CN104057464A - Joint device applied to parallel manipulator - Google Patents
Joint device applied to parallel manipulator Download PDFInfo
- Publication number
- CN104057464A CN104057464A CN201310095714.0A CN201310095714A CN104057464A CN 104057464 A CN104057464 A CN 104057464A CN 201310095714 A CN201310095714 A CN 201310095714A CN 104057464 A CN104057464 A CN 104057464A
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- CN
- China
- Prior art keywords
- bearing group
- bearing
- main arm
- connection type
- joint arrangement
- 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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Classifications
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- 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
A joint device applied to a parallel manipulator comprises a plurality of swing units, a plurality of main arm units corresponding to the swing units and a platform unit connected to the main arm units, wherein each main arm unit comprises a first bearing set, two second bearing sets, two extension rods, two third bearing sets and a fourth bearing set, the first bearing sets are arranged on corresponding swing units, the second bearing sets are arranged on the first bearing sets respectively, the extension rods are rotationally arranged on the second bearing sets, the third bearing sets are arranged on the extension rods and on one side opposite to the second bearing sets, of each extension rod respectively, and the fourth bearing sets are arranged on the third bearing sets and connected with the main arm units. Through the design of the first, second, third and fourth bearing sets, back clearances can be reduced, and the machining accuracy can be improved.
Description
Technical field
The present invention relates to a kind of parallel connection type mechanical hand, particularly relate to a kind of joint arrangement that is applied to parallel connection type mechanical hand.
Background technology
Consult Fig. 1, 2, existing a kind of joint arrangement that is applied to parallel connection type mechanical hand, this parallel connection type mechanical hand comprises three CD-ROM drive motors 11, this joint arrangement comprises that three around the swing unit 12 arranging, three main arm unit 13 that the described swing unit 12 of correspondence arranges, and the platform unit 14 of a described main arm unit 13 of connection, each main arm unit 13 has two the first clubs 131 that are arranged at corresponding swing unit 12, two can be arranged at respectively the first spherojoint 132 of described the first club 131 rotationally, two are arranged at the extension rod 133 of described the first spherojoint 132, two are arranged at the second spherojoint 134 of a side of described extension rod 133 and contrary described the first spherojoint 132, and two second clubs 135 that can be arranged at rotationally described the second spherojoint 134, this platform unit 14 is connected in described the second club 135.
When use, this platform unit 14 can the translation by the auxiliary of described the first club 131, described the first spherojoint 132, described the second spherojoint 134 and described the second club 135, and then carries out machining.
But, because described the first spherojoint 132 and described the second spherojoint 134 exist mismachining tolerance for the ball-and-socket that connects described the first club 131 and described the second club 135 on making, and described the first club 131 and described the second club 135 easily produce wearing and tearing after long-time use, therefore make the precision that adds man-hour to promote.
Similar ground, the device that United States Patent (USP) number US5333514 discloses is a similar aforesaid joint arrangement, adopts equally spherojoint element, so have equally easy generation wearing and tearing, the shortcoming that the precision that adds man-hour cannot be promoted.
Summary of the invention
The object of the invention is can carry the high-precision joint arrangement that is applied to parallel connection type mechanical hand providing a kind of.
The present invention is applied to the joint arrangement of parallel connection type mechanical hand, and this parallel connection type mechanical hand comprises multiple CD-ROM drive motors, and this joint arrangement comprises multiple swing units, multiple main arm unit, and a platform unit.
