CN103612256B - Long Distances horizontal shifting platform - Google Patents
Long Distances horizontal shifting platform Download PDFInfo
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- CN103612256B CN103612256B CN201310614972.5A CN201310614972A CN103612256B CN 103612256 B CN103612256 B CN 103612256B CN 201310614972 A CN201310614972 A CN 201310614972A CN 103612256 B CN103612256 B CN 103612256B
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- fork
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- forks
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Abstract
The present invention relates to the mobile platform equipment technical field of manipulator, refer in particular to a kind of Long Distances horizontal shifting platform, comprise mounting base, stage+module seat and two the first rotating shafts, also comprise two initiatively forks, and two driven forks, 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 can the auxiliary block of longitudinal sliding motion, and auxiliary block, stage+module seat and two driven forks connect into a parallelogram; Mounting base is equiped with the driving mechanism for driving initiatively fork to swing back and forth around the first rotating shaft.Namely the shift motion of stage+module seat is increased greatly, the shift motion of manipulator is well beyond the size of mobile platform itself, under the prerequisite of same displacement stroke, reduce platform device size, the space taking factory building is less, and can make manipulator that horizontal linear substantially can be kept to move, practical.
Description
Technical field
The present invention relates to the mobile platform equipment technical field of manipulator, refer in particular to a kind of Long Distances horizontal shifting 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 Automated condtrol with machinery cooperation.Automated condtrol, can overprogram, can complete the electromechanical integration automated production of various operation at three dimensions.
At present, the structure of existing horizontal shifting platform comprises base, the holder being placed in base two ends respectively 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 is consistent with the shift motion of slide unit on linear guides, the trip is subject to the length restriction of linear guides, thus cause the appearance and size of existing level one fixed platform too huge, as the stroke that manipulator moves horizontally will be increased, the length of linear guides can only be extended further, 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 a kind of single armed swinging mechanical hand platform on the market, but its mobile alignment is circular arc, be difficult to the rectilinear movement realizing level, 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 the accuracy requirement reaching people.
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 manipulator can be made substantially to keep the Long Distances horizontal shifting platform of horizontal linear movement.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme: a kind of Long Distances horizontal shifting platform, comprise mounting base, stage+module seat and two are installed in the first rotating shaft of mounting base, also comprise two active forks arranged in parallel, and two driven forks 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 can the auxiliary block of longitudinal sliding motion, the support end of two driven forks is all hinged with auxiliary block, two driven forks wave end all hinged with stage+module seat, auxiliary block, stage+module seat and two driven forks connect into a parallelogram, described mounting base is equiped with the driving mechanism for driving initiatively fork to swing back and forth around the first rotating shaft.
Preferably, described driving mechanism comprising connecting rod, being fixed on the reductor of described mounting base and the motor for driving reductor to rotate, the output shaft of this reductor is equiped with driving fork, the outer end of this driving fork and one end of connecting rod hinged, the other end of this connecting rod and the middle part of described active fork 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, the distance of waving between end of described active jointed shaft and initiatively fork is A, and the distance between the support end of described active jointed shaft and initiatively fork is the ratio of B, A and B is 1 ~ 2.
Another is preferred, and described driving mechanism comprises oil cylinder and is fixed on the fixed axis of described mounting base, and cylinder body and the fixed axis of this oil cylinder are hinged, the piston rod of oil cylinder and the middle part of described active fork 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 the ratio of D, 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 Distances horizontal shifting platform, due to the driving effect of 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 stage+module seat waving end being positioned at driven fork to move left and right, because active fork and driven fork are in rocking process, all form the lever construction of effort, as long as initiatively fork does low-angle waving, after the conversion of twice effort lever, initiatively fork wave the displacement that end can obtain many times, namely the shift motion of stage+module seat is increased greatly, the shift motion of manipulator is well beyond the size of mobile platform itself, under the prerequisite of same displacement stroke, reduce platform device size, the space taking factory building is less.
