CN104742114A - Single-edge two-axis parallel robot with swinging mechanism - Google Patents
Single-edge two-axis parallel robot with swinging mechanism Download PDFInfo
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- CN104742114A CN104742114A CN201310747021.5A CN201310747021A CN104742114A CN 104742114 A CN104742114 A CN 104742114A CN 201310747021 A CN201310747021 A CN 201310747021A CN 104742114 A CN104742114 A CN 104742114A
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- monolateral
- swing
- parallel robot
- connecting bar
- diaxon
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Abstract
The invention relates to a single-edge two-axis parallel robot with a swinging mechanism. The single-edge two-axis parallel robot comprises a single-edge two-axis parallel robot body, wherein the swinging mechanism is arranged under the single-edge two-axis parallel robot body. Compared with the prior art, the single-edge two-axis parallel robot has the advantages of wide application range, simple structure, easiness for controlling and the like.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of monolateral diaxon parallel robot with swing mechanism.
Background technology
Monolateral diaxon parallel robot because of its structure simple, bearing capacity large (40kg), operating frequency high (50 times/min) and be widely used in packaging industry, is used for quick-pick and place heavier article.Because its working head can only do translation in XOZ plane, limit its application.If install a motor rotated around Y-axis on working head, its complicated in mechanical structure, programming Control is complicated.
Summary of the invention
Object of the present invention be exactly in order to overcome above-mentioned prior art exist defect and a kind of monolateral diaxon parallel robot with swing mechanism is provided.
Object of the present invention can be achieved through the following technical solutions:
With a monolateral diaxon parallel robot for swing mechanism, comprise monolateral diaxon parallel manipulator human body, it is characterized in that, below this monolateral diaxon parallel manipulator human body, be provided with swing mechanism.
Described swing mechanism comprises swing connecting bar, swing arm and real work head, described swing connecting bar is arranged on the routine work head bottom of monolateral diaxon parallel manipulator human body, described swing arm is fixed on the output shaft of swing connecting bar, and described real work head is arranged on swing arm bottom.
The amplitude of fluctuation of described swing arm is 90 °.
The constant bearing of described swing connecting bar is 0 °, 90 °, 180 °, 270 ° 4 directions in plane.
Described swing connecting bar is configured with 2 for controlling the magnetic switch of swing arm 0 ° and 90 ° of two Angle Position.
Compared with prior art, the present invention has the following advantages:
1) range of application of monolateral diaxon parallel robot is expanded: the working head of existing monolateral diaxon parallel robot can only be in horizontal direction, which has limited its application.In application process, usually need goods 90-degree rotation to case, or for the ease of proposing goods and 90-degree rotation, the monolateral diaxon parallel robot of band swing mechanism of the present invention can complete such operation.
2) structure is simple, controls easily: adopt servomotor also can realize the rotation of working head, like that just add one degree of freedom, advanced in structure, but cost is high, complex structure, and in practical application, most work swing connecting bar replaces servomotor just can complete.
Accompanying drawing explanation
Fig. 1 is the schematic front view of the monolateral diaxon parallel robot of band swing mechanism of the present invention.
Fig. 2 is that schematic diagram is looked on a left side for the monolateral diaxon parallel robot of band swing mechanism of the present invention.
In Fig. 1 and Fig. 2,1 be monolateral diaxon parallel manipulator human body, 2 be routine work head, 3 be swing connecting bar, 4 be swing arm, 5 for real work head.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The present embodiment is implemented premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, a kind of monolateral diaxon parallel robot with swing mechanism, comprises monolateral diaxon parallel manipulator human body, is provided with swing mechanism below this monolateral diaxon parallel manipulator human body.
Described swing mechanism comprises swing connecting bar 3, swing arm 4 and real work 5, described swing connecting bar 3 is arranged on routine work 2 bottom of monolateral diaxon parallel manipulator human body, described swing arm 4 is fixed on the output shaft of swing connecting bar 3, and described real work 5 is arranged on swing arm 4 bottom.
The amplitude of fluctuation of described swing arm 4 is 90 °.The constant bearing of described swing connecting bar 3 is 0 °, 90 °, 180 °, 270 ° 4 directions in plane.Described swing connecting bar 3 is configured with 2 for controlling the magnetic switch of swing arm 0 ° and 90 ° of two Angle Position.
What do due to industrial robot is mostly the work of repetition, in application process, usually only need goods 90-degree rotation to case, or work must be made sometimes to be in vertical be sometimes in horizontal direction for the ease of proposing goods, the present invention is realized by swing connecting bar.
Claims (5)
1. the monolateral diaxon parallel robot with swing mechanism, comprises monolateral diaxon parallel manipulator human body, it is characterized in that, is provided with swing mechanism below this monolateral diaxon parallel manipulator human body.
