CN103802102A - Large telescopic double-cross joint rotation shaft of parallel robot - Google Patents
Large telescopic double-cross joint rotation shaft of parallel robot Download PDFInfo
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- CN103802102A CN103802102A CN201410052276.4A CN201410052276A CN103802102A CN 103802102 A CN103802102 A CN 103802102A CN 201410052276 A CN201410052276 A CN 201410052276A CN 103802102 A CN103802102 A CN 103802102A
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- hollow optical
- optical axis
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Abstract
The invention discloses a large telescopic double-cross joint rotation shaft of a parallel robot. The large telescopic double-cross joint rotation shaft of the parallel robot is mainly composed of three parts, namely the upper cross cardan joint (1), the lower cross joint (9) and the middle telescopic rod assembly. The large telescopic double-cross joint rotation shaft is characterized in that the telescopic rod assembly comprises a connection top plate (2), a first hollow optical shaft (3), a second hollow optical shaft (5), a third hollow optical shaft (8), a linear bearing (6), a middle connection plate (4) and a lower connection plate (7). The first hollow optical shaft (3) and the second hollow optical shaft (5) are fixed between the connection top plate (2) and the lower connection plate (7) in parallel. One end of the third hollow optical shaft (8) is fixed to the center of the middle connection plate (4) and the other end of the third hollow optical shaft (8) and the lower cross joint (9) are fixed together. As the hollow optical shafts and the linear bearing are adopted, the overall telescopic amount is large, rolling friction is adopted in the linear bearing and resistance is greatly lowered.
Description
Technical field
The invention belongs to parallel robot technical field, be specifically related to the flexible diesis of a kind of parallel manipulator National People's Congress joint gyroaxis.
Background technology
In industry, carry out secondary package and Material Sorting and often adopt industrial sorting machine people, academicly also referred to as DELTA parallel robot.Parallel robot need not be widely applied in the field of very large working space in the high rigidity of needs, high accuracy or large load, has become the important aid of industrial circle.
Rotating shaft is how much straight lines that Rotational Symmetry action is carried out according to this, and when spinning movement acts on image, the vertical range in image between any point and rotating shaft (line) requires to remain constant.Flexible double back rotating shaft in parallel robot is used for connecting driving arm, controls the scope of activities that drives arm.Along with industrial demand, expansion link is in use realized flexible according to the needs of self.
In prior art, there is following shortcoming: robot low bottom-disc scope of activities is larger, middle rotating shaft should be realized revolution larger extendable room again, main spline and six prisms of adopting at present, stroke is less on the one hand, and sliding-frictional resistance is larger on the other hand.Therefore, be subject to the restriction in space when the integral telescopic state for expansion link, the flexible gyroaxis of parallel robot is improved and had important practical significance.
Summary of the invention
The object of this invention is to provide the flexible diesis of a kind of parallel manipulator National People's Congress joint gyroaxis, improve integral telescopic amount, reduce flexible resistance.
To achieve these goals, the technical solution that the present invention takes is:
The flexible diesis of a kind of parallel manipulator National People's Congress joint gyroaxis, mainly formed by three parts, comprise candan universal joint (1), lower cross joint (9) and middle retractable rod, it is characterized in that, described retractable rod comprises connection top board (2), the first hollow optical axis (3), the second hollow optical axis (5), the 3rd hollow optical axis (8), linear bearing (6), middle connecting plate (4) and lower connecting plate (7), the first described hollow optical axis (3) is connected in the middle of top board (2) and lower connecting plate (7) with parallel being fixed on of the second hollow optical axis (5), one end of the 3rd described hollow optical axis (8) is fixed on the center of middle connecting plate (4), the fixing lower cross joint (9) of the other end.
Described the first hollow optical axis (3), the second hollow optical axis (5) are identical with the diameter of the 3rd hollow optical axis (8).
Described upper candan universal joint (1) is identical with the shape in lower cross joint (9), is combined by the Main subrack of two hollow cylinders and hollow square.
On described middle connecting plate (4), two linear bearings (6) are symmetrical arranged.
The center of described lower connecting plate (7) is provided with a linear bearing (6).
