod 11 connects described first slave arm 14 and described second master arm 17.
Described second side chain 22 comprise the 3rd master arm 2, the 3rd slave arm 4 and third time level slave arm 6, described 3rd master arm 2, the 3rd slave arm 4 and third time level slave arm 6 to be linked in sequence.
Described Timing Belt side chain 23 comprises the first belt wheel 19, second belt wheel 20, the 3rd belt wheel 10, the 4th belt wheel 8, first Timing Belt 18, second Timing Belt 13 and the 3rd Timing Belt 9, described first belt wheel 19, second belt wheel 20, the 3rd belt wheel 10, the 4th belt wheel 8 are linked in sequence, described first Timing Belt 18 connects described first belt wheel 19 and described second belt wheel 20, described second Timing Belt 13 connects described second belt wheel 20 and described 3rd belt wheel 10, and described 3rd Timing Belt 9 connects described 3rd belt wheel 10 and described 4th belt wheel 8.
Described drive unit comprises the first drive unit 12, second drive unit 16, the 3rd drive unit 3 and four-drive device 1, described first drive unit 12 homonymy that be installed on described frame 5 concentric on described second drive unit 16, described 3rd drive unit 3 homonymy that be installed on described frame 5 concentric on described four-drive device 1.
Described end effector 7 is spline ball screw arrangement, and described end effector 7 comprises leading screw, feed screw nut 7-1, leading screw spline 7-2 and support 7-4; Described connecting rod 11 in described support 7-4 and described first side chain 21 is connected, and the described third time level slave arm in described leading screw spline 7-2 and described second side chain 22 6 is connected, and the 4th belt wheel 8 in described feed screw nut 7-1 and described Timing Belt side chain 23 is connected.
Described first master arm 15 is installed with described second master arm 17 is concentric, and described 3rd master arm 2 is installed with described first belt wheel 19 is concentric; The length of described first master arm 15 equals the centre distance of described first slave arm 14 and described second master arm 17 installing hole on described connecting rod 11, the length of described first slave arm 14 equals the length of described second master arm 17, and described first side chain 21 is parallelogram sturcutre.
Described first belt wheel 19 is connected with described four-drive device 1, and described second belt wheel 20 is connected with described second drive unit 16, and described first master arm 15 is connected with the first drive unit 12; Described second master arm 17 is connected with described second drive unit 16; Described 3rd master arm 2 is connected with described 3rd drive unit 3.
All adopt axle to be connected with bearing between each rod member in described first side chain 21, each rod member freely can rotate around axle relative to installation shaft, forms revolute pair; Described 3rd master arm 2 adopts bearing to be connected with axle with described 3rd slave arm 4, and described 3rd slave arm 46 adopts bearing to be connected with axle with described third time level slave arm; Described first belt wheel 19 is connected by key with four-drive device 1, and the rotation of four-drive device 1 can drive the first belt wheel 19 synchronous axial system.
Described drive unit adopts servomotor-reducer structure.
The present invention adopts parallelogram theorem, series-parallel connection branched structure and rod member to combine two rotational freedoms of the mode confinement end executing agency of transmission with Timing Belt, forms the small-sized sorting machine people of four-degree-of-freedom.Each side chain division of labor is clear and definite, and action is reasonable, is applicable to on-the-spot the using and promote of general sorting.
The present invention has following technical characterstic:
(1) four-degree-of-freedom of end effector of the present invention is by four driven by servomotor.
(2) four power sources are transported on end effector by three transmission branch chain by the present invention.
(3) installing/dismounting of the present invention is simple, and maintenance and repair is convenient.
(4) the present invention is connected in parallel by a quadrilateral structure and two series connection branched structures, realizes three translational degree of freedom along X, Y, Z axis and a rotational freedom around Z axis.Invention structure is simple, and take up room little, working face remains level, can in a large number for occasions such as industry sortings.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of a kind of four-degree-of-freedom of the present invention sorting machine people in parallel;
Parallelogram rod member structural representation in Tu2Shi robot of the present invention;
Fig. 3 is the plan structure schematic diagram of unpowered device in Fig. 1;
The structural representation of mechanism end actuator in Tu4Shi robot of the present invention.
