CN103934822B - 顶置球铰夹持方轴杆的Delta机器人第四轴传动机构 - Google Patents
顶置球铰夹持方轴杆的Delta机器人第四轴传动机构 Download PDFInfo
- Publication number
- CN103934822B CN103934822B CN201410126057.6A CN201410126057A CN103934822B CN 103934822 B CN103934822 B CN 103934822B CN 201410126057 A CN201410126057 A CN 201410126057A CN 103934822 B CN103934822 B CN 103934822B
- Authority
- CN
- China
- Prior art keywords
- rollers
- ring framework
- square shaft
- shaft bar
- delta robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims description 18
- 239000000463 material Substances 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410126057.6A CN103934822B (zh) | 2014-03-28 | 2014-03-28 | 顶置球铰夹持方轴杆的Delta机器人第四轴传动机构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410126057.6A CN103934822B (zh) | 2014-03-28 | 2014-03-28 | 顶置球铰夹持方轴杆的Delta机器人第四轴传动机构 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103934822A CN103934822A (zh) | 2014-07-23 |
CN103934822B true CN103934822B (zh) | 2015-09-02 |
Family
ID=51182827
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410126057.6A Active CN103934822B (zh) | 2014-03-28 | 2014-03-28 | 顶置球铰夹持方轴杆的Delta机器人第四轴传动机构 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103934822B (zh) |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1110575A (ja) * | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | パラレルリンク機構 |
EP1930133B1 (en) * | 2000-03-01 | 2014-04-09 | Robert Bosch GmbH | Robot for handling products in a three-dimensional space |
US6896473B2 (en) * | 2001-09-17 | 2005-05-24 | Robert Bosch Gmbh | Device for transmitting torque |
CN100581752C (zh) * | 2008-03-28 | 2010-01-20 | 天津大学 | 具有远架单杆的空间三平动并联机构 |
JP4598864B2 (ja) * | 2009-01-29 | 2010-12-15 | ファナック株式会社 | パラレルロボット |
CN102059696B (zh) * | 2009-11-18 | 2013-11-20 | 鸿富锦精密工业(深圳)有限公司 | 并联机构 |
CN102601793B (zh) * | 2012-03-29 | 2014-04-09 | 天津大学 | 新型空间全对称四自由度并联机构 |
-
2014
- 2014-03-28 CN CN201410126057.6A patent/CN103934822B/zh active Active
Also Published As
Publication number | Publication date |
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CN103934822A (zh) | 2014-07-23 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C56 | Change in the name or address of the patentee | ||
CP02 | Change in the address of a patent holder |
Address after: Yellow Sea zone haping road centralized development zone in Harbin City, Heilongjiang province 150000 No. 25 1 floor East Patentee after: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. Address before: 150000 room 368, 1508 Changjiang Road, Nangang concentration area, Harbin, Harbin, Heilongjiang Patentee before: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. |
|
C41 | Transfer of patent application or patent right or utility model | ||
CB03 | Change of inventor or designer information |
Inventor after: Ji Chen Inventor after: Liu Yujiong Inventor after: Kong Minxiu Inventor after: Wu Pinghui Inventor before: Ji Chen Inventor before: Liu Yujiong Inventor before: Kong Minxiu |
|
COR | Change of bibliographic data | ||
TR01 | Transfer of patent right |
Effective date of registration: 20160411 Address after: 310000 No. 169 Jinping Avenue, Chengdong street, Zhejiang, Wenling Patentee after: Zhejiang Qianjiang robot Co., Ltd. Address before: Yellow Sea zone haping road centralized development zone in Harbin City, Heilongjiang province 150000 No. 25 1 floor East Patentee before: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. |
|
TR01 | Transfer of patent right |
Effective date of registration: 20190910 Address after: 311200 Hongxing Road, Qiaonan District, Xiaoshan Economic and Technological Development Zone, Hangzhou City, Zhejiang Province, 389 Patentee after: Hangzhou Qianjiang Robot Co., Ltd. Address before: 310000 No. 169 Jinping Avenue, Chengdong street, Zhejiang, Wenling Patentee before: Zhejiang Qianjiang robot Co., Ltd. |
|
TR01 | Transfer of patent right |