CN107972017A - Six axis serial-parallel mirror robots - Google Patents
Six axis serial-parallel mirror robots Download PDFInfo
- Publication number
- CN107972017A CN107972017A CN201711481334.5A CN201711481334A CN107972017A CN 107972017 A CN107972017 A CN 107972017A CN 201711481334 A CN201711481334 A CN 201711481334A CN 107972017 A CN107972017 A CN 107972017A
- Authority
- CN
- China
- Prior art keywords
- drive
- parallel
- bevel gear
- disk
- series connection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Six axis serial-parallel mirror robots, including fixed disk and movable disk, fixed disk is equipped with the rotation tandem drive of three scalable intermediate bars of driving, intermediate bar drives first, second and third series connection output device to rotate respectively, intermediate bar is arranged between two disks, three series connection output devices are arranged on below movable disk, and the surfaces of revolution of adjacent two series connection output device is vertical；Three parallel drive units are evenly equipped with institute's fixed disk；Each parallel drive unit drives a large arm, and the one end of large arm away from driving device is hinged forearm, and the forearm other end is hinged on the side of movable disk.Parallel drive unit drives large arm and then drives forearm to realize that movable disk is moved in XOY plane and Z-direction, movable disk coordinates the rotation that three rotation tandem drives drive three series connection output devices of intermediate bar and then drive to realize all directions, improve kinematic dexterity, movement velocity and precision are improved on the basis of range of movement is ensured, integral rigidity is good at the same time, load is big, stable structure.
Description
Technical field
The invention belongs to robot field, more particularly, to six axis serial-parallel mirror robots.
Background technology
There are series connection and parallel connection Liang Zhong robots in industrial widely applied robot at present, and multiple degrees of freedom serial manipulator is more
Apply in welding, carrying, application, cutting field, it is controlled simply, and scope of activities is big, but due to itself control principle, adds up to miss
Difference is larger, and precision is low, and speed is slow；Parallel robot stable structure, rigidity is good, and load is larger, but the flexible fortune in space
It is dynamic relatively poor.Therefore, how to design that a kind of error is small, precision is high and flexible robot is studied as those skilled in the art
Problem.
The content of the invention
In view of this, the present invention is intended to provide a kind of serial-parallel mirror robot, overcomes the accumulative of existing serial manipulator
The problem of error is big, low precision and poor parallel robot flexibility.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
Six axis serial-parallel mirror robots, including fixed disk and movable disk, the fixed disk are equipped with three rotation series connection and drive
Dynamic device, each tandem drive drive a scalable intermediate bar rotation, and three intermediate bars drive the first series connection respectively
Output device, the second series connection output device and the 3rd series connection output device rotation, the intermediate bar are arranged on the fixed disk and institute
Between stating movable disk, the first series connection output device, the second series connection output device and the 3rd series connection output device are arranged on described
Below movable disk, the surfaces of revolution of the first series connection output device is parallel to movable disk, the rotation of the second series connection output device
Turn the surfaces of revolution of the face perpendicular to the described first series connection output device, the surfaces of revolution of the 3rd series connection output device is perpendicular to second
The surfaces of revolution of series connection output device；The edge of the fixed disk lower surface is evenly equipped with the first parallel drive unit, the second drive in parallel
Dynamic device and the 3rd parallel drive unit；First parallel drive unit, the second parallel drive unit and the 3rd parallel drive unit
Each large arm in parallel of driving one, each hinged one forearm in parallel of the one end of parallel connection large arm away from respective drive device, the parallel connection
The one end of forearm away from corresponding large arm is hinged on the side of movable disk.
The tandem drive and the first parallel drive unit, the second parallel drive unit and the 3rd parallel drive unit
Include motor and speed reducer, the motor drives gear reducer.
