CN1583372A - Three freedom serial-parallel mixed robot driven by ball spline - Google Patents
Three freedom serial-parallel mixed robot driven by ball spline Download PDFInfo
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- CN1583372A CN1583372A CN 200410013785 CN200410013785A CN1583372A CN 1583372 A CN1583372 A CN 1583372A CN 200410013785 CN200410013785 CN 200410013785 CN 200410013785 A CN200410013785 A CN 200410013785A CN 1583372 A CN1583372 A CN 1583372A
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- mobile platform
- driving shaft
- spline
- spline driving
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Abstract
A ball-spline driven 3-freedom robot with the serial connection and parallel connection combined structure is disclosed. The spline driving axle passing through moving platform longitudinally, the leading screw bolt whose top end is connected with AC servo motor, and the guide track whose both ends fixed to base are arranged between two bases. The raster is arranged on said moving platform.
Description
Technical field:
The present invention relates to a kind of industrial robot with new construction.
Background technology:
At present, along with the development of MEMS technology,,, embodied the trend that such working equipment develops to the high-speed, high precision direction to the demands for higher performance of MEMS process unit for further improving MEMS workmanship and production efficiency.Yet, existing this type of equipment is as die bonder (Die Bonder) and most straight line workbench (motor-leading screw-nut) mechanism forms that adopt tandem type of wire bonder (Wire Bonder), exist movement clearance, inertia big, machinery has limited the further raising of precision, speed and acceleration also than deficiencies such as length Time Created.
Summary of the invention:
The series and parallel combined robot of Three Degree Of Freedom that the object of the present invention is to provide ball spline to drive, it comprises pedestal 1, pedestal 1 comprises top base 1-1 and bottom base 1-2, between top base 1-1 and bottom base 1-2, be provided with mobile platform 2, between top base 1-1 and bottom base 1-2, be provided with the spline driving shaft 3 that vertically passes mobile platform 2, leading screw 4 and guide rail 5, the two ends of described guide rail 5 are affixed with top base 1-1 and bottom base 1-2 respectively, the upper end of described leading screw 4 is connected with servomotor 6, the upper end of described spline driving shaft 3 is connected with direct drive motors 7, the outer shroud 3-3 of described spline driving shaft 3 links to each other with mobile platform 2, interior ring 3-2 links to each other with bar 8, right circle grating 9-1 and left side circle grating 9-2 are housed between bar 8 and spline outer shroud 3-3, linear grating 9-3 and plane grating 9-4 also are housed on mobile platform 2.Robot architecture of the present invention is novel compact, mobile inertia is little, in light weight, can realize the motion of Three Degree Of Freedom high-speed, high precision, the high rigidity of connecting rod and the control of the full cut-off ring of grating have guaranteed the high repetitive positioning accuracy of system, so this robot system can realize at a high speed, high-precision three-degree-of-freedom motion.
Description of drawings:
Fig. 1 is a perspective view of the present invention, and Fig. 2 is a front view of the present invention, and Fig. 3 is the right view of Fig. 2, and Fig. 4 is the vertical view of Fig. 2, and Fig. 5 is the syndeton schematic diagram between bar 8, mobile platform 2, the spline driving shaft 3.
The specific embodiment:
The specific embodiment one: present embodiment comprises pedestal 1, pedestal 1 comprises top base 1-1 and bottom base 1-2, between top base 1-1 and bottom base 1-2, be provided with mobile platform 2, between top base 1-1 and bottom base 1-2, be provided with the spline driving shaft 3 that vertically passes mobile platform 2, leading screw 4 and guide rail 5, the two ends of described guide rail 5 are affixed with top base 1-1 and bottom base 1-2 respectively, the upper end of described leading screw 4 is connected with servomotor 6, the upper end of described spline driving shaft 3 is connected with direct drive motors 7, the outer shroud 3-3 of described spline driving shaft 3 links to each other with mobile platform 2, interior ring 3-2 links to each other with bar 8, interannular is equipped with right circle grating 9-1 and left side circle grating 9-2 outside bar 8 and spline, and linear grating 9-3 and plane grating 9-4 also are housed on mobile platform 2.
