CN104290093A - Cross-shaped parallel robot - Google Patents
Cross-shaped parallel robot Download PDFInfo
- Publication number
- CN104290093A CN104290093A CN201410495116.7A CN201410495116A CN104290093A CN 104290093 A CN104290093 A CN 104290093A CN 201410495116 A CN201410495116 A CN 201410495116A CN 104290093 A CN104290093 A CN 104290093A
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- guide rail
- drag chain
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- cross
- slide carriage
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 20
- 238000005452 bending Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention discloses a cross-shaped parallel robot. The cross-shaped parallel robot comprises stand columns, an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a drive motor, a driving synchronous pulley and a driven synchronous pulley. The X-axis assembly comprises an X-axis guide rail and an X-axis slide carriage, and the left end and the right end of the X-axis guide rail are fixedly connected with the stand columns on the corresponding sides respectively. The Z-axis assembly comprises a Z-axis guide rail and a Z-axis sliding block which is fixedly connected to the X-axis slide carriage. The Y-axis assembly comprises an executing component and an air cylinder or an electric cylinder, wherein the air cylinder or the electric cylinder is installed at the lower end of the Z-axis guide rail, and the air cylinder or the electric cylinder drives the executing component to move in the Y-axis direction. A cross-shaped frame formed by the X-axis guide rail and the Z-axis guide rail is sleeved with a cross-shaped synchronous belt, the drive motor drives the driving synchronous pulley to rotate, the driving synchronous pulley drives the driven synchronous pulley to rotate through the synchronous belt, and finally the executing component is driven to move in the-axis X direction and the Z-axis direction. The cross-shaped parallel robot is simple in structure, low in manufacturing cost, good in structural rigidity and high in position accuracy, and is a real environment-friendly energy-saving robot.
Description
Technical field
The present invention relates to industrial robot technical field.
Background technology
Along with improving constantly of industrial automation level, robot is widely used in industrial every field.Robot is roughly divided into parallel robot, articulated robot and serial manipulator three major types, and its execution unit will realize X to, Y-direction and Z-direction motion, needs to mate different power respectively and drives.In motion process, the weight of the power of each axle or motor self will be added on moving loads, cause power consumption.Further, the subject matter that existing industrial robot structurally exists is: overall structure rigidity is inadequate, and the position precision difficulty performing part controls, and complex structure, manufacturing cost is high.
Summary of the invention
The present invention is directed to above-mentioned technical problem to improve, intend providing that a kind of structure is simple, low cost of manufacture, the rigidity of structure is good, position precision is high, the parallel robot of green energy conservation.
For solving above technical problem, the technical solution adopted in the present invention is: a kind of cross parallel robot, comprise spaced apart two columns (1) in left and right, key is: also comprise X to assembly (2), Y-direction assembly (3) and Z-direction assembly (4); Described X comprises X direction guiding rail (21) and X to slide carriage (22) to assembly (2), the two ends, left and right of X direction guiding rail (21) are fixed together with the column (1) of respective side respectively, and X is slidably connected to slide carriage (22) and X direction guiding rail (21); Described Z-direction assembly (4) comprises Z-direction guide rail (41) and Z-direction slide block (42), described Z-direction slide block (42) is connected in X on slide carriage (22), Z-direction slide block (42) and Z-direction guide rail (41) are slidably connected, and Z-direction guide rail (41) is perpendicular to X direction guiding rail (21); Described Y-direction assembly (3) comprises execution unit (31), and cylinder (32) or electric cylinder, described cylinder (32) or electric cylinder are arranged on the lower end of Z-direction guide rail (41), and cylinder (32) or electric cylinder drive execution unit (31) to move in Y-direction;
The two ends, left and right of described X direction guiding rail (21) are respectively provided with a drive motors (5) and an active synchronization belt wheel (6), the two ends up and down of described Z-direction guide rail (41) are respectively provided with a driven synchronous pulley (7), respectively be provided with an idle pulley (8) at four Angle Position places that Z-direction guide rail (41) and X direction guiding rail (21) intersect, and four idle pulleys (8) are installed in X on slide carriage (22); The cross-shape frame that described X direction guiding rail (21) and Z-direction guide rail (41) are formed is set with criss-cross Timing Belt (10), described Z-direction guide rail (41) is installed with the synchronous belt locking block (9) engaged with Timing Belt (10), described drive motors (5) drives active synchronization belt wheel (6) to rotate, active synchronization belt wheel (6) drives driven synchronous pulley (7) to rotate by Timing Belt (10), finally drive execution unit (31) X to and Z-direction motion.
