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Six-degree-of-freedom Delta sorting robot

A robot, degree of freedom technology, applied in the field of robotics, can solve problems such as difficult to meet work tasks

Inactive Publication Date: 2016-12-21
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But it cannot rotate around the horizontal axis, so it is difficult to meet more complex tasks, which limits its application to a certain extent

Method used

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  • Six-degree-of-freedom Delta sorting robot
  • Six-degree-of-freedom Delta sorting robot
  • Six-degree-of-freedom Delta sorting robot

Examples

Experimental program
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Embodiment 1

[0024] like Figure 1~2 As shown, this embodiment includes: a static platform 1, a first dynamic platform 2 and a second dynamic platform 3, wherein: between the static platform 1 and the first dynamic platform 2, the first kinematic branch chain 4 and the second kinematic branch chain 5. The third motion branch chain 6, the fourth motion branch chain 7, the fifth motion branch chain 8 and the sixth motion branch chain 9 are connected, and the seventh motion branch chain is passed between the first moving platform 2 and the second moving platform 3 10. The eighth kinematic branch chain 11 and the ninth kinematic branch chain 12 are connected.

[0025] like image 3 As shown, the first kinematic branch chain 4, the second kinematic branch chain 5 and the third kinematic branch chain 6 all include: two short connecting rods 15, two long connecting rods 14 and a radial connecting rod 13, Two short connecting rods 15 and two long connecting rods 14 are connected to each other to...

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PUM

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Abstract

A six-degree-of-freedom Delta sorting robot comprises a static platform, a first dynamic platform, and a second dynamic platform, wherein the static platform is connected to the first dynamic platform by means of first to sixth kinematic support chains, and the first dynamic platform is connected to the second dynamic platform by means of seventh to ninth kinematic support chains. The six-degree-of-freedom Delta sorting robot is simple and compact in structure, easy to assemble, flexible in mechanism motion, and high in speed; all driving motors are arranged at the static platform; and the robot can be applied on such occasions as spot welding, spray coating and sorting, plug-in mounting, encapsulation, and packaging.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to a six-degree-of-freedom Delta sorting robot. Background technique [0002] The parallel mechanism is usually composed of a moving platform and a fixed platform connected by multiple moving branch chains. Compared with the series mechanism, it has the advantages of compact structure, rigidity, strong bearing capacity, and small cumulative error, so it has been widely used in engineering applications; the series mechanism It has the advantages of large working space; the hybrid mechanism has the advantages of parallel and series mechanisms, so it is widely used in engineering practice. [0003] The Delta robot can realize three movements and a rotation around the Z axis. It is generally composed of a frame, a dynamic platform, a static platform, three motion branch chains and an intermediate transmission motion branch chain, and can complete high-speed sorting, insertion, pack...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 林荣富郭为忠傅建勋梁瑞
Owner SHANGHAI JIAO TONG UNIV