CN106217356A - A kind of four-shaft parallel robot train formula moving platform - Google Patents
A kind of four-shaft parallel robot train formula moving platform Download PDFInfo
- Publication number
- CN106217356A CN106217356A CN201610727247.2A CN201610727247A CN106217356A CN 106217356 A CN106217356 A CN 106217356A CN 201610727247 A CN201610727247 A CN 201610727247A CN 106217356 A CN106217356 A CN 106217356A
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- China
- Prior art keywords
- platform
- sub
- shaft parallel
- shaft
- moving platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
Abstract
The present invention relates to a kind of four-shaft parallel robot train formula moving platform, the sub-platform I including main shaft and intersected and sub-platform II；Also including four-shaft parallel mechanism, described four-shaft parallel mechanism is provided with two groups of branched versus, described branched versus is equipped with lower connecting shaft, described sub-platform I and described sub-platform II respectively with corresponding under connecting shaft affixed.Lightly, transmission range and bearing capacity are big, meet the requirement of high speed pick-and-place operation for described moving platform compact conformation, design.Using train transmission, reliable transmission, compact conformation, it is possible to achieve the rotation of main shaft, improve transmission accuracy, noise is little, efficiency is high in operation simultaneously, meets the requirement of complicated pick-and-place operation.
Description
Technical field
The present invention relates to parallel robot technical field, specifically a kind of four-shaft parallel robot is dynamic flat by train formula
Platform.
Background technology
Parallel institution due to high rigidity, in high precision, the advantage such as high speed and be gradually applied to part processing, medicine, electronics etc.
Industry.At present, the motion of parallel institution end effector is determined by the body of parallel institution mostly, and rarely having can be according to moving platform
Structure realizes rotating, and realizes certain speed increasing ratio.
The patent of invention of Publication No. CN102642205A discloses the moving platform structure of a kind of four-freedom parallel mechanism,
Its moving platform includes upper and lower moving platform and by being distributed on three or four plane quadrilateral machines between upper and lower moving platform periphery
The bindiny mechanism of structure composition and rotating mechanism composition.The advantage of this moving platform is can by rotating mechanism and tetragon bindiny mechanism
The relative movement vertically of upper and lower moving platform is changed into the rotation of end effector, but during its shortcoming is conversion of motion
Distance between upper and lower moving platform can change, and structure is the compactest.
The patent of invention of Publication No. CN103753521B discloses a kind of pinion and-rack moving platform.This moving platform includes
Relative sub-platform I and sub-platform II, be provided with guiding mechanism and the angular transition being made up of rack-and-pinion between two sub-platforms
Mechanism.Relative movement between two sub-platforms can be converted into the rotation of end effector by angle converting mechanism, if but processing installation
Low precision, drive noise is big, and abrasion is very fast.
Summary of the invention
For drawbacks described above, the present invention proposes a kind of four-shaft parallel robot train formula moving platform.
A kind of four-shaft parallel robot train formula moving platform, the sub-platform I including main shaft and intersected and sub-platform
Ⅱ.Also including four-shaft parallel mechanism, described four-shaft parallel mechanism is provided with two groups of branched versus, described branched versus is equipped with
Lower connecting shaft, described sub-platform I and described sub-platform II respectively with corresponding under connecting shaft affixed.
Being provided with the speeder of train formula between described sub-platform I and described sub-platform II, described speeder includes
Gear ring, gear, No. two gears, centre wheel and tooth rest；Described gear ring is fixed on described sub-platform II, a described tooth
Wheel and No. two gears are separately mounted on described tooth rest, and engage respectively with described gear ring and described centre wheel, described center
Taking turns with described main shaft by bonded, described main the tip of the axis is connected with executor.
A described gear and No. two gears are arranged symmetrically on tooth rest, to help the dynamic balancing of moving platform.
A described gear and No. two gears are all connected by deep groove ball bearing with tooth rest, to avoid tooth rest with No. one
Gear and the rotation of No. two gears.
Described gear ring is 6 with the ratio of the number of teeth of described centre wheel, to realize 6 times of speed increasing ratios.
The invention has the beneficial effects as follows:
1, described moving platform compact conformation, design are lightly, and transmission range and bearing capacity are big, meet the operation of high speed pick-and-place
Requirement.
2, use train transmission, reliable transmission, compact conformation, it is possible to achieve the rotation of main shaft, improve transmission accuracy, with
Luck Row noise is little, efficiency is high, meets the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
With embodiment, invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the explosive view of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below right
The present invention is expanded on further.