The winding of described swing unit spacer ring is put, and the driving connecting separately and can hard to bear corresponding CD-ROM drive motor and swinging, the corresponding described swing unit setting of described main arm unit, each main arm unit comprises a clutch shaft bearing group that is arranged at corresponding swing unit along a first axle, two are arranged at respectively the second bearing group of this clutch shaft bearing group along two the second axis perpendicular to this first axle, two can be arranged at described the second bearing group downward and the extension rod extending towards the inner side of described main arm unit rotationally, two are arranged at respectively the 3rd bearing group of a side of described extension rod and contrary described the second bearing group along two the 3rd axis that are parallel to each other, and the 4th bearing group that is arranged at described the 3rd bearing group along a four axistyle, parallel this first axle of this four axistyle and vertical described the 3rd axis, this platform unit is connected in the 4th bearing group of described main arm unit.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, also comprise the prestressing unit that the described main arm unit of multiple correspondences arranges, each prestressing unit comprises the prestressing module of two described extension rods that are arranged at respectively corresponding main arm unit, two opposition sides vertically, each prestressing module has two correspondences and is arranged at the conjunction of described extension rod, and an elastic component that connects described conjunction.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, each clutch shaft bearing group has a pair of angular ball bearing mutually combining, and two upper bearing (metal) framves that connect respectively corresponding described angular ball bearing and arrange for corresponding described the second bearing group.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, each second bearing group has two ball bearings that are relatively arranged on corresponding upper bearing (metal) frame and penetrate corresponding extension rod.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, each the 4th bearing group has a pair of angular ball bearing mutually combining, and two lower bearing brackets that connect respectively corresponding described angular ball bearing and arrange for corresponding described the 3rd bearing group.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, each the 3rd bearing group has two ball bearings that are relatively arranged on corresponding lower bearing bracket and penetrate corresponding extension rod.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, described second bearing group of each main arm unit and described the 3rd bearing group are to be arranged at respectively corresponding extension rod two opposition sides vertically.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, described second bearing group of each main arm unit is the both sides that are arranged at this clutch shaft bearing group.
The joint arrangement that is applied to parallel connection type mechanical hand of the present invention, wherein, described the 3rd bearing group of each main arm unit is the both sides that are arranged at the 4th bearing group.
Beneficial effect of the present invention is: by the design of described clutch shaft bearing group, described the second bearing group, described the 3rd bearing group and described the 4th bearing group, can reduce back clearance, and then promote machining accuracy.
Brief description of the drawings
Fig. 1 is the three-dimensional combination figure of existing a kind of joint arrangement that is applied to parallel connection type mechanical hand.
Fig. 2 is the partial exploded view of this existing joint arrangement.
Fig. 3 is the three-dimensional combination figure of a preferred embodiment of the present invention's joint arrangement of being applied to parallel connection type mechanical hand.
Fig. 4 is the local constitutional diagram of this preferred embodiment.
Fig. 5 is the sectional perspective exploded view of this preferred embodiment.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
Consult Fig. 3,4,5, for the present invention is applied to the preferred embodiment of the joint arrangement of parallel connection type mechanical hand, this parallel connection type mechanical hand comprises three CD-ROM drive motors 9, and this joint arrangement comprises three swing units 2, three main arm unit 3, three prestressing unit 4, and a platform unit 5.
Described swing unit 2 spacer ring windings are put, and connect separately and driving that can hard to bear corresponding CD-ROM drive motor 9 and swinging.
The corresponding described swing unit 2 of described main arm unit 3 arranges, each main arm unit 3 comprises a clutch shaft bearing group 31 that is arranged at corresponding swing unit 2 along a first axle X, two are arranged at respectively the second bearing group 32 of this clutch shaft bearing group 31 along two the second axis Y perpendicular to this first axle X, two can be arranged at described the second bearing group 32 downward and the extension rod 33 extending towards the inner side of described main arm unit 3 rotationally, two are arranged at respectively the 3rd bearing group 34 of a side of described extension rod 33 and contrary described the second bearing group 32 along two the 3rd axis Z that are parallel to each other, and the 4th bearing group 35 that is arranged at described the 3rd bearing group 34 along a four axistyle L, this four axistyle L parallel this first axle X and vertical described the 3rd axis Z.
In the present embodiment, described second bearing group 32 of each main arm unit 3 and described the 3rd bearing group 34 are to be arranged at respectively corresponding extension rod 33 two opposition sides vertically, described second bearing group 32 of each main arm unit 3 is the both sides that are arranged at this clutch shaft bearing group 31, and described the 3rd bearing group 34 of each main arm unit 3 is the both sides that are arranged at the 4th bearing group 35.