The specific embodiment two: with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, present embodiment guide rail 5 is two, two guide rails 5 all with mobile platform 2 vertical settings, the two ends of every guide rail 5 are affixed with top base 1-1 and bottom base 1-2 respectively; The described servomotor 6 of present embodiment is an AC servo motor, described direct drive motors 7 is the voice coil loudspeaker voice coil servomotor, the upper end of described spline driving shaft 3 is connected with voice coil loudspeaker voice coil servomotor 7, described spline driving shaft 3 comprises splined shaft 3-1, interior ring 3-2, outer shroud 3-3 and ball 3-4, be provided with ball 3-4 between ring 3-2 and the outer shroud 3-3 in described, mobile platform 2 is affixed with the outer shroud 3-3 of spline driving shaft 3, aforementioned spline driving shaft 3 is two, two spline driving shafts 3 all are connected with mobile platform 2, on mobile platform 2, be provided with horizontal groove 2-1, bar 8 is connected with spline driving shaft 3 by after the groove 2-1, described bar 8 is by first bar 8-1, second bar 8-2, the 3rd bar 8-3, the 4th bar 8-4 forms, wherein the end of first bar 8-1 and second bar 8-2 is hinged with spline driving shaft 3 respectively, the end of the 3rd bar 8-3 and the 4th bar 8-4 respectively with first bar 8-1, second bar 8-2 is hinged, and the other end of described the 3rd bar 8-3 and the 4th bar 8-4 is hinged.The link position of first bar 8-1 and second bar 8-2 and spline driving shaft 3 is on the interior ring 3-2 of spline driving shaft 3.On mobile platform 2, also be provided with grating 9, grating 9 comprises right circle grating 9-1, left side circle grating 9-2, linear grating 9-3 and plane grating 9-4, described right circle grating 9-1 and left side circle grating 9-2 are installed between bar 8 and the spline outer shroud 3-3, also available encoder replaces described right circle grating 9-1 and left side circle grating 9-2, on the table top of mobile platform 2, be provided with linear grating 9-3, described mobile platform 2 is also affixed with plane grating 9-4 simultaneously, and described plane grating 9-4 is arranged on the top of bar 8 terminal workspaces.The lower end of described ball-screw 4, spline driving shaft 3 is connected by bearing 10 with bottom base 1-2.
Operation principle of the present invention is: voice coil loudspeaker voice coil servomotor 7 drives 3 work of spline driving shaft, the outer surface of spline driving shaft 3 upper spline axle 3-1 is vertical spline, the keyway of ring 3-2 inner surface for matching in matching with spline, like this, structurally, interior ring 3-2 moves axially with relative splined shaft 3-1 only.Interior ring 3-2 is simultaneously affixed with bar 8, like this, the voice coil loudspeaker voice coil servomotor can drive bar 8 by spline driving shaft 3 makes its distal point realize that x, y are to moving, and mobile platform 2 keeps motionless, plane grating 9-4 can realize x, the y of bar 8 distal points to closed-loop control, and circle grating 9-1 and 9-2 can realize the half-closed loop control of bar 8; The outer shroud 3-3 of spline driving shaft 3 and mobile platform 2 Joints, mobile platform 2 is connected with leading screw 4, leading screw 4 drives by servomotor 6, like this, in the time of servomotor work, promptly can drive mobile platform 2 by the rotation of leading screw moves up and down, moving up and down of 5 pairs of mobile platforms 2 of guide rail play the guiding role, described bar 8 is arranged in the groove that mobile platform 2 laterally opens, like this, when mobile platform 2 moves up and down, promptly can drive bar 8 simultaneously and move up and down, thereby the Z that realizes bar 8 is to moving, and linear grating 9-3 can realize that Z to mobile platform 2 is to closed-loop control.
Claims (7)
1. the series and parallel combined robot of Three Degree Of Freedom that drives of a ball spline, it comprises pedestal (1), pedestal (1) comprises top base (1-1) and bottom base (1-2), between top base (1-1) and bottom base (1-2), be provided with mobile platform (2), it is characterized in that between top base (1-1) and bottom base (1-2), being provided with the spline driving shaft (3) that vertically passes mobile platform (2), leading screw (4) and guide rail (5), the two ends of described guide rail (5) are affixed with top base (1-1) and bottom base (1-2) respectively, the upper end of described leading screw (4) is connected with servomotor (6), the upper end of described spline driving shaft (3) is connected with direct drive motors (7), the outer shroud (3-3) of described spline driving shaft (3) links to each other with mobile platform (2), interior ring (3-2) links to each other with bar (8), right circle grating (9-1) and left side circle grating (9-2) are housed between bar (8) and spline outer shroud (3-3), linear grating (9-3) and plane grating (9-4) also are housed on mobile platform (2).
2, the series and parallel combined robot of Three Degree Of Freedom of ball spline driving according to claim 1, it is characterized in that described mobile platform (2) is provided with horizontal groove (2-1), described bar (8) is connected with spline driving shaft (3) afterwards by groove (2-1).
3, the series and parallel combined robot of Three Degree Of Freedom of ball spline driving according to claim 1 is characterized in that described servomotor (6) is an AC servo motor, and described direct drive motors (7) is the voice coil loudspeaker voice coil servomotor.
4, the series and parallel combined robot of Three Degree Of Freedom that drives according to claim 1,2 or 3 described ball splines is characterized in that described spline driving shaft (3) is two, and two spline driving shafts (3) all are connected with mobile platform (2).