Preferred as such scheme, the top of described column (1) is provided with the drag chain (11) consistent with X direction guiding rail (21) bearing of trend, drag chain case (12) is provided with directly over drag chain (11), one end of drag chain (11) is upwards connected with drag chain case (12) after bending 180 °, drag chain case (12) is fixed together to slide carriage (22) with X by mounting bracket (13), by X to slide carriage (22) drive drag chain case (12) and drag chain (11) together at X to movement, the below of drag chain (11) is provided with drag chain wire casing (15), described drag chain wire casing (15) is installed in the mobile guide that column (1) top is drag chain (11).By arranging drag chain and drag chain case, pass through for the pipeline in cross parallel robot, and drag chain moves to slide carriage with X with drag chain case, thus protection pipeline, avoid the pipeline in motion process to interfere, and increase the mobile guide that drag chain wire casing is drag chain.
Described execution unit (31) is vacuum cup, gas pawl or manipulator; Execution unit can select different execution units to install according to specific needs, to meet the use needs of various occasion.
Further, X direction guiding rail (21) and X are to slide carriage (22), and Z-direction guide rail (41) and Z-direction slide block (42) are slidably connected respectively by dovetail groove, ensure the reliability of sliding.
The course of work and principle as follows: the Timing Belt of cross parallel robot is cross, just be enclosed within the cross-shape frame of X direction guiding rail and Z-direction guide rail formation, wherein Z-direction slide block is along with X slides together to slide carriage, Z-direction slide block is connected with Z-direction slide, because Z-direction slide block and X are be fixed together to slide carriage, therefore Z-direction slide block is motionless in Z-direction, is moved relative to Z-direction slide block by Z-direction guide rail, and namely Z-direction guide rail can move up and down.Two active synchronization belt wheels are driven by drive motors respectively, and active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt, final drive execution unit X to and Z-direction motion.
When two drive motors (are clockwise or are counterclockwise) rotation in the same way, execution unit moves upward at X, when two drive motors, oppositely (one is clockwise, one is counterclockwise) rotate time, execution unit moves in Z-direction, namely by control to drive motors, can realize execution unit X to and the high-speed motion of Z-direction, and movement locus is complicated and changeable; Execution unit moves by cylinder or the realization of electric cylinder in Y-direction, and Y-direction stroke is determined by the stroke of cylinder or electric cylinder.
Main feature of the present invention is: execution unit at X to being realized by a cross Timing Belt, two drive motors, two active synchronization belt wheels, two driven synchronous pulleys with the motion in Z-direction, and drive motors is fixed, can not along with X moves to the motion with Z-direction in motion process; Decrease moving loads quality, substantially increase movement velocity; Meanwhile, Timing Belt is enclosed within the cross-shape frame of X direction guiding rail and Z-direction guide rail formation, increases the rigidity of structure, improves the accuracy of execution unit movement position; And structure is simple, design ingenious, low cost of manufacture.
Accompanying drawing explanation
Fig. 1 is stereogram of the present invention.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the structural representation of cross Timing Belt.
Fig. 5 a is two drive motors when all rotating clockwise, the slip schematic diagram of Timing Belt.
Fig. 5 b is two drive motors when all rotating counterclockwise, the slip schematic diagram of Timing Belt.
Fig. 6 a be the drive motors in left side clockwise, the drive motors on right side is when rotating counterclockwise, the slip schematic diagram of Timing Belt.
Fig. 6 b is when the drive motors in left side is inverse clockwise, the drive motors on right side rotates clockwise, the slip schematic diagram of Timing Belt.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
Composition graphs 1---shown in Fig. 3, a kind of cross parallel robot, is made up of to assembly 2, Y-direction assembly 3, Z-direction assembly 4, two drive motors 5, two active synchronization belt wheels 6, two driven synchronous pulleys 7, four idle pulleys 8, synchronous belt locking block 9, Timing Belt 10, drag chain 11, drag chain case 12, drag chain wire casings 15 etc. two columns 1, X.