In figure: 1: the four-drive device, 2: the three master arms, 3: the three drive units, 4: the three slave arms, 5: frame, 6: level slave arm for the third time, 7: end effector, 7-1: feed screw nut, 7-2: leading screw spline, 7-3: leading screw, 7-4: support, 8: the four belt wheels, 9: the three Timing Belts, 10: the three belt wheels, 11: connecting rod, 12: the first drive units, 13: the second Timing Belts, 14: the first slave arms, 15: the first master arms, 16: the second drive units, 17: the second master arms, 18: the first Timing Belts, 19: the first belt wheels, 20: the second belt wheels, 21: the first side chains, 22: the second side chains, 23: Timing Belt side chain.
Detailed description of the invention:
A kind of four-degree-of-freedom provided by the present invention sorting machine people in parallel comprises frame 5, drive unit, three movement branched chain and end effector 7.Described end effector 7 forms closed loop parallel-connection structure by described movement branched chain and frame 5; Described movement branched chain comprises the first side chain 21, second side chain 22, Timing Belt side chain 23, and the first described side chain 21 comprises the first branched chain and the second branched chain; The first described side chain 21 as the moving platform of end effector 7, for it provides two planar degrees of freedom of X, Y-direction; The second described side chain 22 provides the rotational freedom around Z axis for end effector 7; Described Timing Belt side chain 23 conducts moment of torsion to end effector 7, for it provides the planar degrees of freedom of Z-direction by Timing Belt; Described end effector 7 is made up of leading screw 7-3, feed screw nut 7-1, leading screw spline 7-2 and support 7-4 respectively.
See Fig. 1, the first described side chain 21 is bolted the support 7-4 structure in end effector 7, second side chain 22 is bolted the leading screw spline 7-2 in end effector 7, feed screw nut 7-1 in the end belt wheel of Timing Belt side chain 23 and end effector 7 is connected by bolt, described first side chain 21 comprises the first branched chain, second branched chain and connecting rod 11, described first branched chain comprises the first master arm 15 and the first slave arm 14, described second branched chain comprises the second master arm 17, described connecting rod 11 connects the first slave arm 14 in the first branched chain and the second master arm 17 in the second branched chain forms the first side chain 21, described second side chain 22 comprises the 3rd master arm 2, 3rd slave arm 4 and for the third time level slave arm 6, described Timing Belt side chain 23 comprises four synchronous pulleys and three Timing Belt (the first belt wheels 19, second belt wheel 20, 3rd belt wheel 10 and the 4th belt wheel 8, first Timing Belt 18, second Timing Belt 13 and the 3rd Timing Belt 9), the first master arm 15 in first branched chain and the second master arm 17 in the second branched chain are installed with one heart, and the 3rd master arm 2 in the second side chain 22 and the first belt wheel 19 in Timing Belt side chain 23 are installed with one heart.The first described side chain 21 is connected with the drive unit be fixed in described frame 5 by master arm respectively with the second side chain 22, in described Timing Belt side chain 23, the first belt wheel 19 is connected with the drive unit be fixed in described frame 5, the third time level slave arm of the connecting rod 11 of described first side chain 21 and the second side chain 22 6 is directly connected with end effector 7 respectively, the moment of torsion of four-drive device 1 is passed to the 4th belt wheel 8 by Timing Belt by Timing Belt side chain 23, and the 4th belt wheel 8 is connected by bolt with feed screw nut 7-1.Four-drive device 1 can drive end effector 7 (spline ball-screw) to move up and down, and provides the Z axis free degree.The length of the first described master arm 15 equals the centre distance of the first slave arm 14 and the second master arm 17 installing hole on connecting rod 11, the length of the first described slave arm 14 equals the length of the second master arm 17, and the first side chain 21 forms the plane mechanism of a parallelogram thus.All adopt axle to be connected with bearing between each rod member in the first described side chain 21, each rod member freely can rotate around axle relative to installation shaft, forms revolute pair.The 3rd described master arm 2 is connected by key with the 3rd drive unit 3, axial restraint.The 3rd described master arm 2 adopts bearing to be connected with axle with the 3rd slave arm 4, and the 3rd described slave arm 46 adopts bearing to be connected with axle with third time level slave arm.The first described belt wheel 19 is connected by key with four-drive device 1, and the rotation of four-drive device 1 can drive the first belt wheel 19 synchronous axial system.The second described belt wheel 20 be arranged on the second drive unit 16 axle without splined portion, connected by bearing, form revolute pair therebetween.Same, the 3rd belt wheel 10 is arranged in the installation shaft of connecting rod 11 and the second master arm 17 by bearing.Described end effector 7 is spline ball screw arrangement, and described spline ball-screw comprises leading screw 7-3, feed screw nut 7-1, leading screw spline 7-2, support 7-4.Described support 7-4 is fixed on the first side chain 21 connecting rod 11, and leading screw spline 7-2 is fixed on third time level slave arm 6, and feed screw nut 7-1 and the 4th belt wheel 8 are connected.
