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Connecting rod and synchronous belt combined transmission four-degree-of-freedom robot

A timing belt and robot technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large space occupied by DELTA robots and heavy structure of SCARA robots, and achieve convenient debugging and disassembly, compact structure, and convenient maintenance and repair. Effect

Inactive Publication Date: 2015-05-20
FUJIAN PROVINCE HUALONG MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although it can meet the engineering requirements, the structure of the SCARA robot is relatively cumbersome, and the DELTA robot occupies a relatively large space.

Method used

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  • Connecting rod and synchronous belt combined transmission four-degree-of-freedom robot
  • Connecting rod and synchronous belt combined transmission four-degree-of-freedom robot
  • Connecting rod and synchronous belt combined transmission four-degree-of-freedom robot

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Such as figure 1 As shown, a four-degree-of-freedom robot of a connecting rod-synchronous belt combined transmission provided by the present invention includes a frame 18, an end effector 1 (a spline ball screw, including a bracket 1-2, a screw nut 1- 1. Lead screw spline 1-3 and lead screw 1-4), parallelogram four-bar mechanism (respectively comprising first active arm 13, second active arm 10, first driven arm 11 and connecting rod 6), synchronous Pulley and synchronous belt (respectively comprising the first pulley 22, the second pulley 21, the third pulley 17, the fourth pulley 16, the fifth pulley 12, the sixth pulley 7, the seventh pulley 4, The eighth pulley 2 and the ninth pulley 26 and the first synchronous belt 23, the second synchronous belt 20, the third synchronous belt 15, the fourth synchronous belt 9, the fifth synchronous belt 8, the sixth sync...

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Abstract

The invention discloses a connecting rod and synchronous belt combined transmission four-degree-of-freedom robot and belongs to the technical field of industrial robots. The robot comprises a machine frame, an end effector, a parallelogram four-rod mechanism, synchronous pulleys, synchronous belts and driving devices. Every two driving devices are concentrically, symmetrically and fixedly installed on the different sides of the machine frame. Driving arms and main driving pulleys are concentrically installed on the four driving devices. The parallelogram four-rod mechanism is used as a movable platform of the end effector and provides two translational motion degrees of freedom for the end effector. Torque is transferred by the synchronous belts for the pulleys. The torque is transferred along two branch paths of a connecting rod to the end effector to achieve Z-axis axial translational motion degrees and the Z-axis-around rotation degrees of freedom. The connecting rod and synchronous belt combined transmission four-degrees-of-freedom robot effectively achieves industrial sorting robot flexibility, safety, portability and the like, and has the advantages of being easy to manufacture, convenient to install and debug, low in manufacturing cost and the like.

Description

Technical field: [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a four-degree-of-freedom robot with combined transmission of a connecting rod and a synchronous belt. Background technique: [0002] In the automated production lines of industries such as light industry, medicine, food, and electronics, operations such as sorting, packaging, and packaging often require the manipulator with the end effector 1 to perform high-speed operations in space. General industrial robots are expensive, expensive equipment, not precise enough in structure, relatively large in size, large in space, and heavy in structure, which cannot meet people's high requirements for functionality, small space, light weight, and high precision. At present, most of the four-degree-of-freedom robots of the sorting class belong to the SCARA type or the DELTA type. Although it can meet the engineering requirements, the structure of the SCARA robot is re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 张良安余亮王梦涛谭玉良柏家峰王鹏高鲁文万俊
Owner FUJIAN PROVINCE HUALONG MACHINERY
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