Totally two, column 1, between left and right every layout.X is made up of to slide carriage 22 to assembly 2 X direction guiding rail 21 and X, the two ends, left and right of X direction guiding rail 21 are fixed together with the column 1 of respective side respectively, column 2 is for supporting X direction guiding rail 21, X is slidably connected to slide carriage 22 and X direction guiding rail 21, preferably, X direction guiding rail 21 and X are slidably connected to slide carriage 22 by dovetail groove.
Z-direction assembly 4 is formed primarily of Z-direction guide rail 41 and Z-direction slide block 42, is preferably provided with Z-direction guide rails assembling plate 43 at Z-direction guide rail 41 and X between slide carriage 22, and Z-direction guide rails assembling plate 43 and Z-direction guide rail 41 are fixed together, and cover Z-direction guide rail 41 with dust-proof.Z-direction slide block 42 is connected in X on slide carriage 22, Z-direction slide block 42 and Z-direction guide rail 41 are slidably connected, and preferably, Z-direction slide block 42 and Z-direction guide rail 41 are slidably connected by dovetail groove, Z-direction guide rail 41 is perpendicular to X direction guiding rail 21, and Z-direction guide rail 41 can slide up and down by X direction guiding rail 21 relatively.
Y-direction assembly 3 is made up of execution unit 31 and cylinder 32, and cylinder 32 is arranged on the lower end of Z-direction guide rail 41, and cylinder 32 drives execution unit 31 to move in Y-direction.Cylinder 32 can substitute by electricity consumption cylinder, and execution unit 31 can be vacuum cup, gas pawl or manipulator etc.
The two ends, left and right of X direction guiding rail 21 are respectively provided with a drive motors 5 and an active synchronization belt wheel 6, drive motors 5 and active synchronization belt wheel 6 are fixed on column 1 by motor mount 14, and drive motors 5 and active synchronization belt wheel 6 lay respectively at the both sides, front and back of motor mount 14.The two ends up and down of Z-direction guide rail 41 are respectively provided with a driven synchronous pulley 7, four the Angle Position places intersected at Z-direction guide rail 41 and X direction guiding rail 21 are respectively provided with an idle pulley 8, and four idle pulleys 8 are installed in X on slide carriage 22, along with X horizontally slips together to slide carriage 22.
The cross-shape frame that X direction guiding rail 21 and Z-direction guide rail 41 are formed is set with criss-cross Timing Belt 10 (as shown in Figure 4), Timing Belt 10 carries engaging tooth (only illustrating on corresponding one section in the lower end of Z-direction guide rail 41), Z-direction guide rail 41 is installed with the synchronous belt locking block 9 engaged with Timing Belt 10, to prevent Timing Belt 10 from skidding, it is the auxiliary member of necessity during Timing Belt application.Drive motors 5 drives active synchronization belt wheel 6 to rotate, and active synchronization belt wheel 6 drives driven synchronous pulley 7 to rotate by Timing Belt 10, final drive execution unit 31 X to and Z-direction motion.Execution unit 31 can at X to movement arbitrarily in, Y-direction and Z-direction.
For arranging pipeline smoothly, the top of column 1 is provided with the drag chain 11 consistent with X direction guiding rail 21 bearing of trend, drag chain case 12 is provided with directly over drag chain 11, one end of drag chain 11 is upwards connected with drag chain case 12 after bending 180 °, drag chain case 12 is fixed together to slide carriage 22 with X by mounting bracket 13, by X to slide carriage 22 drive drag chain case 12, drag chain 11 and mounting bracket 13 together at X to movement, the below of drag chain 11 is provided with drag chain wire casing 15, and drag chain wire casing 15 is installed in the mobile guide for drag chain 11 above column 1.The cross section of drag chain wire casing 15 is U-shaped.Drag chain case 12 and drag chain wire casing 15 are mainly used in pipeline to be passed through, and pipeline is arranged more orderly.
Shown in composition graphs 1, Fig. 5 a, Fig. 5 b, when two drive motors 5 (are clockwise or are counterclockwise) rotation in the same way, execution unit 31 moves upward at X.Shown in composition graphs 1, Fig. 6 a, Fig. 6 b, when two drive motors 5, oppositely (one is clockwise, one is counterclockwise) rotate time, execution unit 51 moves in Z-direction, namely by the control to drive motors 5, can realize execution unit 31 X to and the high-speed motion of Z-direction, and movement locus is complicated and changeable; Execution unit 31 moves and to be realized by cylinder 32 in Y-direction, and Y-direction stroke is determined by the stroke of cylinder 32.