The forearm includes two small armed levers being arranged in parallel, and one end of the two small armed levers is connected by connecting ball head respectively
The both sides of corresponding large arm are connected to, the two forearm other ends are connected to the side of movable disk by connecting ball head respectively, each small armed lever
Both ends close to connecting ball head nearby be equipped with spring hanger, be connected with spring between the spring hanger of two small armed lever same positions.
The scalable intermediate bar includes contiguous block, candan universal joint and the first fixed seat, described first fixed seat one end
Candan universal joint is connected, two telescoping tubes being arranged in parallel are fixed in other end both sides, and the other end of the telescoping tube is fixed on second
In fixed seat, telescopic shaft is equipped with telescoping tube, the telescopic shaft is connected with second fixed seat by sliding straight bearing, institute
State the one end of telescopic shaft away from the telescoping tube to be fixed in the 3rd fixed seat, the centre of the 3rd fixed seat is straight by sliding
Spool holds one telescopic shaft of connection, which stretches out the centre that the 3rd fixed seat is fixed on the second fixed seat, another
End is equipped with U-shaped contiguous block, and the one end of candan universal joint away from the first fixed seat is filled by a contiguous block with corresponding tandem drive
Put connection.
The 3rd series connection output device includes the first drive disk, and first drive disk is driven by the first drive block, institute
One end that the first driving disk center is fixedly connected with the 6th bevel gear shaft is stated, the other end of the 6th bevel gear shaft is equipped with the 6th cone
Gear, the 5th bevel gear is engaged on the 6th bevel gear, and the 5th bevel gear is fixed on one end of the four or five bevel gear shaft,
The other end of four or five bevel gear shaft is fixed with the 4th bevel gear, and the 4th bevel gear engages third hand tap gear, described
Third hand tap gear is installed on the 3rd series connection output shaft, and the 6th bevel gear shaft is connected with the described 3rd, and output shaft is parallel to be set
Put, the four or five bevel gear shaft is perpendicular to the 6th bevel gear shaft；
The second series connection output device includes the second hollow drive disk, and second drive disk is driven by the second drive block
Dynamic, second drive disk is fixedly connected with one end of hollow second bevel gear axis, and the other end of the second bevel gear axis is set
There is hollow second bevel gear, the second bevel gear engages hollow first bevel gear, and the first bevel gear is fixed on sky
Second series connection output shaft one end of the heart, the second bevel gear are set in the 6th bevel gear above the 6th bevel gear by bearing
On axis, second drive disk is set on the 6th bevel gear shaft below the first drive disk by bearing, the first gear
It is set in by bearing on the four or five bevel gear shaft on the right side of the 5th bevel gear；
The first series connection output device includes the 3rd hollow drive disk, and the 3rd drive disk is driven by the 3rd drive block
Dynamic, the 3rd drive disk is fixedly connected with first hollow series connection output shaft one end, and the 3rd drive disk is arranged by bearing
On second bevel gear axis below the second drive disk；
First drive block, second drive block and the 3rd drive block are U-shaped with corresponding intermediate bar respectively
Contiguous block connects.
First drive disk, the second drive disk and the 3rd drive disk extend outward a convex block, the first drive block,
Two drive blocks and the 3rd drive block are respectively arranged on the convex block on corresponding drive disk, and each convex block, which corresponds to, is located at corresponding intermediate bar
Lower section.
Upper cover is covered with outside three rotations tandem drive.
First parallel drive unit, the second parallel drive unit and the 3rd parallel drive unit are externally provided with shell.
The top of first drive block, the second drive block and the 3rd drive block is equipped with a connecting portion, on the connecting portion
Equipped with horizontally disposed through hole, the opening both sides of the U-shaped contiguous block are equipped with through hole, and the connecting portion is opened arranged on U-shaped contiguous block
It is connected between mouthful by axis pin with U-shaped contiguous block.
