CN109877816A - A kind of single-degree-of-freedom multi-joint mast system and lifting method - Google Patents
A kind of single-degree-of-freedom multi-joint mast system and lifting method Download PDFInfo
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- CN109877816A CN109877816A CN201910196360.6A CN201910196360A CN109877816A CN 109877816 A CN109877816 A CN 109877816A CN 201910196360 A CN201910196360 A CN 201910196360A CN 109877816 A CN109877816 A CN 109877816A
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Abstract
The invention discloses a kind of single-degree-of-freedom multi-joint mast system and lifting methods, belong to machinery field.It includes: pedestal, motor, lifting connecting rod, platform connecting rod and load platform；The lifting connecting rod includes bottom linkage rod and mid link, bottom linkage rod is driven axis connection by middle part with mid link, the lower end of the bottom linkage rod is installed on pedestal, and with motor by bottom driving axis connection, the upper end and platform connecting rod lower end of the mid link are driven axis connection by top；The load platform is connect with platform connecting rod；And the ratio between angular speed of bottom linkage rod, mid link, platform link rotatable is 1:2:1；Adjacent each link rotatable is contrary.Present system can make the platform connecting rod of mast system end keep vertical rising relative to work top, and its posture can be kept at any time constant relative to work top.
Description
Technical field
The invention belongs to electromechanical integration component, more specifically to a kind of single-degree-of-freedom multi-joint mast system and
Lifting method.
Background technique
There are four types of types for current common lift mast, are hydraulic up-down mast, electric screw lifting mast respectively
Bar, electric wire rope type elevation mast, Pneumatic lifting mast, these masts respectively have advantage and disadvantage.
Hydraulic up-down mast load-carrying is big, but inflexible and self weight is larger；The operation of electric screw elevation mast
Steadily, speed preferably controls, but it is not foldable, cannot be guaranteed that volume is met the requirements while realizing lifting task；Electricity
The dynamic steel wire drive mast speed that runs smoothly is easy to control, but structure is not compact, and free clearance is larger, and safety coefficient is low；Gas
Dynamic elevation mast structure is simple, and high reliablity is easy to maintain, but its load-carrying is small, and needs to provide gas source, not portable.
For being able to achieve the lift mast mechanism of folding, generally by multiple motor drivens, so its weight and volume phase
It is generally large for the mast system of single motor driving, and multiple motors make the control system of robot become increasingly complex.
As disclosed a kind of novel articulated robot in prior art CN104084945A, rotating platform, lower machine are housed on pedestal
The lower end of tool arm is hinged on the upper end of rotating platform, and the upper end of lower mechanical arm and the lower end of middle mechanical arm are hinged, middle mechanical arm
Upper end and one end of upper mechanical arm are hinged, and other end of mechanical arm installs lifting shaft on this；Rotation is provided in rotating platform
Platform driving device, the upper end of hypozygal and lower mechanical arm between the lower end and rotating platform of lower mechanical arm and middle machine
Middle joint between tool arm lower end is installed by one regulating device respectively；Between the upper end of middle mechanical arm and one end of upper mechanical arm
Upper joint is equipped with upper joint driving device；Equipped with lifting shaft device of rotation driving and lifting shaft lifting driving dress on upper mechanical arm
It sets；Each driving device is controlled by control system.It is equipped with motor driven in each joint in the robot, is worked
Space is the pose set in three-dimensional space, and manpower can be replaced to carry out specific repeated labor and high-risk operations, main to apply
In industrial circle.