Claims (4)
1. a cross parallel robot, comprises spaced apart two columns (1) in left and right, it is characterized in that: also comprise X to assembly (2), Y-direction assembly (3) and Z-direction assembly (4); Described X comprises X direction guiding rail (21) and X to slide carriage (22) to assembly (2), the two ends, left and right of X direction guiding rail (21) are fixed together with the column (1) of respective side respectively, and X is slidably connected to slide carriage (22) and X direction guiding rail (21); Described Z-direction assembly (4) comprises Z-direction guide rail (41) and Z-direction slide block (42), described Z-direction slide block (42) is connected in X on slide carriage (22), Z-direction slide block (42) and Z-direction guide rail (41) are slidably connected, and Z-direction guide rail (41) is perpendicular to X direction guiding rail (21); Described Y-direction assembly (3) comprises execution unit (31), and cylinder (32) or electric cylinder, described cylinder (32) or electric cylinder are arranged on the lower end of Z-direction guide rail (41), and cylinder (32) or electric cylinder drive execution unit (31) to move in Y-direction;
The two ends, left and right of described X direction guiding rail (21) are respectively provided with a drive motors (5) and an active synchronization belt wheel (6), the two ends up and down of described Z-direction guide rail (41) are respectively provided with a driven synchronous pulley (7), respectively be provided with an idle pulley (8) at four Angle Position places that Z-direction guide rail (41) and X direction guiding rail (21) intersect, and four idle pulleys (8) are installed in X on slide carriage (22); The cross-shape frame that described X direction guiding rail (21) and Z-direction guide rail (41) are formed is set with criss-cross Timing Belt (10), described Z-direction guide rail (41) is installed with the synchronous belt locking block (9) engaged with Timing Belt (10), described drive motors (5) drives active synchronization belt wheel (6) to rotate, active synchronization belt wheel (6) drives driven synchronous pulley (7) to rotate by Timing Belt (10), finally drive execution unit (31) X to and Z-direction motion.
2. according to cross parallel robot according to claim 1, it is characterized in that: the top of described column (1) is provided with the drag chain (11) consistent with X direction guiding rail (21) bearing of trend, drag chain case (12) is provided with directly over drag chain (11), one end of drag chain (11) is upwards connected with drag chain case (12) after bending 180 °, drag chain case (12) is fixed together to slide carriage (22) with X by mounting bracket (13), by X to slide carriage (22) drive drag chain case (12) and drag chain (11) together at X to movement, the below of drag chain (11) is provided with drag chain wire casing (15), described drag chain wire casing (15) is installed in the mobile guide that column (1) top is drag chain (11).
3. according to the cross parallel robot described in claim 1 or 2, it is characterized in that: described execution unit (31) is vacuum cup, gas pawl or manipulator.
4. according to cross parallel robot according to claim 1, it is characterized in that: described X direction guiding rail (21) and X are to slide carriage (22), and Z-direction guide rail (41) and Z-direction slide block (42) are slidably connected respectively by dovetail groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410495116.7A CN104290093A (en) | 2014-09-24 | 2014-09-24 | Cross-shaped parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410495116.7A CN104290093A (en) | 2014-09-24 | 2014-09-24 | Cross-shaped parallel robot |
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| Publication Number | Publication Date |
|---|---|
| CN104290093A true CN104290093A (en) | 2015-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410495116.7A Pending CN104290093A (en) | 2014-09-24 | 2014-09-24 | Cross-shaped parallel robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105347050A (en) * | 2015-10-29 | 2016-02-24 | 洛阳润信机械制造有限公司 | Full-automatic setting machine |
