CN103612256A - Large-stroke horizontal moving platform - Google Patents
Large-stroke horizontal moving platform Download PDFInfo
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- CN103612256A CN103612256A CN201310614972.5A CN201310614972A CN103612256A CN 103612256 A CN103612256 A CN 103612256A CN 201310614972 A CN201310614972 A CN 201310614972A CN 103612256 A CN103612256 A CN 103612256A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 238000009434 installation Methods 0.000 abstract 6
- 238000000034 method Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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Abstract
The invention relates to the technical field of moving platform equipment of a manipulator, in particular to a large-stroke horizontal moving platform which comprises an installation base, a platform installation base and two first rotary shafts, and further comprises two driving swing rods and two driven swing rods. The supporting point ends of the two driving swing rods are connected with the two first rotary shafts respectively, the swing ends of the two driving swing rods are hinged to the middle portions of the two driven swing rods respectively, the installation base is provided with an auxiliary block capable of sliding longitudinally, the auxiliary block, the platform installation base and the two driven swing rods are connected to form a parallelogram, and the installation base is provided with a drive mechanism used for driving the driving swing rods to swing back and forth around the first rotary shafts. The moving stroke of the platform installation base is greatly increased, the moving stroke of the manipulator is much larger than the size of the moving platform, on the condition that the moving strokes are the same, the size of the platform equipment is reduced, occupied factory space is smaller, the manipulator can basically move horizontally in a straight line, and practicality is high.
Description
Technical field
The present invention relates to the mobile platform equipment technical field of manipulator, refer in particular to a kind of long stroke water translation moving platform.
Background technology
On automatic production line, application machine hand linear platform is very general.Linear platform can be built into Cartesian coordinate type by XYZ coordinate form can realize three-dimensional automation control with mechanical sub cooperation.Automation is controlled, can overprogram, can complete at three dimensions the electromechanical integration automated production of various operations.
At present, the structure of existing horizontal shifting platform comprises base, the holder that is placed in respectively base two ends and supporting base, linear guides, ball-screw and slide unit, the holder of above-mentioned rear end is connected with transmission mechanism, the ball-screw front end spindle nose of front end supporting base supporting transmissioning mechanism.The maximum linear shift motion of its manipulator with slide unit the shift motion on linear guides consistent, the trip is subject to the length restriction of linear guides, thereby cause the appearance and size of existing level one fixed platform too huge, the stroke moving horizontally as increased manipulator, can only further extend the length of linear guides, cause the size of equipment to be forever greater than the maximum shift motion of manipulator, the space in hold facility factory building place is large, and defect is obvious.
Also there is on the market a kind of single armed swinging mechanical hand platform, but its mobile alignment is circular arc, the traveling priority that is difficult to the level that realizes, and the stability of single armed is lower, manipulator easily produces and rocks in moving process, have a strong impact on the control accuracy of manipulator, be difficult to reach people's accuracy requirement.
Summary of the invention
The technical problem to be solved in the present invention is to provide the size that a kind of stability is high, shift motion can exceed mobile platform itself, and the long stroke water translation moving platform that can make manipulator substantially can keep horizontal linear to move.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme: a kind of long stroke water translation moving platform, comprise mounting base, platform mount pad and two the first rotating shafts that are installed in mounting base, also comprise two active forks that are arranged in parallel, and two driven forks that are arranged in parallel, the support end of two active forks is connected with two the first rotating shafts respectively, two initiatively forks to wave end hinged with the middle part of two driven forks respectively, described mounting base is equiped with auxiliary block that can longitudinal sliding motion, the support end of two driven forks is all hinged with auxiliary block, two driven forks wave end all hinged with platform mount pad, auxiliary block, platform mount pad and two driven forks connect into a parallelogram, described mounting base is equiped with for driving the driving mechanism that initiatively fork swings back and forth around the first rotating shaft.
Preferably, described driving mechanism comprises connecting rod, is fixed on reductor and the motor for driving reductor to rotate of described mounting base, the output shaft of this reductor is equiped with driving fork, this driving outer end of fork and one end of connecting rod are hinged, and the middle part of the other end of this connecting rod and described active fork is hinged.