Prior art CN207724338U discloses a kind of horizontal mechanical arm, including horizontal device, two transmission devices, drive
Dynamic device and motor, horizontal mechanical arm are always maintained at horizontal during rotation using side tooth and straight-tooth transmission realization pallet
State.In use, when motor 4 starts turning；Power transmission is to two transmission bracket body 2- being fixedly connected with motor output shaft
3-1, two transmission bracket body 2-3-1 begin around motor output shaft rotation, the company of being bolted on transmission bracket body 2-3-1
Then two transmission shaft fixed body 2-3-2, I 2-2-2 of bracket fixed section and II 2-2-4 of bracket fixed section are rotatably connected on two respectively
On a transmission shaft fixed body 2-3-2, transmission shaft 2-2 is transmitted axis fixed body 2-3-2 drive, and transmission shaft 2-2 begins around motor
Output shaft rotates, and is fixedly connected two transmission gear 2-1 on transmission shaft 2-2, it is defeated that two transmission gear 2-1 begin around motor
Shaft rotation；Two drive shaft fixed body 3-3-2 are bolted to connection respectively on driving arm body 3-3-1, two drives
Moving axis 3-2 is respectively fixedly connected on two drive shaft fixed body 3-3-2；Two II 3-1 of side tooth are respectively fixedly connected at two
On drive shaft 3-2；Tooth II 3-1 in side is engaged with the transmission gear 2-1 of the lower end transmission shaft 2-2, and tooth II 3-1 in side is fixed, transmission gear
2-1 rotation drives transmission shaft 2-2 rotation, and the transmission gear 2-1 of the upper end transmission shaft 2-2 is engaged with I 1-1 of side tooth, and tooth I 1-1 in side is solid
Surely it is connected on the tooth fixed section 1-2-1 of side, tooth I 1-1 in side drives horizontal plate linkage section 1-2-3 rotation, horizontal plate linkage section 1-2-3
On be fixedly connected level tray set 1-4-2, then level tray body 1-4-1 is started turning；Because of I 1-1 of II 3-1 of side tooth and side tooth
Size is identical, and transmission ratio is identical, and side level tray body 1-4-1 is horizontal with driving arm body 3-3-1 always.
However the working environment of specialized robot is special in mast system, in some cases to the weight of robot itself
Amount, volume suffer from strict requirements.Therefore, structure is simple, the light-weight and compact-sized specialized robot to occupy little space
Mast system becomes the new research direction of elevation mast technical field.
Summary of the invention
1. to solve the problems, such as
, weight weight, complex structure and other problems big for existing lift mast volume, the present invention provide a kind of single-degree-of-freedom
Multi-joint mast system and lifting method.
2. technical solution
To solve the above-mentioned problems, the technical solution adopted in the present invention is as follows:
A kind of single-degree-of-freedom multi-joint mast system, comprising: pedestal, motor, lifting connecting rod, platform connecting rod and load are flat
Platform；The lifting connecting rod includes bottom linkage rod and mid link, and bottom linkage rod and mid link pass through middle part transmission axis connection, institute
The lower end for stating bottom linkage rod is installed on pedestal, and passes through bottom driving axis connection with motor；The upper end of the mid link with
Platform connecting rod lower end is driven axis connection by top；The load platform is connect with platform connecting rod；And bottom linkage rod, middle part connect
The ratio between bar, angular speed of platform link rotatable are 1:2:1；Adjacent each link rotatable is contrary.When each connecting rod of motor driven
When movement, each connecting rod is able to maintain end's platform connecting rod during lifting relative to work top under the ratio between this angular speed
Posture it is constant.Due to the length of the single connecting rod when objective environment requires or harsh design requirement limitation mast system folds
It, can be by increasing the mid link number when so that maximum rising height requirement is not achieved using the mast system of three connecting rods
Amount, so that concatenated connecting rod assembly is formed, to meet maximum rising height requirement.And the rotational angular velocity phase of each mid link
Together, it is 2 times of bottom linkage rod and platform connecting rod angle speed.Above-mentioned all length of connecting rods can also be required because of different rising heights
And change.