As shown in Figure 1 and Figure 2, a kind of four-shaft parallel robot train formula moving platform, put down including four-shaft parallel mechanism, son
Platform I 1, sub-platform II 5, tooth rest 10, No. two gears 12 of 6, gear, centre wheel 11 and gear ring 14.Described sub-platform I 1 He
Described sub-platform II 5 is corresponding affixed with the lower connecting shaft 15 of two groups of branched versus that four-shaft parallel mechanism is provided with respectively；Described
Gear ring 14 is fixed on described sub-platform II 5,10, No. two gears 12 of a described gear respectively by deep groove ball bearing 9,
No. two deep groove ball bearings 13 are arranged on tooth rest 6, and engage respectively with described gear ring 14 and described centre wheel 11, described center
Wheel 11 and main shaft 4 are by bonded, and the end of described main shaft 14 is connected with executor 7.Due to a described gear 10 and described
No. two gears 12 are arranged on described tooth rest 6 by a deep groove ball bearing 9 and No. two deep groove ball bearings 13 respectively, therefore can keep away
Exempt from the rotation of tooth rest 6.Owing to the gear ratio of described gear ring 14 with described centre wheel 11 is 6, therefore when described sub-platform II 5 is relative
When described sub-platform I 1 axial rotation ± 30 °, sub-platform II 5 drives described gear ring 14 to rotate, and is then driven by the gear teeth, makes
Described main shaft 4 is around own axis 180 °, and the rotation direction phase of the rotation direction of described main shaft 4 and described sub-platform II 5
Instead.
Described main shaft is provided with snap joint 3 near one end of sub-platform I 1, is provided with between described sub-platform I 1 and main shaft 4
No. three deep groove ball bearings 8, described No. three deep groove ball bearing 8 outer ends are provided with bearing (ball) cover 2.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
The personnel simply present invention it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (4)
1. a four-shaft parallel robot train formula moving platform, the sub-platform I including main shaft and intersected and sub-platform II；
It is characterized in that: also include four-shaft parallel mechanism, described four-shaft parallel mechanism is provided with two groups of branched versus, described relative
Chain is equipped with lower connecting shaft, described sub-platform I and described sub-platform II respectively with corresponding under connecting shaft affixed；
Between described sub-platform I and described sub-platform II, be provided with the speeder of train formula, described speeder include gear ring,
Number gear, No. two gears, centre wheel and tooth rest；Described gear ring is fixed on described sub-platform II, a described gear and
No. two gears are separately mounted on described tooth rest, and engage respectively with described gear ring and described centre wheel, described centre wheel with
Described main shaft is by bonded, and described main the tip of the axis is connected with executor.
A kind of four-shaft parallel robot the most according to claim 1 train formula moving platform, it is characterised in that: described No. one
Gear and No. two gears are arranged symmetrically on tooth rest, to help the dynamic balancing of moving platform.
A kind of four-shaft parallel robot the most according to claim 2 train formula moving platform, it is characterised in that: described No. one
Gear and No. two gears are all connected by deep groove ball bearing with tooth rest, to avoid tooth rest with a gear and No. two gears
Rotate.
A kind of four-shaft parallel robot the most according to any one of claim 1 to 3 train formula moving platform, its feature exists
In: described gear ring is 6 with the ratio of the number of teeth of described centre wheel, to realize 6 times of speed increasing ratios.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727247.2A CN106217356A (en) | 2016-08-25 | 2016-08-25 | A kind of four-shaft parallel robot train formula moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727247.2A CN106217356A (en) | 2016-08-25 | 2016-08-25 | A kind of four-shaft parallel robot train formula moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106217356A true CN106217356A (en) | 2016-12-14 |
Family
ID=57556277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610727247.2A Pending CN106217356A (en) | 2016-08-25 | 2016-08-25 | A kind of four-shaft parallel robot train formula moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106217356A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956249A (en) * | 2017-05-11 | 2017-07-18 | 重庆邮电大学 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
| CN106985134A (en) * | 2017-05-11 | 2017-07-28 | 重庆邮电大学 | It is a kind of that there is the 3-freedom parallel mechanism for being hinged moving platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
| CN103753521A (en) * | 2014-01-17 | 2014-04-30 | 天津大学 | Pinion-and-rack type four-freedom-degree high-speed parallel robot |
| CN206085030U (en) * | 2016-08-25 | 2017-04-12 | 芜湖瑞思机器人有限公司 | Four -axis for parallel robot train formula move platform |
-
2016
- 2016-08-25 CN CN201610727247.2A patent/CN106217356A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
| CN103753521A (en) * | 2014-01-17 | 2014-04-30 | 天津大学 | Pinion-and-rack type four-freedom-degree high-speed parallel robot |
| CN206085030U (en) * | 2016-08-25 | 2017-04-12 | 芜湖瑞思机器人有限公司 | Four -axis for parallel robot train formula move platform |
Non-Patent Citations (1)
| Title |
|---|
| 李玉航等: "一种新型 4 自由度高速并联机械手动力尺度综合", 《机械工程学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956249A (en) * | 2017-05-11 | 2017-07-18 | 重庆邮电大学 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
| CN106985134A (en) * | 2017-05-11 | 2017-07-28 | 重庆邮电大学 | It is a kind of that there is the 3-freedom parallel mechanism for being hinged moving platform |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161214 |