In addition, auxiliary block, stage+module seat and two driven forks connect into a parallelogram, and auxiliary block can longitudinal sliding motion, thus substantially reduce stage+module seat moving left and right and vertically move displacement in process, ensure that manipulator is rectilinear movement moving left and right basic in process, manipulator is made more easily to be deep into narrow space but operation in the larger small space of the degree of depth, the transverse shifting part of manipulator is double-rod structure, avoid rocking when manipulator runs, accuracy and stability higher, practicality is stronger.
Accompanying drawing explanation
Fig. 1 is the plan structure schematic diagram of the embodiment of the present invention one when hiding driving mechanism.
Fig. 2 is the embodiment of the present invention one stereochemical structure decomposing schematic representation when hiding driving mechanism.
Fig. 3 is the embodiment of the present invention one perspective view in the application.
Fig. 4 is the embodiment of the present invention two perspective view in the application.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, 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.
Be the embodiment one of a kind of Long Distances horizontal shifting platform of the present invention as shown in Figure 1 to Figure 3, comprise mounting base 1, stage+module seat 2 and two are installed in the first rotating shaft 3 of mounting base 1, also comprise two active forks 4 arranged in parallel, and two driven forks 5 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 wave end respectively with two the middle part of driven fork 5 hinged, described mounting base 1 is equiped with can the auxiliary block 6 of 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 stage+module seat 2, auxiliary block 6, stage+module seat 2 and two driven forks 5 connect into a parallelogram, described mounting base 1 is equiped with the driving mechanism for driving initiatively fork 4 to swing back and forth around the first rotating shaft 3.
In the work running of reality, due to the driving effect of 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 stage+module seat 2 waving end being positioned at driven fork 5 to move left and right, because active fork 4 and driven fork 5 are in rocking process, all form the lever construction of effort, as long as initiatively fork 4 does low-angle waving, after the conversion of twice effort lever, initiatively fork 4 wave the displacement that end can obtain many times, namely the shift motion of stage+module seat 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, reduce platform device size, the space taking factory building is less.
In addition, auxiliary block 6, stage+module seat 2 and two driven forks 5 connect into a parallelogram, and auxiliary block 6 can longitudinal sliding motion, thus substantially reduce stage+module seat 2 moving left and right and vertically move displacement in process, ensure that manipulator is rectilinear movement moving left and right basic in process, manipulator is made more easily to be deep into narrow space but operation in the larger small space of the degree of depth, the transverse shifting part of manipulator is double-rod structure, avoid rocking when manipulator runs, accuracy and stability higher, practicality is stronger.
In the present embodiment, described driving mechanism comprising connecting rod 7, being fixed on the reductor 8 of described mounting base 1 and the motor 9 for driving reductor 8 to rotate, 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 hinged, the other end of this connecting rod 7 and the middle part of described active fork 4 hinged.
Under the driving effect of motor 9, the output shaft of reductor 8 rotates forward or backwards, to make driving fork 10 swing around output shaft, and then the active fork 4 be hinged by connecting rod 7 is with it swung around the first rotating shaft 3, and then realizes 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 joint.Concrete, the distance of waving between end of described active jointed shaft 11 and initiatively fork 4 is A, and the distance between the support end of described active jointed shaft 11 and initiatively fork 4 is the ratio of B, 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 joint, 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 the ratio of D, C and D is 1 ~ 2.
Preferably, the ratio of A and B is 2, namely the distance of waving between end of described active jointed shaft 11 and active fork 4 is twices of the distance between the support end of initiatively jointed shaft 11 and active fork 4, the ratio of C and D is 2, and namely 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 horizontal certain unit in the outer end of fork 10, the transverse shifting distance of waving end of described active fork 4 is about three units, now, the transverse shifting distance of waving end of described active fork 4 is about nine units, the transverse shifting stroke of its manipulator improves greatly, and improve the transverse shifting speed of 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, and the setting of slide rail 15 and slide block 16 substantially reduces resistance when auxiliary block 6 moves, reduce wearing and tearing, extend the service life of mobile platform.