Preferably, be respectively set retarder on top transmission shaft, middle part transmission shaft and bottom driving axis, reduction ratio it
Than for 2:1:2, and the outbound course of adjacent retarder is opposite.Retarder this reduction ratio condition different with outbound course it
Under, it can guarantee that the ratio between angular speed of bottom linkage rod, mid link and platform link rotatable is 1:2:1, and rotation direction phase
Instead.And then keep posture of platform connecting rod during lifting relative to work top constant.When the number of mid link is greater than
When one, mid link respectively by being driven axis connection, is respectively provided with retarder, and bottom passes each other on each transmission shaft
Middle part retarder, mid link and the platform connecting rod of the transmission shaft between bottom retarder, mid link on moving axis connect
The ratio between reduction ratio between the retarder of top on the transmission shaft connect is 2:1:1: ...: 2, i.e. bottom retarder and top slows down
The reduction ratio of device is 2 times of middle part retarder reduction ratio, likewise, the outbound course between adjacent retarder is opposite.Retarder
In the case where when adjacent retarder outbound course difference of slowing down herein, it can guarantee that the connecting rod positioned at bottommost, each middle part connect
The ratio between angular speed of bar and platform link rotatable is 1:2:2: ...: 1.
Preferably, the retarder is harmonic speed reducer, and the bottom between motor and bottom linkage rod lower end is respectively arranged in
Middle part harmonic speed reducer, platform between portion's harmonic speed reducer, bottom linkage rod and mid link or between mid link connect
Top harmonic speed reducer between bar and mid link upper end.
Preferably, the bottom driving axis is driving shaft, and middle part transmission shaft and top transmission shaft are driven shaft.
Preferably, the bottom driving axis drives middle part transmission shaft and top transmission shaft to turn by synchronous pulley and synchronous belt
It is dynamic.The synchronous pulley passes through key and transmission axis connection；The setting of synchronous belt is efficiently solved using traditional articulated robot
The mast system of principle needs the technical issues of each joint installs driving motor, it is only necessary to a motor driven
Each joint motions are driven to realize goal of the invention.
Preferably, each transmission shaft velocity of rotation is all the same.
Preferably, the motor is connect with bottom driving axis by shaft coupling, and motor driven shaft coupling drives bottom driving
Axis rotation, and middle part transmission shaft and top transmission shaft is passed motion to by synchronous belt, each transmission shaft respectively with it is accordingly humorous
The wave producer of wave retarder connects；The flexbile gear of bottom harmonic speed reducer and top harmonic speed reducer is fixed, firm gear output；Middle part
The firm gear of harmonic speed reducer is fixed, flexbile gear output；Lifting connecting rod is driven to rotate respectively around transmission shaft.Make the mast system end
Platform connecting rod rises vertically relative to work top, and keeps constant relative to work top posture in any operation time, from
And ensure that top load platform can keep horizontal attitude constant in any operation time with respect to work top.
Preferably, the mid link quantity is one, and the flexbile gear of the bottom harmonic speed reducer is fixed on the method for pedestal
Lan Shang, wave producer and bottom driving axis, firm gear are connect with bottom linkage rod；The firm gear of the middle part harmonic speed reducer is fixed on bottom
On portion's connecting rod, flexbile gear is fixed in mid link, and wave producer and middle part are driven axis connection；The top harmonic speed reducer it is soft
Wheel is fixed in mid link, and firm gear is connected with platform connecting rod, and wave producer and top are driven axis connection.This connection type is protected
The rotation direction for having demonstrate,proved adjacent links is opposite.So that only platform connecting rod can be realized relative to work with a motor in mast system
Table top is lifted vertically.But also load platform is in zero-bit (when mast system is packed up) and any working condition keeps opposite work
Make table-surface level.