5, according to claim 1, the series and parallel combined robot of Three Degree Of Freedom that 2 or 3 described ball splines drive, it is characterized in that described bar (8) is by first bar (8-1), second bar (8-2), the 3rd bar (8-3), the 4th bar (8-4) formed, wherein an end of first bar (8-1) and second bar (8-2) is hinged with spline driving shaft (3) respectively, one end of the 3rd bar (8-3) and the 4th bar (8-4) respectively with first bar (8-1), second bar (8-2) is hinged, and described the 3rd bar (8-3) is hinged with the other end of the 4th bar (8-4).
6, the series and parallel combined robot of Three Degree Of Freedom that drives according to claim 1,2 or 3 described ball splines is characterized in that described guide rail (5) is two, two guide rails (5) all with the vertical setting of mobile platform (2).
7, the series and parallel combined robot of Three Degree Of Freedom that drives according to claim 1,2 or 3 described ball splines is characterized in that the lower end of described ball-screw (4), spline driving shaft (3) is connected by bearing (10) with bottom base (1-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100137852A CN1332786C (en) | 2004-05-28 | 2004-05-28 | Three freedom serial-parallel mixed robot driven by ball spline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100137852A CN1332786C (en) | 2004-05-28 | 2004-05-28 | Three freedom serial-parallel mixed robot driven by ball spline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1583372A true CN1583372A (en) | 2005-02-23 |
| CN1332786C CN1332786C (en) | 2007-08-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100137852A Expired - Fee Related CN1332786C (en) | 2004-05-28 | 2004-05-28 | Three freedom serial-parallel mixed robot driven by ball spline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1332786C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382932C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Series-parallel connection active equivalent ball-joint mechanism |
| CN102785240A (en) * | 2012-08-21 | 2012-11-21 | 深圳先进技术研究院 | Series-parallel pressing robot |
| CN104493831A (en) * | 2014-12-23 | 2015-04-08 | 东莞市顺如电子科技有限公司 | Full-range parallel four-joint controller |
| CN104520075A (en) * | 2012-08-09 | 2015-04-15 | 富士通株式会社 | Robot |
| CN105751206A (en) * | 2016-05-11 | 2016-07-13 | 江南大学 | Series-parallel-based material sorting robot mechanism |
| KR102133109B1 (en) * | 2019-01-15 | 2020-07-10 | 경남대학교 산학협력단 | Parallel robot having extended workspace |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS605432B2 (en) * | 1980-09-30 | 1985-02-12 | ファナック株式会社 | industrial robot |
| JPS61279522A (en) * | 1985-06-05 | 1986-12-10 | Ichikou Eng Kk | Lifting device for unloader |
| JPH08318480A (en) * | 1995-05-19 | 1996-12-03 | Shibaura Eng Works Co Ltd | Straight moving robot |
| JPH10202564A (en) * | 1997-01-23 | 1998-08-04 | Shibaura Eng Works Co Ltd | Linear movement type robot |
| JPH10249756A (en) * | 1997-03-12 | 1998-09-22 | Yamaha Motor Co Ltd | Industrial robot |
| CN1454753A (en) * | 2003-06-20 | 2003-11-12 | 北京工业大学 | Series-parallel micro operation parallel-connection robot mechanical apparatus |
-
2004
- 2004-05-28 CN CNB2004100137852A patent/CN1332786C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382932C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Series-parallel connection active equivalent ball-joint mechanism |
| CN104520075A (en) * | 2012-08-09 | 2015-04-15 | 富士通株式会社 | Robot |
| CN104520075B (en) * | 2012-08-09 | 2017-03-15 | 富士通株式会社 | Robot |
| CN102785240A (en) * | 2012-08-21 | 2012-11-21 | 深圳先进技术研究院 | Series-parallel pressing robot |
| CN102785240B (en) * | 2012-08-21 | 2015-06-10 | 深圳先进技术研究院 | Series-parallel pressing robot |
| CN104493831A (en) * | 2014-12-23 | 2015-04-08 | 东莞市顺如电子科技有限公司 | Full-range parallel four-joint controller |
| CN105751206A (en) * | 2016-05-11 | 2016-07-13 | 江南大学 | Series-parallel-based material sorting robot mechanism |
| CN105751206B (en) * | 2016-05-11 | 2017-11-17 | 江南大学 | Logistic sorting machine device robot mechanism based on series-parallel connection |
| KR102133109B1 (en) * | 2019-01-15 | 2020-07-10 | 경남대학교 산학협력단 | Parallel robot having extended workspace |
| WO2020149502A1 (en) * | 2019-01-15 | 2020-07-23 | 경남대학교 산학협력단 | Parallel robot having expanded operation region |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1332786C (en) | 2007-08-22 |
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Granted publication date: 20070822 Termination date: 20110528 |