Described the first hollow optical axis (3), the second hollow optical axis (5) are identical with the 3rd hollow optical axis (8) distance between any two, are parallel arrangement.
The low bottom-disc that described upper candan universal joint (1) is connected respectively motor and drives with arm with lower cross joint (9).
The driven by motor that the 3rd described hollow optical axis (8) is connected by top is rotated.
Beneficial effect of the present invention is:
1, owing to adopting hollow optical axis and linear bearing, integral telescopic amount is larger, and linear bearing is rolling friction, and resistance reduces greatly.
2, the present invention is simple and reasonable, and it is convenient to assemble and dismantle.
3, three hollow optical axises are arranged side by side, are axially realizing larger stretching speed, have effect easy and simple to handle and quick-expansion location.
4, the setting of three place's linear bearings can guarantee the stability that bar is flexible, makes it capable of expansion and contraction, and manipulation is convenient.
Accompanying drawing explanation
Accompanying drawing 1 is the first perspective view of the present invention.
Accompanying drawing 2 is the second perspective view of the present invention.
Accompanying drawing 3 is the perspective view of the middle connecting plate in the present invention.
Accompanying drawing 4 is the perspective view of the lower connecting plate in the present invention.
Wherein, 1, upper candan universal joint; 2, connect top board; 3, the first hollow optical axis; 4, middle connecting plate; 5, the second hollow optical axis; 6, linear bearing; 7, lower connecting plate; 8, the 3rd hollow optical axis; 9, lower cross joint.
The specific embodiment
Below in conjunction with Fig. 1, the present invention is further described.
The flexible diesis of a kind of parallel manipulator National People's Congress joint gyroaxis, mainly formed by three parts, comprise candan universal joint 1, lower cross joint 9 and middle retractable rod, it is characterized in that, described retractable rod comprises connection top board 2, the first hollow optical axis 3, the second hollow optical axis 5, the 3rd hollow optical axis 8, linear bearing 6, middle connecting plate 4 and lower connecting plate 7, the first described hollow optical axis 3 is connected in the middle of top board 2 and lower connecting plate 7 with parallel being fixed on of the second hollow optical axis 5, one end of the 3rd described hollow optical axis 8 is fixed on the center of middle connecting plate 4, the fixing lower cross of other end joint 9.
Described the first hollow optical axis 3, the second hollow optical axis 5 are identical with the diameter of the 3rd hollow optical axis 8.
Described upper candan universal joint 1 is identical with the shape in lower cross joint 9, is combined by the Main subrack of two hollow cylinders and hollow square.
Two linear bearings 6 on described middle connecting plate 4, are symmetrical arranged.
The center of described lower connecting plate 7 is provided with a linear bearing 6.
Described the first hollow optical axis 3, the second hollow optical axis 5 are identical with the 3rd hollow optical axis 8 distance between any two, are parallel arrangement.
The low bottom-disc that described upper candan universal joint 1 is connected respectively motor and drives with arm with lower cross joint 9.
The driven by motor that the 3rd described hollow optical axis 8 is connected by top is rotated.
This uses novel specific implementation process to be:
Large flexible diesis joint gyroaxis is not connected motor and low bottom-disc by upper candan universal joint 1 with lower cross joint 9, low bottom-disc is driven by three arms, can move at three dimensions, because chassis is to move always, the relative position on motor and chassis constantly changes, so the flexible gyroaxis length in the present invention changes along with the variation of position, chassis.
Above embodiment is only in order to illustrate the present invention and unrestricted technical scheme described in the invention, and still, those of ordinary skill in the art should be appreciated that and still can modify or be equal to replacement the present invention; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (8)
1. the flexible diesis of a parallel manipulator National People's Congress joint gyroaxis, mainly formed by three parts, comprise candan universal joint (1), lower cross joint (9) and middle retractable rod, it is characterized in that, described retractable rod comprises connection top board (2), the first hollow optical axis (3), the second hollow optical axis (5), the 3rd hollow optical axis (8), linear bearing (6), middle connecting plate (4) and lower connecting plate (7), the first described hollow optical axis (3) is connected in the middle of top board (2) and lower connecting plate (7) with parallel being fixed on of the second hollow optical axis (5), one end of the 3rd described hollow optical axis (8) is fixed on the center of middle connecting plate (4), the fixing lower cross joint (9) of the other end.
2. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, is characterized in that, described the first hollow optical axis (3), the second hollow optical axis (5) are identical with the diameter of the 3rd hollow optical axis (8).
3. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, it is characterized in that, described upper candan universal joint (1) is identical with the shape in lower cross joint (9), is combined by the Main subrack of two hollow cylinders and hollow square.
4. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, is characterized in that, on described middle connecting plate (4), has been symmetrical arranged two linear bearings (6).
5. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, is characterized in that, the center of described lower connecting plate (7) is provided with a linear bearing (6).
6. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, it is characterized in that, described the first hollow optical axis (3), the second hollow optical axis (5) are identical with the 3rd hollow optical axis (8) distance between any two, are parallel arrangement.
7. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, is characterized in that, the low bottom-disc that described upper candan universal joint (1) is connected respectively motor and drives with arm with lower cross joint (9).
8. the flexible diesis of a kind of parallel manipulator National People's Congress according to claim 1 joint gyroaxis, is characterized in that, the driven by motor that the 3rd described hollow optical axis (8) is connected by top is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410052276.4A CN103802102A (en) | 2014-02-14 | 2014-02-14 | Large telescopic double-cross joint rotation shaft of parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410052276.4A CN103802102A (en) | 2014-02-14 | 2014-02-14 | Large telescopic double-cross joint rotation shaft of parallel robot |
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| Publication Number | Publication Date |
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| CN103802102A true CN103802102A (en) | 2014-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410052276.4A Pending CN103802102A (en) | 2014-02-14 | 2014-02-14 | Large telescopic double-cross joint rotation shaft of parallel robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858180A (en) * | 2017-05-10 | 2018-11-23 | 大族激光科技产业集团股份有限公司 | Central shaft transmission device, parallel robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1080880A (en) * | 1996-09-05 | 1998-03-31 | Masanobu Yatsugi | Robot arm element |
| CN101791797A (en) * | 2009-01-29 | 2010-08-04 | 发那科株式会社 | Parallel robot |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| TW201325847A (en) * | 2011-08-31 | 2013-07-01 | Yaskawa Denki Seisakusho Kk | Robot arm structure, and robot |
| CN203171646U (en) * | 2012-09-21 | 2013-09-04 | 松下电器产业株式会社 | Universal joint and parallel rod robot with universal joint |
| CN203804975U (en) * | 2014-02-14 | 2014-09-03 | 青岛汇智机器人有限公司 | High-stretching double-cross-joint rotation shaft of parallel robot |
-
2014
- 2014-02-14 CN CN201410052276.4A patent/CN103802102A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1080880A (en) * | 1996-09-05 | 1998-03-31 | Masanobu Yatsugi | Robot arm element |
| CN101791797A (en) * | 2009-01-29 | 2010-08-04 | 发那科株式会社 | Parallel robot |
| TW201325847A (en) * | 2011-08-31 | 2013-07-01 | Yaskawa Denki Seisakusho Kk | Robot arm structure, and robot |
| CN203171646U (en) * | 2012-09-21 | 2013-09-04 | 松下电器产业株式会社 | Universal joint and parallel rod robot with universal joint |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| CN203804975U (en) * | 2014-02-14 | 2014-09-03 | 青岛汇智机器人有限公司 | High-stretching double-cross-joint rotation shaft of parallel robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858180A (en) * | 2017-05-10 | 2018-11-23 | 大族激光科技产业集团股份有限公司 | Central shaft transmission device, parallel robot |
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| CB02 | Change of applicant information |
Address after: 256600 No. 1, Kam Yip Road, hi tech Zone, Shandong, Qingdao Applicant after: QINGDAO PHAESTUS IS ENGINEERING CO., LTD. Address before: 256600 No. 1, Kam Yip Road, hi tech Zone, Shandong, Qingdao Applicant before: QINGDAO HUIZHI ROBOT CO., LTD. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140521 |
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| RJ01 | Rejection of invention patent application after publication |