Wherein, the middle part of described active fork is equiped with initiatively jointed shaft, the end of described connecting rod and this initiatively jointed shaft pivot joint.
Wherein, described active jointed shaft and the initiatively distance of waving between end of fork are A, and the distance between the support end of described active jointed shaft and initiatively fork is B, and the ratio of A and B is 1～2.
Another is preferred, and described driving mechanism comprises oil cylinder and be fixed on the fixed axis of described mounting base, and cylinder body and the fixed axis of this oil cylinder are hinged, and the middle part of the piston rod of oil cylinder and described active fork is hinged.
Wherein, the middle part of described driven fork is equiped with driven jointed shaft, the end of described active fork and this driven jointed shaft pivot joint.
Wherein, the distance of waving between end of described driven jointed shaft and driven fork is C, and the distance between described driven jointed shaft and the support end of driven fork is D, and the ratio of C and D is 1～2.
Wherein, the slide block that described mounting base is equiped with slide rail and moves around along this slide rail, auxiliary block is fixedly connected with this slide block.
Beneficial effect of the present invention is: the invention provides a kind of long stroke water translation moving platform, driving effect due to driving mechanism, initiatively fork is when the first rotating shaft swings, initiatively the end that waves of fork is stirred driven fork and is realized left and right reciprocating swing, and then drive the platform mount pad that waves end that is positioned at driven fork to move left and right, because active fork and driven fork are in the process of waving, all form the lever construction of effort, as long as initiatively fork is done low-angle waving, after conversion through twice effort lever, initiatively fork waves end and can obtain the displacement of many times, the shift motion that is platform mount pad is increased greatly, the shift motion of manipulator is well beyond the size of mobile platform itself, under the prerequisite of same displacement stroke, dwindled platform device size, the space that takies factory building is less.
In addition, auxiliary block, platform mount pad and two driven forks connect into a parallelogram, and auxiliary block can longitudinal sliding motion, thereby greatly reduced platform mount pad and vertically moved displacement in moving left and right process, guarantee that manipulator is traveling priority substantially in moving left and right process, make manipulator more easily be deep into narrow space but the larger interior operation of small space of the degree of depth, the transverse shifting of manipulator is partly double-rod structure, rocking while having avoided manipulator operation, accuracy and stability are higher, and practicality is stronger.
Accompanying drawing explanation
Plan structure schematic diagram when Fig. 1 is the embodiment of the present invention one hiding driving mechanism.
Stereochemical structure decomposing schematic representation when Fig. 2 is the embodiment of the present invention one hiding driving mechanism.
Fig. 3 is the perspective view of the embodiment of the present invention one in application.
Fig. 4 is the perspective view of the embodiment of the present invention two in application.
The specific embodiment
For the ease of those skilled in the art's understanding, below in conjunction with embodiment and accompanying drawing, the present invention is further illustrated, and the content that embodiment is mentioned not is limitation of the invention.
As shown in Figure 1 to Figure 3 for the embodiment mono-of a kind of long stroke water translation of the present invention moving platform, comprise mounting base 1, platform mount pad 2 and two the first rotating shafts 3 that are installed in mounting base 1, also comprise two active forks 4 that are arranged in parallel, and two driven forks 5 that are arranged in parallel, the support end of two active forks 4 is connected with two the first rotating shafts 3 respectively, two initiatively forks 4 to wave end hinged with the middle part of two driven forks 5 respectively, described mounting base 1 is equiped with auxiliary block 6 that can longitudinal sliding motion, the support end of two driven forks 5 is all hinged with auxiliary block 6, two driven forks 5 wave end all hinged with platform mount pad 2, auxiliary block 6, platform mount pad 2 and two driven forks 5 connect into a parallelogram, described mounting base 1 is equiped with for driving the driving mechanism that initiatively fork 4 swings back and forth around the first rotating shaft 3.