Preferably, the part assembled on the bottom driving axis be followed successively by order bottom harmonic speed reducer, bottom linkage rod,
Bottom synchronous pulley, the bottom harmonic speed reducer and bottom linkage rod are located between two side flanges of pedestal, bottom linkage rod with
It is not contacted on bottom driving axis；The part assembled on the middle part transmission shaft is followed successively by middle part synchronous pulley in order, bottom connects
It is not contacted on bar, middle part harmonic speed reducer, mid link, another synchronous pulley, mid link and middle part transmission shaft；The top
The part of transmission shaft installation is successively top synchronous pulley, mid link, top harmonic speed reducer, platform connecting rod in order.
Preferably, the mast system further includes the motor mounting flange of installation on the base, and the motor is mounted on electricity
On machine mounting flange.
The present invention also provides a kind of lifting method using above-mentioned single-degree-of-freedom multi-joint mast system, the bottom connects
Bar, mid link and platform connecting rod, than being rotated up for the speed of 1:2:1, make platform connecting rod always relative to work with angular speed
Make table top and keep vertical, load platform keeps horizontal relative to work top.
3. beneficial effect
Compared with the prior art, the invention has the benefit that
(1) present invention is 1:2 by the ratio between control bottom linkage rod, mid link and angular speed of platform link motion:
1, the technical issues of efficiently solving load platform horizontal lifting, can be realized mast system end under the angular speed ratio
End platform connecting rod rises vertically relative to work top and posture remains unchanged, to realize load platform with respect to work top water
Flat posture is constant；
(2) present invention passes through the setting of synchronous pulley and synchronous belt, so that the mast system driving motor is reduced to one, has
Effect solves traditional articulated robot and needs the technical issues of each joint installs driving motor, it is only necessary to a motor
Driving, can be realized goal of the invention by synchronous belt passing movement；
(3) present invention is by the setting of each joint harmonic speed reducer, controls the reduction ratio of harmonic speed reducer to realize pair
The control of link rotatable angular speed ratio；Meanwhile by bottom harmonic speed reducer, middle part harmonic speed reducer and top harmonic wave
The setting of Reducer connection makes the rotation direction of adjacent links on the contrary, realizing goal of the invention.
(4) in the present invention when mast system rising height is unsatisfactory for actual requirement, thus it is possible to vary length of connecting rod or increasing
Add the quantity of mid link, to meet different adjustable height demands.
Detailed description of the invention
Fig. 1 is overall appearance schematic diagram of the three joint mast system of single-degree-of-freedom in initial position in embodiment 1；
Fig. 2 is overall appearance schematic diagram of the three joint mast system of single-degree-of-freedom when completing to rise mast in embodiment 1；
Fig. 3 is overall appearance schematic diagram of the four joint mast system of single-degree-of-freedom in initial position in embodiment 2；
Fig. 4 is overall appearance schematic diagram of the four joint mast system of single-degree-of-freedom when completing to rise mast in embodiment 2；
In figure: 1, pedestal；2, motor mounting flange；3, servo motor；4, shaft coupling；5, third transmission shaft；6, No. four it is same
Walk belt wheel；7, the second synchronous belt；8, No. two connecting rods；9, second driving shaft；10, No. three synchronous pulleys；11, No. two harmonic reductions
Device；12, No. two synchronous pulleys；13, No.1 connecting rod；14, platform connecting rod；15, No. three harmonic speed reducers；16, the first synchronous belt；
17, No.1 harmonic speed reducer；18, the first transmission shaft；19, No.1 synchronous pulley；20, load platform；21, the 4th transmission shaft；22,
No. six synchronous pulleys；23, No. three connecting rods；24, third synchronous belt；25, No. five synchronous pulleys；26, No. four harmonic speed reducers.
Specific embodiment
The present invention is further described below combined with specific embodiments below.