Relative to the prior art, six axis serial-parallel mirror robot of the present invention has the advantage that：
Due to the adoption of the above technical scheme：
1. three parallel drive units on fixed disk of the present invention drive three large arm in parallel and then drive forearm in parallel real
Movable disk is showed in XOY plane movement and Z-direction movement, movable disk coordinates three rotation tandem drives to drive intermediate bar
And then drive three series connection output devices to realize the rotation of all directions, robot motion's flexibility is improved, is ensureing to move model
Movement velocity and precision are improved on the basis of enclosing, while the rigidity of robot entirety is good, load is big, stable structure；
2. the configuration of the present invention is simple, small, operation is easy；
3. forearm is connected with large arm by bulb, rotation is flexibly, rotation angle is big, precision is high, easy for installation and structure is firm
Property and stability are more preferable；
It is simple in structure, can stretch 4. scalable intermediate bar is made up of base, linear slide bearing and telescoping tube and telescopic shaft
Contracting adjustable range is wide；
5. first, second and third series connection output device is compact-sized, compact, while realizes rigid good and load big function.
Brief description of the drawings
The attached drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its explanation is used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structure diagram of intermediate bar of the present invention；
Fig. 4 is movable disk of the present invention and internal structure schematic diagram below；
Fig. 5 is profiles of the Fig. 4 along B-B directions；
Fig. 6 is the right view of Fig. 4；
Fig. 7 is the rearview of Fig. 4；
Fig. 8 is the magnified partial view of Fig. 1；
Fig. 9 is the enlarged drawing in A portions in Fig. 8.
Description of reference numerals：
1st, upper cover；2nd, fixed disk；3rd, large arm in parallel；4th, shell；5th, forearm in parallel；6th, intermediate bar；7th, movable disk；8th, first
Parallel drive unit；9th, the second parallel drive unit；10th, the 3rd parallel drive unit；11st, the first series connection output device；12nd,
Two series connection output devices；13rd, the 3rd series connection output device；14th, convex block；51st, connecting ball head；52nd, spring hanger；53rd, spring；
54th, small armed lever；61st, contiguous block；62nd, candan universal joint；63rd, telescoping tube；64th, sliding straight bearing；65th, telescopic shaft；66th, first
Fixed seat；67th, U-shaped contiguous block；68th, the second fixed seat；69th, the 3rd fixed seat；111st, the 3rd drive block；112nd, the 3rd driving
Disk；113rd, the first series connection output shaft；121st, first bevel gear；122nd, second bevel gear；123rd, second bevel gear axis；124th, second
Drive disk；125th, the second drive block；126th, the second series connection output shaft；131st, third hand tap gear；132nd, the four or five bevel gear shaft；
133rd, the 4th bevel gear；134th, the 5th bevel gear；135th, the 6th bevel gear；136th, the 6th bevel gear shaft；137th, the first drive disk；
138th, the first drive block；139th, the 3rd series connection output shaft.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " etc. are only used for description purpose, and it is not intended that instruction or hint phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Below with reference to the accompanying drawings and the present invention will be described in detail in conjunction with the embodiments.
As shown in figs 1-9, six axis serial-parallel mirror robot, including fixed disk 2 and movable disk 7, the fixed disk 2 are equipped with
Three rotation tandem drives, each tandem drive drive a scalable intermediate bar 6 to rotate, three intermediate bars 6
The first series connection series connection series connection output device 13 of output device 12 and the 3rd of output device 11, second is driven to rotate respectively, in described
Between bar 6 be arranged between the fixed disk 2 and the movable disk 7, it is described first series connection output device 11, second connect output device
12 and the 3rd series connection output device 13 be arranged on the lower section of the movable disk 7, the surfaces of revolution of the first series connection output device 11 is parallel
In movable disk 7, the surfaces of revolution of the second series connection output device 12 perpendicular to the described first series connection output device 11 the surfaces of revolution,
The surfaces of revolution of the surfaces of revolution of the 3rd series connection output device 13 perpendicular to the second series connection output device 12；Under the fixed disk 2
The edge on surface is evenly equipped with the first parallel drive unit 8, the second parallel drive unit 9 and the 3rd parallel drive unit 10；First
Parallel drive unit 8, the second parallel drive unit 9 and the 3rd parallel drive unit 10 respectively drive a large arm 3 in parallel, each simultaneously
Hinged one forearm 5 in parallel of the one end of the United Nations General Assembly's arm 3 away from respective drive device, the described one end of parallel connection forearm 5 away from corresponding large arm
It is hinged on the side of movable disk 7.