In actual work running, driving effect due to driving mechanism, initiatively fork 4 is when the first rotating shaft 3 swings, initiatively the end that waves of fork 4 is stirred driven fork 5 and is realized left and right reciprocating swing, and then drive the platform mount pad 2 that waves end that is positioned at driven fork 5 to move left and right, because active fork 4 and driven fork 5 are in the process of waving, all form the lever construction of effort, as long as initiatively fork 4 is done low-angle waving, after conversion through twice effort lever, initiatively fork 4 waves end and can obtain the displacement of many times, the shift motion that is platform mount pad 2 is increased greatly, the shift motion of manipulator is well beyond the size of mobile platform itself, under the prerequisite of same displacement stroke, dwindled platform device size, the space that takies factory building is less.
In addition, auxiliary block 6, platform mount pad 2 and two driven forks 5 connect into a parallelogram, and auxiliary block 6 can longitudinal sliding motion, thereby greatly reduced platform mount pad 2 and vertically moved displacement in moving left and right process, guarantee that manipulator is traveling priority substantially in moving left and right process, make manipulator more easily be deep into narrow space but the larger interior operation of small space of the degree of depth, the transverse shifting of manipulator is partly double-rod structure, rocking while having avoided manipulator operation, accuracy and stability are higher, and practicality is stronger.
In the present embodiment, described driving mechanism comprises connecting rod 7, is fixed on reductor 8 and the motor 9 for driving reductor 8 to rotate of described mounting base 1, the output shaft of this reductor 8 is equiped with and drives fork 10, this driving outer end of fork 10 and one end of connecting rod 7 are hinged, and the middle part of the other end of this connecting rod 7 and described active fork 4 is hinged.
Under the driving effect of motor 9, the output shaft of reductor 8 rotates forward or backwards, so that drive fork 10 to swing around output shaft, and then the active fork 4 being hinged by connecting rod 7 is with it swung around the first rotating shaft 3, and and then realize its driving function.
In the present embodiment, the middle part of described active fork 4 is equiped with initiatively jointed shaft 11, the end of described connecting rod 7 and this initiatively jointed shaft 11 pivot joints.Concrete, described active jointed shaft 11 and the initiatively distance of waving between end of fork 4 are A, and the distance between the support end of described active jointed shaft 11 and initiatively fork 4 is B, and the ratio of A and B is 1～2; The middle part of described driven fork 5 is equiped with driven jointed shaft 14, the end of described active fork 4 and this driven jointed shaft 14 pivot joints, concrete, the distance of waving between end of described driven jointed shaft 14 and driven fork 5 is C, distance between described driven jointed shaft 14 and the support end of driven fork 5 is D, and the ratio of C and D is 1～2.
Preferably, the ratio of A and B is 2, the distance of waving between end that is described active jointed shaft 11 and active fork 4 is the twice of the distance between active jointed shaft 11 and the support end of active fork 4, the ratio of C and D is 2, and the distance of waving between end of described driven jointed shaft 14 and driven fork 5 is twices of the distance between driven jointed shaft 14 and the support end of driven fork 5.
When driving the distance of the laterally certain Yi Ge unit in outer end of fork 10, the transverse shifting distance of waving end of described active fork 4 is about San Ge unit, now, the transverse shifting distance of waving end of described active fork 4 is about Jiu Ge unit, the transverse shifting stroke of its manipulator improves greatly, and the transverse shifting speed that has improved manipulator, response speed is faster.
In the present embodiment, the slide block 16 that described mounting base 1 is equiped with slide rail 15 and moves around along this slide rail 15, auxiliary block 6 is fixedly connected with this slide block 16.
In the running of mobile platform, initiatively fork 4 and driven fork 5 are swinging, and auxiliary block 6 longitudinally moves around along slide rail 15, the resistance when setting of slide rail 15 and slide block 16 has reduced that auxiliary block 6 moves greatly, reduce wearing and tearing, extended the service life of mobile platform.
