CN105269558A - Parallel robot - Google Patents
Parallel robot Download PDFInfo
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- CN105269558A CN105269558A CN201510686715.1A CN201510686715A CN105269558A CN 105269558 A CN105269558 A CN 105269558A CN 201510686715 A CN201510686715 A CN 201510686715A CN 105269558 A CN105269558 A CN 105269558A
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- axis
- drive unit
- handgrip
- rotating disk
- rotating shaft
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Abstract
The invention discloses a parallel robot. A rotary disc of the parallel robot is directly or indirectly provided with a third drive device, and a gripper is directly or indirectly arranged on a horizontal rotary shaft of the third drive device. When the rotary shaft of the third drive device rotates, the gripper can be driven to rotate around the axis X or the axis Y, and therefore movement of the gripper on the axis X, the axis Y and the axis Z and rotation of the gripper around the axis Z can be achieved, and meanwhile the gripper can rotate on the axis X or the axis Y; and therefore the work requirements for carrying, arranging, assembling and the like of materials or products are further met.
Description
Technical field
The present invention relates to a kind of parallel robot, particularly a kind of for carrying material or product, arranging or the parallel robot of the work such as assembling.
Background technology
In the industrial production; often can be replaced by parallel robot and manually carry material or product, arrange or the work such as assembling; to enhance productivity; existing parallel robot is generally four-shaft parallel robot (can be a kind of robot disclosed in the patent application of 2012103614576 see application number); the translational motion of handgrip at X-axis, Y-axis, Z axis (Z-direction is vertical direction) can be realized respectively by moving structure, and realize the rotary motion of handgrip around Z axis by rotational structure.
Wherein, moving structure comprises the first drive unit that at least three are fixed on the level of pedestal bottom, the rotating shaft of each the first drive unit is fixed with rocking arm respectively, rotating shaft can drive rocking arm to swing at perpendicular around the axis of its rotating shaft when rotating, each rocking arm is connected with the upper end of connecting rod by oscillating bearing away from one end of rotating shaft, and the lower end of all connecting rods is connected with the handgrip installation component for installing handgrip jointly by oscillating bearing; Rotational structure then comprises rotating shaft the second drive unit down on fixed pedestal, one can the top of central rotation parts of axial stretching to be connected with the rotating shaft of the second drive unit and swingable by the first shaft coupling (as universal joint), the bottom of central rotation parts is then connected with the rotating disk of the whirligig be fixed on handgrip installation component by the second shaft coupling (as universal joint) and swingable, described handgrip is then arranged on the rotating disk of whirligig, drives the dial rotation of whirligig when the rotating shaft of the second drive unit rotates by central rotation parts.
During work, control system (as PLC control system) is according to concrete carrying, arrange, or the demand of assembly working, each first drive unit to moving structure is given an order, the rotating shaft of the first drive unit is made to drive rocking arm to do the swing of respective amplitude, thus make rocking arm drive link drive handgrip installation component while Z-direction (i.e. vertical direction) is moved, because the amplitude of fluctuation of each rocking arm is different, also can order about connecting rod drives handgrip installation component to move along X-axis and Y-axis, the handgrip (not shown) be arranged on handgrip installation component can be moved each locus (as captured station at material or product and placing station) in its working range, the rotating shaft of the second drive unit of rotational structure then rotates, and drive dial rotation by central rotation parts, thus the handgrip (not shown) on drive rotating disk rotates around Z axis, make handgrip can be as required, rotary hand grip before crawl material or product, appointed part at material or product can be grabbed exactly to make handgrip, or before the material of crawl or product are placed into target location, by rotation handgrip, material or product are turned to the angle of needs.Finally realize the work such as the carrying of material or product, arrangement or assembling.
But the parallel robot of existing this four-shaft parallel, though X-axis, Y-axis, the movement of Z axis and the rotation around Z axis can be realized, and great majority can be met material or product are carried, arranges or the occasion of the work such as assembling, but along with the continuous expansion of the market demand, some material or product carry out carrying, arrange or assembly operation time, realize except needing handgrip moving at X-axis, Y-axis, Z axis and except the rotation of Z axis, also needing to realize material or product to be captured or placing after X-axis or Y-axis rotate.Obviously, the parallel robot of existing four-shaft parallel cannot realize above-mentioned purpose.
Summary of the invention
The object of the present invention is to provide a kind of parallel robot, it can realize handgrip while X-axis, Y-axis, the moving and sway of Z axis, and can also realize the rotation of handgrip in X-axis or Y-axis.