Each clutch shaft bearing group 31 has a pair of angular ball bearing mutually combining 311, and two upper bearing (metal) framves 312 that connect respectively corresponding described angular ball bearing 311 and arrange for corresponding described the second bearing group 32.
Each second bearing group 32 has two ball bearings 321 that are relatively arranged on corresponding upper bearing (metal) frame 312 and penetrate corresponding extension rod 33.
Each the 3rd bearing group 34 has two ball bearings 341 that are oppositely arranged and penetrate corresponding extension rod 33.
Each the 4th bearing group 35 has a pair of angular ball bearing mutually combining 351, and two lower bearing brackets 352 that connect respectively corresponding described angular ball bearing 351 and arrange for the described ball bearing 341 of each corresponding the 3rd bearing group 34.
The corresponding described main arm unit 3 in described prestressing unit 4 arranges, each prestressing unit 4 comprises the prestressing module 41 of two described extension rods 33 that are arranged at respectively corresponding main arm unit 3, two opposition sides vertically, each prestressing module 41 has two correspondences and is arranged at the conjunction 411 of described extension rod 33, and an elastic component 412 that connects described conjunction 411.
This platform unit 5 is connected in the 4th bearing group 35 of described main arm unit 3.
When use, by the pulling force of described elastic component 412, make the described conjunction 411 corresponding described extension rod 33 of interlock further of corresponding under tension, and make this corresponding second bearing group 32 and the 3rd bearing group 34 apply prestressing to this clutch shaft bearing group 31 and the 4th bearing group 35, and then make corresponding described angular ball bearing 311,351 pushing and pressing and combining closely mutually, and can smooth and easy rotation, and then increase the machining accuracy of this parallel connection type mechanical hand.
By the design of described clutch shaft bearing group, described the second bearing group, described the 3rd bearing group and described the 4th bearing group, can reduce back clearance, and then promote machining accuracy.
In sum, by angular ball bearing 311 described in described clutch shaft bearing group 31 and described the 4th bearing group 35, 351 are subject to the prestressing of the prestressing unit 4 such as corresponding and the design of combining closely, and the described ball bearing 321 of described the second bearing group 32 and described the 3rd bearing group 34, 341 design, compared to existing parallel connection type mechanical hand, the present invention can significantly reduce the back clearance of joint, and then lifting machining accuracy, and described angular ball bearing 311, 351 are repeating after running, can not produce wearing and tearing and affect machining accuracy yet, so really can reach object of the present invention.
Below only add and give explanation with regard to concrete constructed embodiment of the present invention, under without separated structure of the present invention and spirit, allly be skillful in those skilled in the art scholar, still can do all variations and modification, all this changes and is still considered as being encompassed in the following claim of this case with modifying.
Claims (9)
1. one kind is applied to the joint arrangement of parallel connection type mechanical hand, this parallel connection type mechanical hand comprises multiple CD-ROM drive motors, it is characterized in that: this joint arrangement comprises multiple swing units, multiple main arm unit and a platform unit, the winding of described swing unit spacer ring is put, and the driving connecting separately and can hard to bear corresponding CD-ROM drive motor and swinging, the corresponding described swing unit setting of described main arm unit, each main arm unit comprises a clutch shaft bearing group that is arranged at corresponding swing unit along a first axle, two are arranged at respectively the second bearing group of this clutch shaft bearing group along two the second axis perpendicular to this first axle, two can be arranged at described the second bearing group downward and the extension rod extending towards the inner side of described main arm unit rotationally, two are arranged at respectively the 3rd bearing group of a side of described extension rod and contrary described the second bearing group along two the 3rd axis that are parallel to each other, and the 4th bearing group that is arranged at described the 3rd bearing group along a four axistyle, parallel this first axle of this four axistyle and vertical described the 3rd axis, this platform unit is connected in the 4th bearing group of described main arm unit.
2. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 1, it is characterized in that: this joint arrangement also comprises the prestressing unit that the described main arm unit of multiple correspondences arranges, each prestressing unit comprises the prestressing module of two described extension rods that are arranged at respectively corresponding main arm unit, two opposition sides vertically, each prestressing module has two correspondences and is arranged at the conjunction of described extension rod, and an elastic component that connects described conjunction.
3. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 1, it is characterized in that: each clutch shaft bearing group has a pair of angular ball bearing mutually combining, and two upper bearing (metal) framves that connect respectively corresponding described angular ball bearing and arrange for corresponding described the second bearing group.
4. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 3, is characterized in that: each second bearing group has two ball bearings that are relatively arranged on corresponding upper bearing (metal) frame and penetrate corresponding extension rod.
5. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 1, it is characterized in that: each the 4th bearing group has a pair of angular ball bearing mutually combining, and two lower bearing brackets that connect respectively corresponding described angular ball bearing and arrange for corresponding described the 3rd bearing group.
6. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 5, is characterized in that: each the 3rd bearing group has two ball bearings that are relatively arranged on corresponding lower bearing bracket and penetrate corresponding extension rod.
7. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 1, is characterized in that: described second bearing group of each main arm unit and described the 3rd bearing group are to be arranged at respectively corresponding extension rod two opposition sides vertically.
8. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 1, is characterized in that: described second bearing group of each main arm unit is the both sides that are arranged at this clutch shaft bearing group.
9. the joint arrangement that is applied to parallel connection type mechanical hand as claimed in claim 1, is characterized in that: described the 3rd bearing group of each main arm unit is the both sides that are arranged at the 4th bearing group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310095714.0A CN104057464B (en) | 2013-03-22 | 2013-03-22 | Be applied to the joint arrangement of parallel connection type mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310095714.0A CN104057464B (en) | 2013-03-22 | 2013-03-22 | Be applied to the joint arrangement of parallel connection type mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104057464A true CN104057464A (en) | 2014-09-24 |
| CN104057464B CN104057464B (en) | 2016-02-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310095714.0A Active CN104057464B (en) | 2013-03-22 | 2013-03-22 | Be applied to the joint arrangement of parallel connection type mechanical hand |
Country Status (1)
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| CN (1) | CN104057464B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003172418A (en) * | 2001-12-07 | 2003-06-20 | Koji Kondo | Parallel mechanism robot arm (3) |
| JP2005028558A (en) * | 2003-07-11 | 2005-02-03 | Okuma Corp | Cooling mechanism of drive shaft in parallel link mechanism |
| CN101244557A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Three-translational freedom parallel mechanism with far frame three-lever space |
| EP2114633A1 (en) * | 2007-01-29 | 2009-11-11 | Robert Bosch GmbH | Device for displacing and positioning an object in a space |
| CN102059697A (en) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业（深圳）有限公司 | Translating branch chain and parallel robot using same |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102601797A (en) * | 2012-04-07 | 2012-07-25 | 大连镔海自控股份有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
-
2013
- 2013-03-22 CN CN201310095714.0A patent/CN104057464B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003172418A (en) * | 2001-12-07 | 2003-06-20 | Koji Kondo | Parallel mechanism robot arm (3) |
| JP2005028558A (en) * | 2003-07-11 | 2005-02-03 | Okuma Corp | Cooling mechanism of drive shaft in parallel link mechanism |
| EP2114633A1 (en) * | 2007-01-29 | 2009-11-11 | Robert Bosch GmbH | Device for displacing and positioning an object in a space |
| CN101244557A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Three-translational freedom parallel mechanism with far frame three-lever space |
| CN102059697A (en) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业（深圳）有限公司 | Translating branch chain and parallel robot using same |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102601797A (en) * | 2012-04-07 | 2012-07-25 | 大连镔海自控股份有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
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| Publication number | Publication date |
|---|---|
| CN104057464B (en) | 2016-02-03 |
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