Be illustrated in figure 4 the embodiment two of a kind of Long Distances horizontal shifting platform of the present invention, 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, cylinder body and the fixed axis 13 of this oil cylinder 12 are hinged, the piston rod of oil cylinder 12 and the middle part of described active fork 4 hinged.Utilize stretching out of the piston rod of oil cylinder 12 and swinging of the driving active fork 4 that bounces back, equally also can reach above-mentioned technique effect.
Above-described embodiment is the present invention's preferably implementation, and in addition, the present invention can also realize by alternate manner, and under the prerequisite not departing from the technical program design, any apparent replacement is all within protection scope of the present invention.
Claims (7)
1. Long Distances horizontal shifting platform, comprise mounting base (1), stage+module seat (2) and two are installed in first rotating shaft (3) of mounting base (1), it is characterized in that: also comprise two active forks (4) arranged in parallel, and two driven forks (5) arranged in parallel, the support end of two actives fork (4) is connected with two the first rotating shafts (3) respectively, two initiatively fork (4) to wave end hinged with the middle part of two driven forks (5) respectively, described mounting base (1) is equiped with can the auxiliary block (6) of 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 stage+module seat (2), auxiliary block (6), stage+module seat (2) and two driven forks (5) connect into a parallelogram, described mounting base (1) is equiped with the driving mechanism for driving initiatively fork (4) to swing back and forth around the first rotating shaft (3),
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.
2. Long Distances horizontal shifting platform according to claim 1, it is characterized in that: described driving mechanism comprising connecting rod (7), being fixed on the reductor (8) of described mounting base (1) and the motor (9) for driving reductor (8) to rotate, 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) hinged, the other end of this connecting rod (7) and the middle part of described active fork (4) hinged.
3. Long Distances horizontal shifting 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 Distances horizontal shifting platform according to claim 3, it is characterized in that: the distance of waving between end of described active jointed shaft (11) and initiatively fork (4) is A, distance between the support end of described active jointed shaft (11) and initiatively fork (4) is the ratio of B, A and B is 1 ~ 2.
5. Long Distances horizontal shifting 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), cylinder body and the fixed axis (13) of this oil cylinder (12) are hinged, the piston rod of oil cylinder (12) and the middle part of described active fork (4) hinged.
6. Long Distances horizontal shifting 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 the ratio of D, C and D is 1 ~ 2.
7. Long Distances horizontal shifting 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), and 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 CN103612256A (en) | 2014-03-05 |
| CN103612256B true CN103612256B (en) | 2016-03-30 |
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| 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 |
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| Country | Link |
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| CN (1) | CN103612256B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750259B (en) * | 2018-06-25 | 2024-01-19 | 常州特劳姆机械有限公司 | Labeller |
| CN113084790B (en) * | 2021-04-29 | 2022-04-15 | 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195420Y (en) * | 1994-03-30 | 1995-04-26 | 张镇献 | Material-fetching arm for larger or midium punching machine |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3263147B2 (en) * | 1992-06-30 | 2002-03-04 | ヤマハ発動機株式会社 | Transfer device |
| JP4628602B2 (en) * | 2001-04-05 | 2011-02-09 | ナブテスコ株式会社 | Robot arm |
-
2013
- 2013-11-28 CN CN201310614972.5A patent/CN103612256B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195420Y (en) * | 1994-03-30 | 1995-04-26 | 张镇献 | Material-fetching arm for larger or midium punching machine |
| 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 |
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| CN103612256A (en) | 2014-03-05 |
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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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| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: DONGGUAN SONGQING AUTOMATIC EQUIPMENT CO., LTD. TO: DONGGUAN SONGQING SMART AUTOMATION TECHNOLOGY CO., LTD. |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20211128 |