The tandem drive and the first parallel drive unit 8, the second parallel drive unit 9 and the 3rd parallel drive dress
Putting 10 includes motor and speed reducer, and the motor drives gear reducer.
The forearm includes two small armed levers 54 being arranged in parallel, and one end of the two small armed levers 54 passes through connected ball respectively
First 51 are connected to the both sides of corresponding large arm, and the two forearm other ends are connected to the side of movable disk 7 by connecting ball head 51 respectively, often
The both ends of a small armed lever 54 are nearby equipped with 53 hanger 52 of spring, the spring of two small 54 same positions of armed lever close to connecting ball head 51
Spring 53 is connected between 53 hangers 52.
The scalable intermediate bar 6 includes contiguous block 61,62 and first fixed seat 66 of candan universal joint, and described first fixes
Two telescoping tubes 63 being arranged in parallel are fixed in 66 one end of seat connection candan universal joint 62, other end both sides, the telescoping tube 63 it is another
One end is fixed in the second fixed seat 68, and telescopic shaft 65, the telescopic shaft 65 and second fixed seat are equipped with telescoping tube 63
68 are connected by sliding straight bearing 64, and the one end of the telescopic shaft 65 away from the telescoping tube 63 is fixed on the 3rd fixed seat 69
On, the centre of the 3rd fixed seat 69 connects a telescopic shaft 65 by sliding straight bearing 64, which stretches out
3rd fixed seat 69 is fixed on the centre of the second fixed seat 68, and the other end is equipped with U-shaped contiguous block 67, and candan universal joint 62 is remote
One end from the first fixed seat 66 is connected by a contiguous block with corresponding tandem drive.
The 3rd series connection output device 13 includes the first drive disk 137, and first drive disk 137 is by the first drive block
138 drivings, 137 center of the first drive disk is fixedly connected with one end of the 6th bevel gear shaft 136, the 6th bevel gear shaft
136 other end is equipped with the 6th bevel gear 135, and the 5th bevel gear 134, the 5th cone are engaged on the 6th bevel gear 135
Gear 134 is fixed on one end of the four or five bevel gear shaft 132, and the other end of the four or five bevel gear shaft 132 is fixed with the 4th
Bevel gear 133, the 4th bevel gear 133 engage third hand tap gear 131, and the third hand tap gear 131 is installed in the 3rd series connection
On output shaft 139, the 6th bevel gear shaft 136 is arranged in parallel with the described 3rd output shaft 139 of connecting, the four or the five cone tooth
Wheel shaft 132 is perpendicular to the 6th bevel gear shaft 136；
The second series connection output device 12 includes the second hollow drive disk 124, and second drive disk 124 is by second
Drive block 125 drives, and second drive disk 124 is fixedly connected with one end of hollow second bevel gear axis 123, second cone
The other end of gear shaft 123 is equipped with hollow second bevel gear 122, and the second bevel gear 122 engages the first hollow cone tooth
Wheel 121, the first bevel gear 121 are fixed on second hollow 126 one end of series connection output shaft, and the second bevel gear 122 is logical
Cross bearing to be set on the 6th bevel gear shaft 136 of the top of the 6th bevel gear 135, second drive disk 124 passes through bearing holder (housing, cover)
It is located on the 6th bevel gear shaft 136 of the lower section of the first drive disk 137, the first gear is set in the 5th bevel gear by bearing
On four or five bevel gear shaft 132 on 134 right sides；
The first series connection output device 11 includes the 3rd hollow drive disk 112, and the 3rd drive disk 112 is by the 3rd
Drive block 111 drives, and the 3rd drive disk 112 is fixedly connected with first hollow 113 one end of series connection output shaft, and the described 3rd drives
Moving plate 112 is set in by bearing on the second bevel gear axis 123 of the lower section of the second drive disk 124；
First drive block 138, second drive block 125 and the 3rd drive block 111 respectively with it is corresponding in
Between the U-shaped contiguous block 67 of bar 6 connect.