A kind of parallel robot of the present invention, comprise the moving structure be arranged on pedestal and the rotational structure driving rotating disk to rotate around Z axis, wherein, moving structure comprises at least three the first drive units be fixed on pedestal, the rotating shaft of each the first drive unit is fixed with rocking arm respectively, rocking arm can be driven during axis of rotation to swing at perpendicular around the axis of its rotating shaft, each rocking arm is connected with the upper end of connecting rod by oscillating bearing away from one end of rotating shaft, and the lower end of all connecting rods connects handgrip installation component jointly by oscillating bearing; Rotational structure then comprises and is arranged on the described rotating disk on handgrip installation component and the second drive unit for driving rotating disk to rotate around Z axis, described rotating disk directly or is indirectly provided with the 3rd drive unit, and handgrip directly or is indirectly arranged on the horizontal rotating shaft of the 3rd drive unit.
Parallel robot of the present invention, owing to being directly or indirectly provided with the 3rd drive unit on rotating disk, and handgrip is directly or indirectly arranged on the horizontal rotating shaft of the 3rd drive unit, during the axis of rotation of the 3rd drive unit, handgrip can be driven to rotate around X-axis or Y-axis, thus make the present invention realize handgrip in the movement of X-axis, Y-axis, Z axis and while Z axis rotates, the rotation of handgrip in X-axis or Y-axis can also be realized, thus meet carrying, the work requirements such as arrangement or assembling of material or product further.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the enlarged detail of the part A of Fig. 1.
Detailed description of the invention
As Fig. 1, shown in Fig. 2, parallel robot of the present invention, comprise the moving structure 2 be arranged on pedestal 1 and the rotational structure driving rotating disk to rotate around Z axis, wherein, handgrip can be realized in X-axis by moving structure 2, the movement of Y-axis and Z axis, moving structure 2 comprises at least three the first drive units 21 be fixed on pedestal 1, first drive unit 21 can be servomotor or rotary cylinder, the rotating shaft of each the first drive unit 21 is fixed with rocking arm 22 respectively, rocking arm 22 can be driven during axis of rotation to swing at perpendicular around the axis of its rotating shaft, each rocking arm 22 is connected by the upper end of oscillating bearing with connecting rod 23 away from one end of rotating shaft, the lower end of all connecting rods 23 connects handgrip installation component 3 jointly by oscillating bearing, rotational structure then comprises and is arranged on the described rotating disk 5 on handgrip installation component 3 and the second drive unit 4 for driving rotating disk 5 to rotate around Z axis, second drive unit 4 can be servomotor or rotary cylinder, described rotating disk 5 directly or is indirectly provided with the 3rd drive unit 6,3rd drive unit 6 can be servomotor or rotary cylinder, and handgrip 7 directly or is indirectly arranged on the horizontal rotating shaft of the 3rd drive unit 6.During the axis of rotation of the 3rd drive unit 6, handgrip 7 can be driven to rotate around X-axis or Y-axis, thus make the present invention realize handgrip in the movement of X-axis, Y-axis, Z axis and while Z axis rotates, the rotation of handgrip in X-axis or Y-axis can also be realized, thus meet carrying, the work requirements such as arrangement or assembling of material or product further.
The structure that described rotational structure can adopt the patent application that number of patent application is " 2012103614576 " to adopt, but because its second drive unit 4 is arranged on pedestal 1, and the central rotation parts connecting the second drive unit 4 and rotating disk 5 need transmit torque by its top and bottom universal joint, and universal joint exists gap, thus the running accuracy of rotating disk around Z axis finally can be fallen.For this reason, rotational structure of the present invention can adopt embodiment as described in Figure 1, the second described drive unit 4 is arranged on handgrip installation component 3, described rotating disk 5 is direct or be indirectly connected with the vertical rotating shaft of the second drive unit 4, thus the parts such as central rotation parts and universal joint need not be adopted, thus improve the running accuracy of rotating disk 5, and reduce costs.
Described rotating disk 5 is connected with the mount pad 8 that can rotate around Z axis with rotating disk, the 3rd described drive unit 6 is fixed on mount pad 8, thus the 3rd drive unit 6 is arranged on rotating disk 5 indirectly, the horizontal rotating shaft of the 3rd drive unit 6 is connected with handgrip by the reductor 9 on mount pad 8, thus handgrip 7 is arranged on indirectly in the rotating shaft of the 3rd drive unit 6, when 3rd drive unit 6 drives its axis of rotation, handgrip 7 can be driven to rotate around X-axis or Y-axis.