See Fig. 2, being made up of the first branched chain and the second branched chain of the first described side chain 21, described first branched chain is made up of the first drive unit 12, first master arm 15, first slave arm 14; Described second branched chain is made up of the second drive unit 16, second master arm 17; The bar long (the straightway P see in Fig. 3) of described first master arm 15 equals the length (the straightway Q see in Fig. 3) of two installing holes on connecting rod 11; The bar long (the straightway N see in Fig. 3) of the first described slave arm 14 equals the bar long (the straightway M see in Fig. 3) of the second master arm 17; The first master arm 15 in described first side chain 21 and the second master arm 17, and to be arranged in the same side with one heart relative to frame 5; Described first master arm 15, second master arm 17, connecting rod 11 and the first slave arm 14 form parallelogram sturcutre.
See Fig. 3, the second described side chain 22 by the 3rd master arm 2, the 3rd slave arm 4 and third time level slave arm 6 to form, third time level slave arm 6 to be connected with the leading screw spline 7-2 on end effector 7.Described Timing Belt side chain 23 is made up of four belt wheels and three Timing Belts, and the 4th belt wheel 8 is fixed on the feed screw nut 7-1 of end effector 7.
See Fig. 4, described end effector 7 is by leading screw 7-3, and support 7-4, feed screw nut 7-1, leading screw spline 7-2 is formed.
See Fig. 1 and Fig. 3, the first described drive unit 12 drives the first master arm 15 to rotate, and the rotation of the first master arm 15 drives the first slave arm 14 to rotate, and the second described drive unit 16 drives the second master arm 17 to rotate.Easily known by parallelogram theorem, the motion of the first slave arm 14 and the second master arm 17 drives connecting rod 11 to do plane motion, and connecting rod 11 is parallel all the time with the first master arm 15.Described end effector 7 is installed on the end of connecting rod 11 away from the first slave arm 14, and the translation of connecting rod 11 drives the translation of end effector 7, makes end effector 7 obtain the planar degrees of freedom of X, Y both direction.The 3rd described drive unit 3 drives the 3rd master arm 2 in the second side chain 22 to rotate, 3rd master arm 2 is connected by bearing with the 3rd slave arm 4, the rotation of the 3rd slave arm 4 is driven by the 3rd master arm 2, level slave arm 6 is connected by bearing with the 3rd slave arm 4 for the third time, and the rotation of level slave arm 6 is for the third time driven by the 3rd slave arm 4.Third time, level slave arm 6 was connected with the leading screw spline 7-2 bolt on end effector 7, and its rotating band movable wire thick stick spline 7-2 rotates, and made end effector 7 obtain rotational freedom around Z axis.Described four-drive device 1 is connected by flat key with the first belt wheel 19, and circumference is fixing, as the original driving force driving other belt wheels.Second belt wheel 20 is arranged on the axle of the second drive unit 16 by bearing, and circumference is not fixed.3rd belt wheel 10 is arranged in the installation shaft of connecting rod 11 and the second master arm 17 by bearing, and the 4th belt wheel 8 is connected with feed screw nut 7-1.First Timing Belt 18 by the transmission of torque of the first belt wheel 19 on the second belt wheel 20, second Timing Belt 13 by the transmission of torque of the second belt wheel 20 on the 3rd belt wheel 10,3rd Timing Belt 9 is by the transmission of torque of the 3rd belt wheel 10 on the 4th belt wheel 8, and the 4th belt wheel 8 is connected with feed screw nut 7-1.Thus, four-drive device 1 controls feed screw nut 7-1 indirectly, and described end effector 7 obtains leading screw 7-3 at Z-axis direction one-movement-freedom-degree.In summary, four drive units provide three rotational freedoms and a translational degree of freedom by three side chains to end effector 7, form four-freedom-degree parallel-connection robot.