| CN105643611A (en) * | 2016-02-06 | 2016-06-08 | 武汉人天包装自动化技术股份有限公司 | Cross-shaped XOY double-axis linkage rectangular coordinate robot |
| CN105690107A (en) * | 2016-04-18 | 2016-06-22 | 上海三上国际贸易有限公司 | High-speed two-shaft cross-shaped sliding table |
| CN106346459A (en) * | 2016-10-26 | 2017-01-25 | 宁波创控智能科技有限公司 | Cross writing and drawing robot |
| CN106425149A (en) * | 2016-12-01 | 2017-02-22 | 无锡明珠钢球有限公司 | Four-head automatic welding device for rotor |
| CN107053149A (en) * | 2017-04-07 | 2017-08-18 | 章凯 | A kind of mechanical arm configuration of automatic transport recrater |
| CN107322578A (en) * | 2017-07-19 | 2017-11-07 | 重庆东茂科技有限公司 | Truss robot |
| CN107553029A (en) * | 2016-07-01 | 2018-01-09 | 上汽通用五菱汽车股份有限公司 | A kind of front deck roof side rail assembly is reached the standard grade alignment system and localization method of reaching the standard grade |
| CN107758204A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of transport mechanism and battery production equipment |
| CN108583991A (en) * | 2018-05-21 | 2018-09-28 | 马瑜良 | Full-automatic liquid-transfering sucker arranges machine |
| CN109882562A (en) * | 2019-04-10 | 2019-06-14 | 中南大学 | A synchronous belt group linear motion mechanism |
| CN110000378A (en) * | 2019-04-02 | 2019-07-12 | 重庆大学 | The wind field detection device and increasing material manufacturing equipment of increasing material manufacturing equipment |
| CN112589470A (en) * | 2020-11-26 | 2021-04-02 | 台州绿沃川自动化设备制造有限公司 | Bi-motor hold-in range control quadriversal moving mechanism |
| CN113996596A (en) * | 2021-10-29 | 2022-02-01 | 重庆摩西机器人有限公司 | Flexible slag blowing equipment for cylinder body |
| CN114918963A (en) * | 2022-05-31 | 2022-08-19 | 三一汽车制造有限公司 | Sucker mechanism and truss manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105347050A (en) * | 2015-10-29 | 2016-02-24 | 洛阳润信机械制造有限公司 | Full-automatic setting machine |
| CN105643611A (en) * | 2016-02-06 | 2016-06-08 | 武汉人天包装自动化技术股份有限公司 | Cross-shaped XOY double-axis linkage rectangular coordinate robot |
| CN105690107A (en) * | 2016-04-18 | 2016-06-22 | 上海三上国际贸易有限公司 | High-speed two-shaft cross-shaped sliding table |
| CN107553029A (en) * | 2016-07-01 | 2018-01-09 | 上汽通用五菱汽车股份有限公司 | A kind of front deck roof side rail assembly is reached the standard grade alignment system and localization method of reaching the standard grade |
| CN106346459A (en) * | 2016-10-26 | 2017-01-25 | 宁波创控智能科技有限公司 | Cross writing and drawing robot |
| CN106425149A (en) * | 2016-12-01 | 2017-02-22 | 无锡明珠钢球有限公司 | Four-head automatic welding device for rotor |
| CN107053149A (en) * | 2017-04-07 | 2017-08-18 | 章凯 | A kind of mechanical arm configuration of automatic transport recrater |
| CN107322578A (en) * | 2017-07-19 | 2017-11-07 | 重庆东茂科技有限公司 | Truss robot |
| CN107758204A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of transport mechanism and battery production equipment |
| CN108583991A (en) * | 2018-05-21 | 2018-09-28 | 马瑜良 | Full-automatic liquid-transfering sucker arranges machine |
| CN110000378A (en) * | 2019-04-02 | 2019-07-12 | 重庆大学 | The wind field detection device and increasing material manufacturing equipment of increasing material manufacturing equipment |
| CN110000378B (en) * | 2019-04-02 | 2020-05-22 | 重庆大学 | Air field detection device for additive manufacturing equipment and additive manufacturing equipment |
| CN109882562A (en) * | 2019-04-10 | 2019-06-14 | 中南大学 | A synchronous belt group linear motion mechanism |
| CN112589470A (en) * | 2020-11-26 | 2021-04-02 | 台州绿沃川自动化设备制造有限公司 | Bi-motor hold-in range control quadriversal moving mechanism |
| CN113996596A (en) * | 2021-10-29 | 2022-02-01 | 重庆摩西机器人有限公司 | Flexible slag blowing equipment for cylinder body |
| CN114918963A (en) * | 2022-05-31 | 2022-08-19 | 三一汽车制造有限公司 | Sucker mechanism and truss manipulator |
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Application publication date: 20150121 |