Embodiment 1
As depicted in figs. 1 and 2, the three joint mast system of single-degree-of-freedom in the present embodiment, mainly include servo motor 3,
Motor mounting flange 2, pedestal 1, shaft coupling 4, the first transmission shaft 18, No.1 harmonic speed reducer 17, No.1 connecting rod 13, No.1 are synchronous
19, No. two synchronous pulleys 12 of belt wheel, the harmonic speed reducer 11, two of the first synchronous belt 16, two connecting rod 8, second driving shaft 9, three
Number synchronous pulley 10,7, No. four synchronous pulleys 6 of the second synchronous belt, third transmission shaft 5, No. three harmonic speed reducers 15, platform connecting rods
14, load platform 20.I.e. bottom linkage rod is No.1 connecting rod 13, and mid link is No. two connecting rods 8；Bottom driving axis is the first transmission
Axis 18, middle part transmission shaft is second driving shaft 9, top transmission shaft is third transmission shaft 5；Bottom harmonic speed reducer is No.1 harmonic wave
Retarder 17, middle part harmonic speed reducer are No. two harmonic speed reducers 11, and top harmonic speed reducer is No. three harmonic speed reducers 15；Bottom
Portion's synchronous pulley is No.1 synchronous pulley 19, and middle part synchronous pulley is No. two synchronous pulleys 12 and No. three synchronous pulleys 10, top
Synchronous pulley is No. four synchronous pulleys 6.
Pedestal 1 is mounted on work top；Motor mounting flange 2 is mounted on the flange of pedestal 1 by screw.Servo electricity
Machine 3 is mounted on motor mounting flange 2 by screw.3 projecting shaft of servo motor is connected with shaft coupling 4.First transmission shaft 18
It is another that the part of upper assembly is followed successively by pedestal flange side, No.1 harmonic speed reducer 17, No.1 connecting rod 13, pedestal flange from left to right
Side, No.1 synchronous pulley 19, wherein No.1 harmonic speed reducer 17 and No.1 connecting rod 13 are between two sides of base flange.One
The flexbile gear of number harmonic speed reducer 17 is fixed on pedestal flange, and wave producer is connected on the first transmission shaft 18, and firm gear passes through spiral shell
Nail is connected with No.1 connecting rod 13, and 19, No. two synchronous pulleys 12 of No.1 synchronous pulley of 16 transmission device of the first synchronous belt are pacified respectively
On the first transmission shaft 18 and second driving shaft 9, the first synchronous belt 16 is mounted on No.1 synchronous pulley 19 and No. two synchronous belts
On wheel 12.The part assembled on second driving shaft 9 is from left to right followed successively by the harmonic wave of connecting rod 8, two of No. three synchronous pulleys 10, two
13, No. two retarder 11, No.1 connecting rod synchronous pulleys 12, wherein No. three synchronous pulleys 10 are connect by key with second driving shaft 9,
No. two connecting rods 8 do not do radial positioning on second driving shaft 9, and the firm gear of No. two harmonic speed reducers 11 is fixed on No.1 connecting rod 13
On, wave producer is connected on second driving shaft 9, and flexbile gear is fixed on No. two connecting rods 8.No. two synchronous pulleys 12 pass through key and the
Two transmission shafts 9 are connected.Third transmission shaft 5 is connected with No. two 8 other ends of connecting rod, and the part that third transmission shaft 5 is installed is from a left side
It is successively No. four synchronous pulleys 6, two connecting rod 8, three harmonic speed reducer 15, platform connecting rod 14 to the right side, platform connecting rod 14 and negative
Carrying platform 20 connects.No. four synchronous pulleys 6 are connected by key with third transmission shaft 5, and platform connecting rod 14 is in zero-bit and No. two
Connecting rod 8 keeps plumbness each other, and 14 part of platform connecting rod is vertical with work top always, and platform connecting rod 14 and third are driven
Axis 5 does not contact.The flexbile gear of No. three harmonic speed reducers 15 is fixed by screws on No. two connecting rods 8, and firm gear passes through screw and platform
Connecting rod 14 is connected, and wave producer is connected on third transmission shaft 5.
17 flexbile gear of No.1 harmonic speed reducer is fixed in this mast system, firm gear output；No. two harmonic speed reducers 11 it is rigid
Wheel is fixed, flexbile gear output；No. three 15 flexbile gears of harmonic speed reducer are fixed, firm gear output.