Claims (4)
1. a parallel robot, comprise the moving structure be arranged on pedestal and the rotational structure driving rotating disk to rotate around Z axis, wherein, moving structure comprises at least three the first drive units be fixed on pedestal, the rotating shaft of each the first drive unit is fixed with rocking arm respectively, rocking arm can be driven during axis of rotation to swing at perpendicular around the axis of its rotating shaft, each rocking arm is connected with the upper end of connecting rod by oscillating bearing away from one end of rotating shaft, and the lower end of all connecting rods connects handgrip installation component jointly by oscillating bearing; Rotational structure then comprises and is arranged on the described rotating disk on handgrip installation component and the second drive unit for driving rotating disk to rotate around Z axis, it is characterized in that: described rotating disk directly or is indirectly provided with the 3rd drive unit, handgrip directly or is indirectly arranged on the horizontal rotating shaft of the 3rd drive unit.
2. parallel robot according to claim 1, is characterized in that: the second described drive unit is arranged on handgrip installation component, and described rotating disk is direct or be indirectly connected with the vertical rotating shaft of the second drive unit.
3. parallel robot according to claim 1, it is characterized in that: described rotating disk is connected with the mount pad that can rotate around Z axis with rotating disk, the 3rd described drive unit is fixed on mount pad, and the horizontal rotating shaft of the 3rd drive unit is connected with handgrip by the reductor on mount pad.
4. parallel robot as claimed in any of claims 1 to 3, is characterized in that: the first drive unit, the second drive unit and the 3rd drive unit are servomotor or rotary cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510686715.1A CN105269558A (en) | 2015-10-22 | 2015-10-22 | Parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510686715.1A CN105269558A (en) | 2015-10-22 | 2015-10-22 | Parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105269558A true CN105269558A (en) | 2016-01-27 |
Family
ID=55139846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510686715.1A Pending CN105269558A (en) | 2015-10-22 | 2015-10-22 | Parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105269558A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313010A (en) * | 2016-10-22 | 2017-01-11 | 济南翼菲自动化科技有限公司 | Two-axis robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100263471A1 (en) * | 2009-04-17 | 2010-10-21 | Weber Maschinenbau Gmbh Breidenbach | Robot having delta kinematics |
| KR20110033489A (en) * | 2009-09-25 | 2011-03-31 | 이윤규 | Robot having multi-joint |
| CN102049776A (en) * | 2009-10-26 | 2011-05-11 | 发那科株式会社 | Parallel link robot |
| CN104191427A (en) * | 2014-08-22 | 2014-12-10 | 深圳大宇精雕科技有限公司 | Parallel mechanism arm |
| CN104656675A (en) * | 2014-12-25 | 2015-05-27 | 天津理工大学 | High-speed five-axis linkage parallel three-coordinate measuring machine |
| CN104802169A (en) * | 2014-01-24 | 2015-07-29 | 株式会社安川电机 | Parallel link robot, hand for parallel link robot, and parallel link robot system |
| CN205148316U (en) * | 2015-10-22 | 2016-04-13 | 广州达意隆包装机械股份有限公司 | Parallel robot |
-
2015
- 2015-10-22 CN CN201510686715.1A patent/CN105269558A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100263471A1 (en) * | 2009-04-17 | 2010-10-21 | Weber Maschinenbau Gmbh Breidenbach | Robot having delta kinematics |
| KR20110033489A (en) * | 2009-09-25 | 2011-03-31 | 이윤규 | Robot having multi-joint |
| CN102049776A (en) * | 2009-10-26 | 2011-05-11 | 发那科株式会社 | Parallel link robot |
| CN104802169A (en) * | 2014-01-24 | 2015-07-29 | 株式会社安川电机 | Parallel link robot, hand for parallel link robot, and parallel link robot system |
| CN104191427A (en) * | 2014-08-22 | 2014-12-10 | 深圳大宇精雕科技有限公司 | Parallel mechanism arm |
| CN104656675A (en) * | 2014-12-25 | 2015-05-27 | 天津理工大学 | High-speed five-axis linkage parallel three-coordinate measuring machine |
| CN205148316U (en) * | 2015-10-22 | 2016-04-13 | 广州达意隆包装机械股份有限公司 | Parallel robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313010A (en) * | 2016-10-22 | 2017-01-11 | 济南翼菲自动化科技有限公司 | Two-axis robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160127 |
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| WD01 | Invention patent application deemed withdrawn after publication |