Parallel connecting rod type Delta robot forth axis transmission mechanism

Abstract

The invention discloses a parallel connecting rod type Delta robot forth axis transmission mechanism, and relates to a Delta robot forth axis transmission mechanism. The parallel connecting rod type Delta robot forth axis transmission mechanism can meet demands for performances of a Delta robot during the rapid development process of industry of our country. The parallel connecting rod type Delta robot forth axis transmission mechanism comprises a drive motor, an upper end universal joint and a lower end universal joint. The parallel quadrangle connecting rod transmission mechanism of the forth axis of the Delta robot with four degrees of freedom further comprises a parallel connecting rod mechanism and a work platform. An output shaft of the drive motor is connected with the upper end universal joint in transmission mode. The upper end universal joint is connected with a diagonal shaft at the upper end of the parallel connecting rod mechanism. A diagonal shaft at the lower end of the parallel connecting rod mechanism is connected with the lower end universal joint. The lower end universal joint is connected with the work platform. The parallel connecting rod type Delta robot forth axis transmission mechanism is used on the Delta robot with the four degrees of freedom, and can meet the demands for the performances of the Delta robot during the rapid development process of the industry of our country.

Description

technical field [0001] The invention relates to a fourth-axis transmission mechanism of a Delta robot, which belongs to the technical field of robots. Background technique [0002] The process of China's high industrialization has led to the rapid development of robot application technology, and industrial robots are rapidly replacing the main labor force in various production lines-people. Due to its high efficiency and speed, Delta robots have become the first choice for sorting and packaging robots in the production lines of food, medicine, and daily chemical products. It is predicted that the domestic demand in China will be around hundreds of thousands of units in the next few years, and the market potential is huge. . According to the survey, the transmission mechanism of the fourth axis of the four-degree-of-freedom Delta robot in the current application field mainly has the following three forms: 1. A structure in which a ball spline shaft is used in the middle of t...

AI Technical Summary

Problems solved by technology

The problems caused by the above three forms during the operation of the robot are: Form 1; the ball spline shaft is made of alloy steel, with heavy mass and large moment of inertia, which increases the load on the drive motor of the robot; the high-speed motion of the Delta robot The generated high-frequency vibration causes the ball spline shaft to wear out quickly and must be replaced in a short period of time. During the life cycle of a Delta robot, it needs to be replaced many times (dozens of times under severe working conditions) to replace the assembly of this part, no matter Both the user and the manufacturer are a great burden and inconvenience; form 2; although the staggered sliding shafts can be made of light weight and high rigidity composite materials such as carbon fiber materials, it solves the problem of large inertia

However, there will always be a certain axial resistance in sliding friction, and the elastic deformation of the shaft will also affect the accuracy of the work or cause a certain delay when the radial torsion is transmitted by rapid rotation, which will lead to a decrease in the efficiency of the robot.

In addition, although materials with a lower coefficient of friction can be used in the application, friction will cause wear and be accompanied by dust, and the dust will have a certain degree of pollution.

Form 3; although there are not many problems of the first two types, but because the mechanism is placed on one of the three driving axes of the Delta robot in parallel, the load on the drive motor of this axis is increased; in addition, due to The motor is always in motion when the robot is working, and it has high requirements for the protection technology of the motor and motor cables.

In summary, the status quo of the fourth-axis transmission mechanism of the four-degree-of-freedom Delta robot forms a technical weakness of this type of robot

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