When servo motor 3 drives the rotation of the first transmission shaft 18, the first transmission shaft 18 drives No.1 harmonic speed reducer 17
Wave producer rotation, firm gear drive No.1 connecting rod 13 to rotate clockwise with the first transmission shaft 18 for axis as output end, i.e.,
The one end of No.1 connecting rod 13 far from the first transmission shaft 18 is relative to surface uplift；First transmission shaft 18 directly passes through the first synchronous belt
Rotation is passed to second driving shaft 9 by 16, and second driving shaft 9 drives the wave producer rotation of No. two harmonic speed reducers 11, soft
Wheel drives No. two connecting rods 8 to do counterclockwise movement with second driving shaft 9 for axis as output end, i.e., No. two connecting rods 8 are far from second
One end of transmission shaft 9 is with respect to the horizontal plane lifted；Rotation is passed to third transmission by the second synchronous belt 7 by second driving shaft 9
Axis 5, third transmission shaft 5 drive the wave producer rotation of No. three harmonic speed reducers 15, and firm gear is as output end band moving platform connecting rod
14 are rotated clockwise with third transmission shaft 5 for axis, since platform connecting rod 14 is not contacted with third transmission shaft 5, are set specific
No.1 synchronous pulley 19, No. two synchronous pulleys 12, No. three synchronous pulleys 10 and No. four synchronous pulleys 6 rotating ratio, Yi Jiyi
The reduction ratio of number harmonic speed reducer 17, No. two harmonic speed reducers, 11, No. three harmonic speed reducers, 15 3 harmonic speed reducers, makes platform
Connecting rod 14 can rise vertically relative to work top and keep the posture relative to work top constant in any operation time.
The rotating ratio of No.1 synchronous pulley 19 and No. two synchronous pulleys 12 is 1:1, No. three synchronous pulleys 10 and No. four
The rotating ratio of synchronous pulley 6 is 1:1.The harmonic speed reducer 11, three harmonic speed reducer 15 3 of No.1 harmonic speed reducer 17, two
The ratio between reduction ratio of harmonic speed reducer is 1:2:1, and servo motor 3 drives shaft coupling 4 to drive the rotation of the first transmission shaft 18, and first passes
Moving axis 18 is by the first synchronous belt 16,7 constant-speed transmission of the second synchronous belt to second driving shaft 9, third transmission shaft 5.So that No.1
13, No. two connecting rods 8 of connecting rod, platform connecting rod 14 can reach vertical state simultaneously, and can make the load of 14 end of platform connecting rod
Platform 20 keeps the horizontal attitude relative to work top.
The present invention is essentially consisted in using harmonic speed reducer and is fixed using Rigid Gear of Harmonic Reducer, flexbile gear output；Flexbile gear is fixed,
Firm gear output, and the feature that outbound course is opposite realize No.1 connecting rod in conjunction with big, small in size, the light-weight feature of its reduction ratio
13 liftings synchronous under No. two 8 collective effects of connecting rod.But it when it is implemented, can also using the retarder for meeting the above feature
To realize.
Embodiment 2
No.1 connecting rod 13 and No. two connecting rods 8 in embodiment 1 are the effect of lifting, and No.1 connecting rod 13, platform connecting rod
14 rotation directions are identical, and No. two connecting rods 8 are opposite with No.1 connecting rod 13,14 rotation direction of platform connecting rod.Therefore No. two connecting rods 8 are (i.e.
Mid link) quantity is can be increased.When this mast system rising height is unsatisfactory for actual requirement, can suitably increase
The quantity of portion's connecting rod.