Be illustrated in figure 4 the embodiment bis-of a kind of long stroke water translation of the present invention moving platform, be with the difference of above-described embodiment one: described driving mechanism comprises oil cylinder 12 and is fixed on the fixed axis 13 of described mounting base 1, the cylinder body of this oil cylinder 12 and fixed axis 13 are hinged, and the middle part of the piston rod of oil cylinder 12 and described active fork 4 is hinged.Utilize stretching out of piston rod and the swinging of the driving active fork 4 that bounces back of oil cylinder 12, equally also can reach above-mentioned technique effect.
Above-described embodiment is preferably implementation of the present invention, and in addition, the present invention can also realize by alternate manner, and under the prerequisite that does not depart from the technical program design, any apparent replacement is all within protection scope of the present invention.
Claims (8)
1. long stroke water translation moving platform, comprise mounting base (1), platform mount pad (2) and two the first rotating shafts (3) that are installed in mounting base (1), it is characterized in that: also comprise two active forks (4) that are arranged in parallel, and two driven forks (5) that are arranged in parallel, the support end of two active forks (4) is connected with two the first rotating shafts (3) respectively, two initiatively forks (4) to wave end hinged with the middle part of two driven forks (5) respectively, described mounting base (1) is equiped with auxiliary block (6) that can longitudinal sliding motion, the support end of two driven forks (5) is all hinged with auxiliary block (6), two driven forks (5) wave end all hinged with platform mount pad (2), auxiliary block (6), platform mount pad (2) and two driven forks (5) connect into a parallelogram, described mounting base (1) is equiped with for driving the driving mechanism that initiatively fork (4) swings back and forth around the first rotating shaft (3).
2. long stroke water translation moving platform according to claim 1, it is characterized in that: described driving mechanism comprises connecting rod (7), is fixed on reductor (8) and the motor (9) for driving reductor (8) to rotate of described mounting base (1), the output shaft of this reductor (8) is equiped with and drives fork (10), the outer end of this driving fork (10) and one end of connecting rod (7) are hinged, and the middle part of the other end of this connecting rod (7) and described active fork (4) is hinged.
3. long stroke water translation moving platform according to claim 2, is characterized in that: the middle part of described active fork (4) is equiped with initiatively jointed shaft (11), the end of described connecting rod (7) and this initiatively jointed shaft (11) pivot joint.
4. long stroke water translation moving platform according to claim 3, it is characterized in that: described active jointed shaft (11) and the initiatively distance of waving between end of fork (4) are A, distance between the support end of described active jointed shaft (11) and initiatively fork (4) is B, and the ratio of A and B is 1～2.
5. long stroke water translation moving platform according to claim 1, it is characterized in that: described driving mechanism comprises oil cylinder (12) and is fixed on the fixed axis (13) of described mounting base (1), the cylinder body of this oil cylinder (12) and fixed axis (13) are hinged, and the middle part of the piston rod of oil cylinder (12) and described active fork (4) is hinged.
6. long stroke water translation moving platform according to claim 1, is characterized in that: the middle part of described driven fork (5) is equiped with driven jointed shaft (14), the end of described active fork (4) and this driven jointed shaft (14) pivot joint.
7. long stroke water translation moving platform according to claim 3, it is characterized in that: the distance of waving between end of described driven jointed shaft (14) and driven fork (5) is C, distance between the support end of described driven jointed shaft (14) and driven fork (5) is D, and the ratio of C and D is 1～2.