First drive disk 137, the second drive disk 124 and the 3rd drive disk 112 extend outward a convex block 14, the
One drive block 138, the second drive block 125 and the 3rd drive block 111 are respectively arranged on the convex block 14 on corresponding drive disk, each
Convex block 14 is corresponded to positioned at the lower section of corresponding intermediate bar 6.
Upper cover 1 is covered with outside three rotations tandem drive.
First parallel drive unit 8, the second parallel drive unit 9 and the 3rd parallel drive unit 10 are externally provided with shell
4.The setting of upper cover 1 and shell 4 was not only beautiful but also dust-proof, extended motor, the service life of gear reducer.
The top of first drive block 138, the second drive block 125 and the 3rd drive block 111 is equipped with a connecting portion, described
Connecting portion is equipped with horizontally disposed through hole, and the opening both sides of the U-shaped contiguous block 67 are equipped with through hole, and the connecting portion is arranged on U
Type contiguous block 67 is connected between being open by axis pin with U-shaped contiguous block 67.
Operation principle：
Six axis serial-parallel mirror robots include three parallel mechanical arms (in parallel large arm 3, forearm 5 in parallel) and three cascade machines
Tool arm (the first series connection series connection series connection of output device 12 and the 3rd of output device 11, second output device 13).Three parallel manipulators
Arm is fixed on fixed disk 2, by the rotation driving of servomotor different angle, control movable disk 7 realize XOY plane movement and
The translation of Z-direction movement；Three series connection mechanical arms are fixed in movable disk 7, servomotor are housed on fixed disk 2, activity
Disk 7 drives series connection mechanical arm to be synchronized with the movement, and can be realized by the rotary motion manipulator in three planes in space
Flexible motion.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention god.
Claims (9)
1. six axis serial-parallel mirror robots, it is characterised in that：Including fixed disk and movable disk, the fixed disk is equipped with three rotations
Turn tandem drive, each tandem drive drives a scalable intermediate bar rotation, and three intermediate bars drive respectively
First series connection output device, the second series connection output device and the 3rd series connection output device rotation, the intermediate bar is arranged on described solid
Between price fixing and the movable disk, the first series connection output device, the second series connection output device and the 3rd series connection output device
Below the movable disk, the surfaces of revolution of the first series connection output device is parallel to movable disk, the second series connection output
The surfaces of revolution of device perpendicular to described first series connection output device the surfaces of revolution, it is described 3rd series connection output device the surfaces of revolution hang down
Directly in the surfaces of revolution of the second series connection output device；The edge of the fixed disk lower surface is evenly equipped with the first parallel drive unit,
Two parallel drive units and the 3rd parallel drive unit；First parallel drive unit, the second parallel drive unit and the 3rd are in parallel
Driving device respectively drives a large arm in parallel, each the hinged parallel connection forearm in the one end of parallel connection large arm away from respective drive device,
The described one end of parallel connection forearm away from corresponding large arm is hinged on the side of movable disk.
2. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：The tandem drive and first
Parallel drive unit, the second parallel drive unit and the 3rd parallel drive unit include motor and speed reducer, and the motor drives
Dynamic gear reducer.
3. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：The forearm includes two and parallel sets
The small armed lever put, one end of the two small armed levers are connected to the both sides of corresponding large arm by connecting ball head respectively, and two forearms are another
End is connected to the side of movable disk by connecting ball head respectively, and the both ends of each small armed lever are nearby equipped with bullet close to connecting ball head
Spring hanger, is connected with spring between the spring hanger of two small armed lever same positions.
4. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：The scalable intermediate bar includes connecting
Block, candan universal joint and the first fixed seat are connect, described first fixed seat one end connects candan universal joint, and other end both sides fix two
The telescoping tube being arranged in parallel, the other end of the telescoping tube are fixed in the second fixed seat, and telescopic shaft is equipped with telescoping tube, described
Telescopic shaft is connected with second fixed seat by sliding straight bearing, and the one end of the telescopic shaft away from the telescoping tube is fixed
In the 3rd fixed seat, the centre of the 3rd fixed seat connects a telescopic shaft, the telescopic shaft one end by sliding straight bearing
The centre that the 3rd fixed seat is fixed on the second fixed seat is stretched out, the other end is equipped with U-shaped contiguous block, and candan universal joint is away from
One end of one fixed seat is connected by a contiguous block with corresponding tandem drive.
5. six axis serial-parallel mirror robot according to claim 4, it is characterised in that：The 3rd series connection output device bag
The first drive disk is included, first drive disk is driven by the first drive block, and the first driving disk center is fixedly connected with the 6th cone
One end of gear shaft, the other end of the 6th bevel gear shaft are equipped with the 6th bevel gear, the 5th are engaged on the 6th bevel gear
Bevel gear, the 5th bevel gear are fixed on one end of the four or five bevel gear shaft, and the other end of the four or five bevel gear shaft is consolidated
Surely there is the 4th bevel gear, the 4th bevel gear engages third hand tap gear, and the third hand tap gear is installed in the 3rd series connection output
On axis, the 6th bevel gear shaft is arranged in parallel with the described 3rd output shaft of connecting, and the four or five bevel gear shaft is perpendicular to institute
State the 6th bevel gear shaft；
The second series connection output device includes the second hollow drive disk, and second drive disk is driven by the second drive block,
Second drive disk is fixedly connected with one end of hollow second bevel gear axis, and the other end of the second bevel gear axis is equipped with sky
The second bevel gear of the heart, the second bevel gear engage hollow first bevel gear, and the first bevel gear is fixed on hollow
Second series connection output shaft one end, the second bevel gear are set in the 6th bevel gear shaft above the 6th bevel gear by bearing
On, second drive disk is set on the 6th bevel gear shaft below the first drive disk by bearing, and the first gear is led to
Cross on the four or five bevel gear shaft that bearing is set on the right side of the 5th bevel gear；
The first series connection output device includes the 3rd hollow drive disk, and the 3rd drive disk is driven by the 3rd drive block,
3rd drive disk is fixedly connected with hollow first series connection output shaft one end, and the 3rd drive disk is set in the by bearing
On second bevel gear axis below two drive disks；
First drive block, second drive block and the 3rd drive block U-shaped connection with corresponding intermediate bar respectively
Block connects.
6. six axis serial-parallel mirror robot according to claim 5, it is characterised in that：First drive disk, second drive
Moving plate and the 3rd drive disk extend outward a convex block, and the first drive block, the second drive block and the 3rd drive block are respectively arranged on
On convex block on corresponding drive disk, each convex block is corresponded to positioned at the lower section of corresponding intermediate bar.
7. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：Three rotations tandem drive dress
Upper cover is covered with outside putting.
8. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：First parallel drive unit,
Second parallel drive unit and the 3rd parallel drive unit are externally provided with shell.