As shown in Figure 3 and Figure 4, the present embodiment topmast lever system basic structure is in the same manner as in Example 1, and difference exists
In: mid link is 2, i.e. in comparison 8, No. three connecting rods 23 of No. two connecting rods increase No. three connecting rods 23.Wherein, first
Connecting component on transmission shaft 18 and second driving shaft 9 with it is all the same in embodiment 1,17 flexbile gear of No.1 harmonic speed reducer is fixed,
Firm gear output；No. two 11 firm gears of harmonic speed reducer are fixed, flexbile gear output.
I.e. bottom linkage rod is No.1 connecting rod 13, and mid link is No. two connecting rods 8 and No. three connecting rods 23；Bottom driving axis is the
One transmission shaft 18, middle part transmission shaft is second driving shaft 9 and third transmission shaft 5, top transmission shaft are the 4th transmission shaft 21；Bottom
Harmonic speed reducer is No.1 harmonic speed reducer 17, and middle part harmonic speed reducer is No. two harmonic speed reducers 11 and No. three harmonic speed reducers
15, top harmonic speed reducer is No. four harmonic speed reducers 26；Bottom synchronous pulley is No.1 synchronous pulley 19, middle part synchronous pulley
For No. two synchronous pulleys 6 of synchronous pulley 10, four of synchronous pulley 12, three and No. five synchronous pulleys 25, top synchronous pulley
For No. six synchronous pulleys 22.
Such as Fig. 4, it is sequentially connected from left to right on third transmission shaft 5: No. four harmonic waves of connecting rod 8, three of synchronous pulley 6, two
The synchronous pulley 25 of connecting rod 23, five of retarder 15, three；It is sequentially connected from left to right on 4th transmission shaft 21: platform connecting rod 14,
No. four synchronous pulleys 22 of connecting rod 23, six of harmonic speed reducer 26, three, third synchronous belt 24 are mounted on No. five 25 Hes of synchronous pulley
On No. six synchronous pulleys 22.
Wherein the firm gear of No. three harmonic speed reducers 15 is fixed, and the movement after deceleration is passed to No. three connecting rods by flexbile gear output
23；No. four 26 flexbile gears of harmonic speed reducer are fixed, firm gear output；The ratio between reduction ratio of four retarders is 2:1:1:2, ensure that one
The ratio between the angular speed that number connecting rod 8, three of connecting rod 13, two connecting rod 23, platform connecting rod 14 rotate is 1:2:2:1.To make platform
Connecting rod 14 rises vertically relative to work top, and keeps posture of any operation time platform connecting rod 14 relative to work top
It is constant.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. a kind of single-degree-of-freedom multi-joint mast system characterized by comprising pedestal (1), lifting connecting rod, is put down at motor (3)
Platform connecting rod (14) and load platform (20)；The lifting connecting rod includes bottom linkage rod and mid link, and bottom linkage rod connects with middle part
Bar is driven axis connection by middle part, and the lower end of the bottom linkage rod is installed on pedestal (1), and is passed with motor (3) by bottom
Moving axis connection；The upper end and platform connecting rod (14) lower end of the mid link are driven axis connection by top；The load platform
(20) it is connect with platform connecting rod (14)；And the ratio between the angular speed of bottom linkage rod, mid link, platform connecting rod (14) rotation is 1:2:
1；Adjacent each link rotatable is contrary.
2. single-degree-of-freedom multi-joint mast system according to claim 1, which is characterized in that the top transmission shaft, in
Retarder is respectively set on portion's transmission shaft and bottom driving axis, the ratio between reduction ratio is 2:1:2.
3. single-degree-of-freedom multi-joint mast system according to claim 2, which is characterized in that the retarder subtracts for harmonic wave
Fast device, bottom harmonic speed reducer, bottom linkage rod and the mid link being respectively arranged between motor (3) and bottom linkage rod lower end
Between or mid link between middle part harmonic speed reducer, the top between platform connecting rod (14) and mid link upper end it is humorous
Wave retarder.