Claims (2)
1. a four-degree-of-freedom sorting machine people in parallel, is characterized in that this robot comprises frame (5), end effector (7), the first side chain (21), the second side chain (22), Timing Belt side chain (23) and drive unit, described first side chain (21) comprises the first branched chain, the second branched chain and connecting rod (11), described first branched chain comprises the first master arm (15), the first slave arm (14), described second branched chain comprises the second master arm (17), and described connecting rod (11) connects described first slave arm (14) and described second master arm (17), described second side chain (22) comprises the 3rd master arm (2), the 3rd slave arm (4) and third time level slave arm (6), and described 3rd master arm (2), the 3rd slave arm (4) and third time level slave arm (6) are linked in sequence, described Timing Belt side chain (23) comprises the first belt wheel (19), second belt wheel (20), 3rd belt wheel (10), 4th belt wheel (8), first Timing Belt (18), second Timing Belt (13) and the 3rd Timing Belt (9), described first belt wheel (19), second belt wheel (20), 3rd belt wheel (10), 4th belt wheel (8) is linked in sequence, described first Timing Belt (18) connects described first belt wheel (19) and described second belt wheel (20), described second Timing Belt (13) connects described second belt wheel (20) and described 3rd belt wheel (10), described 3rd Timing Belt (9) connects described 3rd belt wheel (10) and described 4th belt wheel (8), described drive unit comprises the first drive unit (12), the second drive unit (16), the 3rd drive unit (3) and four-drive device (1), described first drive unit (12) and the concentric homonymy being installed on described frame (5) of described second drive unit (16), described 3rd drive unit (3) and the concentric homonymy being installed on described frame (5) of described four-drive device (1), described end effector (7) is spline ball screw arrangement, described end effector (7) comprises leading screw, feed screw nut (7-1), leading screw spline (7-2) and support (7-4), described support (7-4) is connected with the described connecting rod (11) in described first side chain (21), described leading screw spline (7-2) is connected with described third time level slave arm (6) in described second side chain (22), and described feed screw nut (7-1) is connected with described 4th belt wheel (8) in described Timing Belt side chain (23), described first master arm (15) is installed with described second master arm (17) is concentric, described 3rd master arm (2) is installed with described first belt wheel (19) is concentric, the length of described first master arm (15) equals the centre distance of described first slave arm (14) and described second master arm (17) installing hole on described connecting rod (11), the length of described first slave arm (14) equals the length of described second master arm (17), and described first side chain (21) is parallelogram sturcutre, described first belt wheel (19) is connected with described four-drive device (1), described second belt wheel (20) is connected with described second drive unit (16), and described first master arm (15) is connected with the first drive unit (12), described second master arm (17) is connected with described second drive unit (16), described 3rd master arm (2) is connected with described 3rd drive unit (3).
2. the detachable light-duty sorting machine people of a kind of multiple degrees of freedom according to claim 1, is characterized in that described drive unit adopts servomotor-reducer structure.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106584431A (en) * | 2016-12-20 | 2017-04-26 | 西安电子科技大学 | Coaxially-moving-and-rotating four-freedom-degree parallel connection robot |
| CN107042509A (en) * | 2017-06-16 | 2017-08-15 | 安徽海思达机器人有限公司 | A kind of connecting rod combines the plane articulation type four-degree-of-freedom robot of transmission with timing belt |
| CN107962550A (en) * | 2017-11-07 | 2018-04-27 | 大连理工大学 | A kind of SCARA high-speed parallel manipulators with partly decoupled and dynamic balance property |
| CN113547509A (en) * | 2021-08-10 | 2021-10-26 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107042509B (en) * | 2017-06-16 | 2023-05-02 | 安徽海思达机器人有限公司 | Planar joint type four-degree-of-freedom robot with connecting rod and synchronous belt combined transmission |
| CN107962550A (en) * | 2017-11-07 | 2018-04-27 | 大连理工大学 | A kind of SCARA high-speed parallel manipulators with partly decoupled and dynamic balance property |
| CN107962550B (en) * | 2017-11-07 | 2020-12-11 | 大连理工大学 | SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics |
| CN113547509A (en) * | 2021-08-10 | 2021-10-26 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
| CN113547509B (en) * | 2021-08-10 | 2022-11-15 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
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Effective date of registration: 20160803 Address after: 243000 Anhui city of Ma'anshan province high tech Zone Chihu Road No. 966 penholder Patentee after: Anhui Hiseed Robot Company Limited Address before: 243032 Anhui city in Ma'anshan Province town Ma Xianglu Patentee before: Anhui University of Technology |