9. six axis serial-parallel mirror robot according to claim 5, it is characterised in that：First drive block, second drive
The top of motion block and the 3rd drive block is equipped with a connecting portion, and the connecting portion is equipped with horizontally disposed through hole, the U-shaped connection
The opening both sides of block are equipped with through hole, and the connecting portion is connected between being arranged on U-shaped contiguous block opening by axis pin with U-shaped contiguous block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481334.5A CN107972017A (en) | 2017-12-29 | 2017-12-29 | Six axis serial-parallel mirror robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481334.5A CN107972017A (en) | 2017-12-29 | 2017-12-29 | Six axis serial-parallel mirror robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972017A true CN107972017A (en) | 2018-05-01 |
Family
ID=62005438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711481334.5A Pending CN107972017A (en) | 2017-12-29 | 2017-12-29 | Six axis serial-parallel mirror robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972017A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858137A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Manipulator based on delta parallel institution |
| CN109605333A (en) * | 2018-12-28 | 2019-04-12 | 汕头大学 | A kind of spring-rope combination drive branch and three-rotational DOF parallel robot |
| CN110666778A (en) * | 2019-10-21 | 2020-01-10 | 勃肯特(镇江)机器人技术有限公司 | Six-axis series-parallel series-parallel robot and wiring mechanism thereof |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040143876A1 (en) * | 1998-12-03 | 2004-07-22 | Fredrik Persson | Industrial robot |
| US20100206120A1 (en) * | 2009-02-13 | 2010-08-19 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| EP2241416A1 (en) * | 2009-04-17 | 2010-10-20 | Weber Maschinenbau GmbH Breidenbach | Robot with delta kinematics |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| US20130131695A1 (en) * | 2010-04-26 | 2013-05-23 | Scuola Superiore De Studi Universitari E Di Per- Fezionamento Sant'anna | Robotic apparatus for minimally invasive surgery |
| WO2013161036A1 (en) * | 2012-04-26 | 2013-10-31 | 富士機械製造株式会社 | Parallel link-type part mounting device |
| CN103878786A (en) * | 2014-04-04 | 2014-06-25 | 浙江钱江摩托股份有限公司 | Wrist with three freedom degrees for robot |
| CN203804975U (en) * | 2014-02-14 | 2014-09-03 | 青岛汇智机器人有限公司 | High-stretching double-cross-joint rotation shaft of parallel robot |
| KR101483081B1 (en) * | 2014-01-16 | 2015-01-21 | 주식회사 로보스타 | Parallel robot wrist using differential gear |
| 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 |
| CN104842346A (en) * | 2014-02-13 | 2015-08-19 | 罗普伺达机器人有限公司 | Desktop type cartesian coordinate robot assembled with 3-degree-of-freedom (DOF) wrist device |
| CN105563458A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Parallel robot of plane four-bar mechanism |
| DE102015225332A1 (en) * | 2015-12-15 | 2017-06-22 | Krones Aktiengesellschaft | Parallel kinematics robots, in particular industrial robots |
| CN107433574A (en) * | 2017-09-22 | 2017-12-05 | 中国地质大学（武汉） | A kind of six degree of freedom connection in series-parallel puts together machines people |
| CN208179510U (en) * | 2017-12-29 | 2018-12-04 | 勃肯特（天津）机器人技术有限公司 | Six axis serial-parallel mirror robots |
-
2017
- 2017-12-29 CN CN201711481334.5A patent/CN107972017A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040143876A1 (en) * | 1998-12-03 | 2004-07-22 | Fredrik Persson | Industrial robot |
| US20100206120A1 (en) * | 2009-02-13 | 2010-08-19 | Fanuc Ltd | Parallel robot provided with wrist section having three degrees of freedom |
| EP2241416A1 (en) * | 2009-04-17 | 2010-10-20 | Weber Maschinenbau GmbH Breidenbach | Robot with delta kinematics |
| US20100263471A1 (en) * | 2009-04-17 | 2010-10-21 | Weber Maschinenbau Gmbh Breidenbach | Robot having delta kinematics |
| US20130131695A1 (en) * | 2010-04-26 | 2013-05-23 | Scuola Superiore De Studi Universitari E Di Per- Fezionamento Sant'anna | Robotic apparatus for minimally invasive surgery |