4. single-degree-of-freedom multi-joint mast system according to claim 1, which is characterized in that based on the bottom driving axis
Moving axis, middle part transmission shaft and top transmission shaft are driven shaft.
5. single-degree-of-freedom multi-joint mast system according to claim 4, which is characterized in that the bottom driving axis passes through
Synchronous pulley and synchronous belt drive middle part transmission shaft and the rotation of top transmission shaft.
6. single-degree-of-freedom multi-joint mast system according to claim 1, which is characterized in that each transmission shaft rotation speed
It spends all the same.
7. single-degree-of-freedom multi-joint mast system according to claim 6, which is characterized in that the motor (3) and bottom
Transmission shaft is connected by shaft coupling (4), and motor (3) drives shaft coupling (4) to drive the rotation of bottom driving axis, and will by synchronous belt
Movement passes to middle part transmission shaft and top transmission shaft, and each transmission shaft connects with the wave producer of corresponding harmonic speed reducer respectively
It connects；The flexbile gear of bottom harmonic speed reducer and top harmonic speed reducer is fixed, firm gear output；The firm gear of middle part harmonic speed reducer is solid
It is fixed, flexbile gear output；Lifting connecting rod is driven to rotate respectively around transmission shaft.
8. single-degree-of-freedom multi-joint mast system according to claim 7, which is characterized in that the mid link quantity is
One, the flexbile gear of the bottom harmonic speed reducer is fixed on the flange of pedestal (1), wave producer and bottom driving axis connection,
Firm gear is connect with bottom linkage rod；The firm gear of the middle part harmonic speed reducer is fixed on bottom linkage rod, and flexbile gear is fixed on middle part and connects
On bar, wave producer and middle part are driven axis connection；The flexbile gear of the top harmonic speed reducer is fixed in mid link, firm gear with
Platform connecting rod (14) is connected, and wave producer and top are driven axis connection.
9. single-degree-of-freedom multi-joint mast system according to claim 8, which is characterized in that filled on the bottom driving axis
The part matched is followed successively by bottom harmonic speed reducer, bottom linkage rod, bottom synchronous pulley in order, the bottom harmonic speed reducer with
And bottom linkage rod is located between two side flanges of pedestal (1), does not contact on bottom linkage rod and bottom driving axis；The middle part transmission
The part assembled on axis is followed successively by middle part synchronous pulley, bottom linkage rod, middle part harmonic speed reducer, mid link, another in order
It is not contacted on synchronous pulley, mid link and middle part transmission shaft；The part of the top transmission shaft installation is successively top in order
Portion's synchronous pulley, mid link, top harmonic speed reducer, platform connecting rod (14).
10. a kind of lifting method using single-degree-of-freedom multi-joint mast system described in any one of claim 1~9,
It is characterized in that, the bottom linkage rod, mid link and platform connecting rod (14) are with angular speed than turning upwards for the speed of 1:2:1
It is dynamic, so that platform connecting rod (14) is kept vertical relative to work top always, load platform (20) keeps water relative to work top
It is flat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196360.6A CN109877816A (en) | 2019-03-15 | 2019-03-15 | A kind of single-degree-of-freedom multi-joint mast system and lifting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196360.6A CN109877816A (en) | 2019-03-15 | 2019-03-15 | A kind of single-degree-of-freedom multi-joint mast system and lifting method |
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| CN109877816A true CN109877816A (en) | 2019-06-14 |
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| CN201910196360.6A Pending CN109877816A (en) | 2019-03-15 | 2019-03-15 | A kind of single-degree-of-freedom multi-joint mast system and lifting method |
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| CN (1) | CN109877816A (en) |
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| CN111923063A (en) * | 2020-08-11 | 2020-11-13 | 温州大学 | Zinc alloy slag skimming robot and working method thereof |
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| CN111923063A (en) * | 2020-08-11 | 2020-11-13 | 温州大学 | Zinc alloy slag skimming robot and working method thereof |
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Application publication date: 20190614 |