8. long stroke water translation moving platform according to claim 1, is characterized in that: the slide block (16) that described mounting base (1) is equiped with slide rail (15) and moves around along this slide rail (15), auxiliary block (6) is fixedly connected with this slide block (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310614972.5A CN103612256B (en) | 2013-11-28 | 2013-11-28 | Long Distances horizontal shifting platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310614972.5A CN103612256B (en) | 2013-11-28 | 2013-11-28 | Long Distances horizontal shifting platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103612256A true CN103612256A (en) | 2014-03-05 |
| CN103612256B CN103612256B (en) | 2016-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310614972.5A Expired - Fee Related CN103612256B (en) | 2013-11-28 | 2013-11-28 | Long Distances horizontal shifting platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN103612256B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750259A (en) * | 2018-06-25 | 2018-11-06 | 常州特劳姆机械有限公司 | A kind of labelling machine |
| CN113084790A (en) * | 2021-04-29 | 2021-07-09 | 江南大学 | Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method |
| CN114110111A (en) * | 2021-12-08 | 2022-03-01 | 青岛英派斯健康科技股份有限公司 | Stroke magnification mechanism |
| CN116423252A (en) * | 2023-05-12 | 2023-07-14 | 诸暨越隆精密机械制造有限公司 | A jacking mechanism and a fixing device for needle bar frame processing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0671577A (en) * | 1992-06-30 | 1994-03-15 | Yamaha Motor Co Ltd | Carrier |
| CN2195420Y (en) * | 1994-03-30 | 1995-04-26 | 张镇献 | A pick-up arm of a medium and large punching machine |
| JP2002361577A (en) * | 2001-04-05 | 2002-12-18 | Teijin Seiki Co Ltd | Robot arm and robot |
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN203680283U (en) * | 2013-11-28 | 2014-07-02 | 东莞职业技术学院 | Large-stroke horizontal moving platform |
-
2013
- 2013-11-28 CN CN201310614972.5A patent/CN103612256B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0671577A (en) * | 1992-06-30 | 1994-03-15 | Yamaha Motor Co Ltd | Carrier |
| CN2195420Y (en) * | 1994-03-30 | 1995-04-26 | 张镇献 | A pick-up arm of a medium and large punching machine |
| JP2002361577A (en) * | 2001-04-05 | 2002-12-18 | Teijin Seiki Co Ltd | Robot arm and robot |
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN203680283U (en) * | 2013-11-28 | 2014-07-02 | 东莞职业技术学院 | Large-stroke horizontal moving platform |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750259A (en) * | 2018-06-25 | 2018-11-06 | 常州特劳姆机械有限公司 | A kind of labelling machine |
| CN108750259B (en) * | 2018-06-25 | 2024-01-19 | 常州特劳姆机械有限公司 | a labeling machine |
| CN113084790A (en) * | 2021-04-29 | 2021-07-09 | 江南大学 | Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method |
| CN114110111A (en) * | 2021-12-08 | 2022-03-01 | 青岛英派斯健康科技股份有限公司 | Stroke magnification mechanism |
| CN116423252A (en) * | 2023-05-12 | 2023-07-14 | 诸暨越隆精密机械制造有限公司 | A jacking mechanism and a fixing device for needle bar frame processing |
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| Publication number | Publication date |
|---|---|
| CN103612256B (en) | 2016-03-30 |
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| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 523808, A, building 3, Career Technical College, Songshan University Road, Dongguan, Dongguan, 305, Guangdong Province Applicant after: DONGGUAN POLYTECHNIC Applicant after: DONGGUAN SONGQING INTELLIGENT AUTOMATION TECHNOLOGY Co.,Ltd. Address before: 523808, A, building 3, Career Technical College, Songshan University Road, Dongguan, Dongguan, 305, Guangdong Province Applicant before: Dongguan Polytechnic Applicant before: Dongguan SongQing Automatic Equipment Co.,Ltd. |
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| CB03 | Change of inventor or designer information |
Inventor after: Yan Xinning Inventor after: Xiao Yongxiang Inventor after: Luo Dongchu Inventor after: Li Zhongwen Inventor before: Yan Xinning Inventor before: Xiao Yongxiang Inventor before: Luo Dongchu Inventor before: Li Zhongwen |
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Free format text: CORRECT: APPLICANT; FROM: DONGGUAN SONGQING AUTOMATIC EQUIPMENT CO., LTD. TO: DONGGUAN SONGQING SMART AUTOMATION TECHNOLOGY CO., LTD. |
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Granted publication date: 20160330 Termination date: 20211128 |
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| CF01 | Termination of patent right due to non-payment of annual fee |