2. a kind of monolateral diaxon parallel robot with swing mechanism according to claim 1, it is characterized in that, described swing mechanism comprises swing connecting bar, swing arm and real work head, described swing connecting bar is arranged on the routine work head bottom of monolateral diaxon parallel manipulator human body, described swing arm is fixed on the output shaft of swing connecting bar, and described real work head is arranged on swing arm bottom.
3. a kind of monolateral diaxon parallel robot with swing mechanism according to claim 2, it is characterized in that, the amplitude of fluctuation of described swing arm is 90 °.
4. a kind of monolateral diaxon parallel robot with swing mechanism according to claim 2, is characterized in that, the constant bearing of described swing connecting bar is 0 °, 90 °, 180 °, 270 ° 4 directions in plane.
5. a kind of monolateral diaxon parallel robot with swing mechanism according to claim 2, is characterized in that, described swing connecting bar is configured with 2 for controlling the magnetic switch of swing arm 0 ° and 90 ° of two Angle Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310747021.5A CN104742114A (en) | 2013-12-30 | 2013-12-30 | Single-edge two-axis parallel robot with swinging mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310747021.5A CN104742114A (en) | 2013-12-30 | 2013-12-30 | Single-edge two-axis parallel robot with swinging mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104742114A true CN104742114A (en) | 2015-07-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310747021.5A Pending CN104742114A (en) | 2013-12-30 | 2013-12-30 | Single-edge two-axis parallel robot with swinging mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN104742114A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300424A (en) * | 2020-03-18 | 2020-06-19 | 北华航天工业学院 | Three-degree-of-freedom parallel structure kinematic system and solving method thereof |
| CN115383730A (en) * | 2022-10-28 | 2022-11-25 | 辰星（天津）自动化设备有限公司 | Parallel robot |
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| CN201275760Y (en) * | 2008-10-30 | 2009-07-22 | 杜宏图 | Plane parallel robot mechanism with two freedom degrees |
| CN201361869Y (en) * | 2009-03-02 | 2009-12-16 | 江阴纳尔捷机器人有限公司 | Novel single-task synchro robot group |
| US20120060637A1 (en) * | 2009-02-13 | 2012-03-15 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| CN202742374U (en) * | 2012-07-26 | 2013-02-20 | 江苏尚诚精密模具科技有限公司 | Stamping carrying intelligent robot |
| CN203109941U (en) * | 2013-02-01 | 2013-08-07 | 安徽麒麟化工科技有限公司 | Material taking mechanical arm structure |
| CN103273482A (en) * | 2013-06-25 | 2013-09-04 | 安徽工业大学 | Master-slave branch chain separate type two-translational motion parallel robot |
| CN203293189U (en) * | 2013-06-25 | 2013-11-20 | 安徽工业大学 | Dual translation parallel robot with separated driving branch and driven branch |
| CN203650510U (en) * | 2013-12-30 | 2014-06-18 | 上海沃迪自动化装备股份有限公司 | Single-side bi-shaft parallelly connected robot with swing mechanism |
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2013
- 2013-12-30 CN CN201310747021.5A patent/CN104742114A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| CN201275760Y (en) * | 2008-10-30 | 2009-07-22 | 杜宏图 | Plane parallel robot mechanism with two freedom degrees |
| US20120060637A1 (en) * | 2009-02-13 | 2012-03-15 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| CN201361869Y (en) * | 2009-03-02 | 2009-12-16 | 江阴纳尔捷机器人有限公司 | Novel single-task synchro robot group |
| CN202742374U (en) * | 2012-07-26 | 2013-02-20 | 江苏尚诚精密模具科技有限公司 | Stamping carrying intelligent robot |
| CN203109941U (en) * | 2013-02-01 | 2013-08-07 | 安徽麒麟化工科技有限公司 | Material taking mechanical arm structure |
| CN103273482A (en) * | 2013-06-25 | 2013-09-04 | 安徽工业大学 | Master-slave branch chain separate type two-translational motion parallel robot |
| CN203293189U (en) * | 2013-06-25 | 2013-11-20 | 安徽工业大学 | Dual translation parallel robot with separated driving branch and driven branch |
| CN203650510U (en) * | 2013-12-30 | 2014-06-18 | 上海沃迪自动化装备股份有限公司 | Single-side bi-shaft parallelly connected robot with swing mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300424A (en) * | 2020-03-18 | 2020-06-19 | 北华航天工业学院 | Three-degree-of-freedom parallel structure kinematic system and solving method thereof |
| CN115383730A (en) * | 2022-10-28 | 2022-11-25 | 辰星（天津）自动化设备有限公司 | Parallel robot |
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Application publication date: 20150701 |