| WO2013161036A1 (en) * | 2012-04-26 | 2013-10-31 | 富士機械製造株式会社 | Parallel link-type part mounting device |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| CN104786233A (en) * | 2014-01-16 | 2015-07-22 | 罗普伺达机器人有限公司 | Parallel robot wrist using differential gear |
| KR101483081B1 (en) * | 2014-01-16 | 2015-01-21 | 주식회사 로보스타 | Parallel robot wrist using differential gear |
| 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 |
| CN104842346A (en) * | 2014-02-13 | 2015-08-19 | 罗普伺达机器人有限公司 | Desktop type cartesian coordinate robot assembled with 3-degree-of-freedom (DOF) wrist device |
| CN203804975U (en) * | 2014-02-14 | 2014-09-03 | 青岛汇智机器人有限公司 | High-stretching double-cross-joint rotation shaft of parallel robot |
| CN103878786A (en) * | 2014-04-04 | 2014-06-25 | 浙江钱江摩托股份有限公司 | Wrist with three freedom degrees for robot |
| CN105563458A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Parallel robot of plane four-bar mechanism |
| DE102015225332A1 (en) * | 2015-12-15 | 2017-06-22 | Krones Aktiengesellschaft | Parallel kinematics robots, in particular industrial robots |
| CN107433574A (en) * | 2017-09-22 | 2017-12-05 | 中国地质大学（武汉） | A kind of six degree of freedom connection in series-parallel puts together machines people |
| CN208179510U (en) * | 2017-12-29 | 2018-12-04 | 勃肯特（天津）机器人技术有限公司 | Six axis serial-parallel mirror robots |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858137A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Manipulator based on delta parallel institution |
| CN109605333A (en) * | 2018-12-28 | 2019-04-12 | 汕头大学 | A kind of spring-rope combination drive branch and three-rotational DOF parallel robot |
| CN109605333B (en) * | 2018-12-28 | 2020-11-20 | 汕头大学 | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot |
| CN110666778A (en) * | 2019-10-21 | 2020-01-10 | 勃肯特(镇江)机器人技术有限公司 | Six-axis series-parallel series-parallel robot and wiring mechanism thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI546476B (en) | Parallel link robot | |
| US7597025B2 (en) | Articulated robot | |
| US20150343631A1 (en) | Industrial Delta Type Robot | |
| CN107972017A (en) | Six axis serial-parallel mirror robots | |
| CN107433574B (en) | Six-freedom-degree series-parallel assembly robot | |
| CN102059697B (en) | Translating branch chain and parallel robot using same | |
| CN101176993A (en) | Plane multiple joint robot | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN103052475A (en) | Parallel mechanism | |
| CN102107431A (en) | Parallel robot | |
| CN102501246B (en) | Three-drive extensible dexterous mechanical arm | |
| JP2013528501A (en) | Industrial robot with detachable 4-bar linkage mechanism drive | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN101531003A (en) | Parallel mechanism to implement tri-translation and mono-rotation | |
| US11708882B2 (en) | Head mechanism and robot | |
| CN107414800B (en) | Two-branch parallel surgical robot driven by rotation | |
| JPH02298482A (en) | Vertical articulated robot | |
| CN208179510U (en) | Six axis serial-parallel mirror robots | |
| CN100569460C (en) | The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism | |
| CN205325674U (en) | Bionical arm of scrambleing and operating | |
| CN107662202A (en) | The six-joint robot and its assemble method of a kind of gear transmission structure | |
| CN201552579U (en) | Hyper-redundant robot joint | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| KR101483080B1 (en) | Rectangular coordinate robot combined with 3 degrees of freedom wrist structure | |
| JP2007130729A (en) | Industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210507 Address after: No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province Applicant after: Bokent (Yuyao) robot technology Co.,Ltd. Address before: Room 101, 1st floor, building A2, area a, airport international headquarters base, No.8 Pingying Road, Dongli District, Tianjin Applicant before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right |