Four-freedom-degree parallel sorting robot driven by rotation pairs

Abstract

The invention relates to a four-freedom-degree parallel sorting robot driven by rotation pairs. The provided robot needs to have the beneficial effects of being compact in structure, convenient to install, high in responding speed and low in price. According to the technical scheme, the four-freedom-degree parallel sorting robot driven by the rotation pairs is characterized in that the robot comprises a tail end executer, a base and two branch mechanisms connected between the tail end executer and the base in parallel so as to drive the tail end executer to move; each branch mechanism comprises a spiral pair, a first connecting rod, the first rotation pair, a second connecting rod and two sub-branch mechanisms, all of which are sequentially connected between the tail end executer and the base, wherein the sub-branch mechanisms are connected in parallel; the spiral pairs in the two branch mechanisms are coaxial; and each sub-branch mechanism comprises the second rotation pairs, third connecting rods, the third rotation pairs, fourth connecting rods and the fourth rotation pairs, all of which are sequentially connected between the second connecting rods and the base.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a parallel robot driven by a rotary pair for sorting or handling parts and having three degrees of freedom of movement and one degree of freedom of rotation. Background technique [0002] The main function of the sorting 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. [0003] At present, most of the commercial robots for sorting are 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 ...

AI Technical Summary

Problems solved by technology

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 more complicated.

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