CN105364922A - Four-freedom-degree parallel type transfer robot driven by movable pairs - Google Patents

Abstract

The invention relates to a four-degree-of-freedom parallel handling robot driven by a moving pair. The purpose is that the robot provided should have the characteristics of compact structure, convenient installation, fast response and cheap price. The technical solution is: a four-degree-of-freedom parallel handling robot driven by a mobile pair, characterized in that the robot includes an end effector, a base, and two branches connected in parallel between the end effector and the base to drive the movement of the end effector Mechanism; each branch mechanism includes a screw pair, a first connecting rod, a first rotating pair, a second connecting rod and two parallel sub-branches connected in sequence between the end effector and the base; The screw pairs are coaxial; each of the sub-branches includes the second rotating pair, the third connecting rod, the third rotating pair, the sliding sleeve in the sliding pair and the sliding sleeve in the sliding pair that are sequentially connected between the second connecting rod and the base. slider.

Description

A four-degree-of-freedom parallel handling robot driven by a mobile pair

technical field

The invention relates to the field of industrial robots, in particular to a parallel robot driven by a moving pair for handling or sorting parts and having three degrees of freedom for movement and one degree of freedom for rotation.

Background technique

The main function of the handling robot is to complete the work of picking parts and assembling, and it is widely used in the fields of plastics industry, automobile industry, electronic product industry, pharmaceutical industry and food industry.

At present, most of the commercialized robots of handling class belong to SCARA type or Delta type. The SCARA robot has three translation degrees of freedom along the X, Y, and Z directions and a rotation degree of freedom around the Z axis; the SCARA robot has a large working space, but due to the limitation of the structure of the series mechanism itself, the stiffness of the SCARA mechanism is smaller than that of the parallel mechanism. The speed is also slower than the parallel mechanism. The Delta robot is a parallel robot. The motor is fixed on the base. It has the characteristics of fast dynamic response and high rigidity. However, because the reducer is installed inside, the price is relatively expensive, and the installation requires the use of a gantry, which is relatively complicated.

In today's society, it is a development trend for robots to replace human beings for repetitive labor, so it is necessary to propose a handling robot with fast response speed, high rigidity, compact structure, simple installation and low price.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings in the above-mentioned background technology and provide a four-degree-of-freedom parallel handling robot driven by a moving pair. The robot should have the characteristics of compact structure, convenient installation, fast response speed and low price.

Technical scheme of the present invention is:

A four-degree-of-freedom parallel handling robot driven by a mobile pair, characterized in that: the robot includes an end effector, a base, and two branches connected in parallel between the end effector and the base to drive the movement of the end effector;

Each branch mechanism includes a screw pair connected in turn between the end effector and the base, a first connecting rod, a first rotating pair, a second connecting rod and two parallel sub-branches; the screw in the two branches sub-coaxial;

Each of the sub-branches includes a second rotating pair, a third connecting rod, a third rotating pair, a sliding sleeve in the sliding pair, and a sliding rod in the sliding pair, which are sequentially connected between the second connecting rod and the base.

In the two sub-branches, the rotation axes of the two second rotation pairs and the rotation axes of the two third rotation pairs are parallel to each other, the sliding axes of the two sliding pairs are parallel, and the sliding axes of the sliding pairs are parallel to the second rotation axis. The axis of rotation of the pair is vertical;

The rotation axis of the first rotation pair and the sliding axis of the sliding pair in each branch mechanism are parallel to the rotation axis of the screw pair, and the rotation axis of the second rotation pair is perpendicular to the rotation axis of the screw pair.

The slide bar of the sliding pair is connected with the base, and the driver including the motor and the screw rod is installed on the sliding pair.

The beneficial effects of the present invention are:

The present invention is a compact parallel mechanism, which not only has higher rigidity, but also has a smaller motion cumulative error than the serial mechanism; the parallel mechanism of the present invention is not only compact in structure, but also convenient in installation and maintenance, and has a symmetrical structure, which can be processed and processed conveniently. control; the present invention saves the reducer and reduces the cost; therefore, the present invention has great significance for the further popularization of handling and sorting robots.

Description of drawings

Fig. 1 is a three-dimensional structure diagram of an embodiment of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following examples.

Example

As shown in Figure 1, a four-degree-of-freedom parallel handling robot driven by a mobile pair includes a base 5, an end effector 6, and two branch mechanisms. The end effector is equipped with equipment for gripping parts.

The two branches are used to drive the movement of the end effector, and are connected in parallel between the end effector and the base; each branch has five degrees of freedom, including sequentially connected between the end effector and the base Between the screw pair 31, the first connecting rod 11, the first rotating pair 21, the second connecting rod 12 and the two sub-branches in parallel; it can be seen in the figure that the screw pairs in the two branches are coaxial.

Each of the sub-branches includes the second rotating pair 22, the third connecting rod 13, the third rotating pair 23, the sliding sleeve 41, and the sliding rod 42 that are sequentially connected between the second connecting rod and the base; the sliding sleeve and the sliding rod Form a sliding pair.

In each sub-branch, the rotation axes of the second rotation pair and the third rotation pair are parallel to each other, and the sliding axis of the sliding pair is perpendicular to the rotation axes of the second rotation pair and the third rotation pair; the two sub-branches of each branch Between them, the sliding axes of the two sliding pairs are parallel to each other, the rotating axes of the two second rotating pairs are parallel to each other, and the rotating axes of the two third rotating pairs are parallel to each other; the rotating axes of the first rotating pair in each branch mechanism The rotation axis of the screw pair is parallel to the rotation axis of the screw pair, the rotation axis of the screw pair is perpendicular to the rotation axes of the second and third rotation pairs, and the rotation axis of the screw pair and the rotation axis of the sliding pair are parallel to each other.

The slide rod of the sliding pair is connected to the base, and the driver (conventional structure, omitted in the figure) including the motor and the screw mandrel is installed on the sliding pair, and the motor drives the screw mandrel to complete the linear motion of the sliding pair.

Claims (3)

1. the parallel transfer robot of four-degree-of-freedom of moving sets driving, is characterized in that: this robot comprises end effector (6), base (5) and is connected in parallel between end effector and base with the Liang Ge branch driving end effector to move;

Described each branch comprises and is connected to screw pair (31) between end effector with base, first connecting rod (11), the first revolute pair (21), second connecting rod (12) and Liang Gezi branch in parallel in turn; Screw pair in Liang Ge branch is coaxial;

Mechanism of described each sub-branch comprises and is connected to the sliding sleeve (41) in the second revolute pair (22) between second connecting rod and base, third connecting rod (13), the 3rd revolute pair (23), sliding pair and the slide bar (42) in sliding pair in turn.

2. the parallel transfer robot of four-degree-of-freedom of a kind of moving sets driving according to claim 1, it is characterized in that: in described Liang Gezi branch, the pivot center of the second revolute pair is parallel mutually with the pivot center of the 3rd revolute pair, the sliding axle line parallel of two sliding pairs, and the slip axis of sliding pair is vertical with the pivot center of the second revolute pair;

The pivot center of the first revolute pair in described each branch, the slip axis of sliding pair are all parallel to each other with the pivot center of screw pair, and the pivot center of the second revolute pair is perpendicular to the pivot center of screw pair.

3. the parallel transfer robot of four-degree-of-freedom of a kind of moving sets driving according to claim 2, is characterized in that: the slide bar of described sliding pair is connected with base, sliding pair is installed the driver comprising motor and screw mandrel.