CN105690374A - Three-freedom-degree coaxial output mechanism containing wire transmission - Google Patents
Three-freedom-degree coaxial output mechanism containing wire transmission Download PDFInfo
- Publication number
- CN105690374A CN105690374A CN201610192333.8A CN201610192333A CN105690374A CN 105690374 A CN105690374 A CN 105690374A CN 201610192333 A CN201610192333 A CN 201610192333A CN 105690374 A CN105690374 A CN 105690374A
- Authority
- CN
- China
- Prior art keywords
- master arm
- bar
- arm
- arbitrary
- hinged
- 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.)
- Granted
Links
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention discloses a three-freedom-degree coaxial output mechanism containing wire transmission. The three-freedom-degree coaxial output mechanism comprises a vertically-arranged center transmission shaft, and the center transmission shaft is supported through a horizontally-arranged base and driven by a first motor; the center transmission shaft is sequentially provided with a first driving arm, a follow-up support, a second hollow shaft and a second driving arm from top to bottom; the first driving arm is fixedly installed at the top of the center transmission shaft; the follow-up support is rotationally installed on the second hollow shaft, a second hollow shaft driving wheel is fixedly installed on the second hollow shaft, and driving between follow-up wheels fixedly installed on a movable platform rotating shaft is achieved through wires; and the second driving arm is fixedly installed on a third hollow shaft, the third hollow shaft is rotationally connected to the center transmission shaft, the second hollow shaft is in transmission connection with a second motor through a gear, and the third hollow shaft is in transmission connection with a third motor through a gear. The rotational inertia of a motion part of the three-freedom-degree coaxial output mechanism is small, and the high-speed capacity and the high-accelerated-speed capacity are achieved.
Description
Technical field
The present invention relates to a kind of robot mechanism, particularly relate to one and can realize the pivotal high speed parallel robot mechanism of complete cycle containing silk transmission。
Background technology
For meeting the quick and various market demand, improving production rate, light industry field, the whole world is all being tried to explore and is being developed various new mechanical arm equipment。Especially for the application scenario of the high speed repetitive operation (crawl, sorting, packaging etc.) of the industries such as electronics, food, medicine, in the urgent need to corresponding high speed machine hands to replace the manual operation of high intensity。Study more and more extensive for the mechanical hand of the type both at home and abroad at present, patent documentation US4392776, EP0169473 and CN1779936 etc. have all referred to the SCARA mechanical hand of a kind of three or four-degree-of-freedom, although this type of robot can realize complete cycle revolution planar, but mechanism itself adopts open loop structure, under the operating mode of high speed and high acceleration, its dynamics is subject to certain restrictions。Patent documentation CN101973030 proposes one can realize the pivotal parallel institution of complete cycle, but owing to the directly dependence that rotates of its 3rd nearly hack lever is arranged on the motor on turning and decelerator driving, substantially increase the quality of moving component, the demand at a high speed and under high acceleration operating mode can not be met equally。
The mode of silk transmission in recent years is applied in the middle of Robot Design more and more, and the transmission accuracy of silk transmission is high, lightweight, compensate for the shortcoming that conventional machines people's moving component inertia is big effectively。
Therefore, for problem above, it is necessary to existing complete cycle slew gear is reasonably designed by the mode of zygomite transmission。
Summary of the invention
The present invention solves that the technical problem existed in known technology provides a kind of coaxial output mechanism of the Three Degree Of Freedom containing silk transmission, this mechanism kinematic partial turn inertia is relatively small, has at a high speed and high acceleration ability。
The present invention solves that the technical problem existed in known technology is adopted the technical scheme that: a kind of coaxial output mechanism of the Three Degree Of Freedom containing silk transmission, including the center driving axle being vertically arranged, described center driving axle is by horizontally disposed base support, described center driving axle is by the first decelerator transmission, described first decelerator is arranged on described pedestal, and described first decelerator is driven by the first motor；Described center driving axle is sequentially installed with the first master arm, arbitrary-movement articulator, the second quill shaft and the second master arm from top to bottom；Described first master arm is fixed on the top of described center driving axle；Described second quill shaft is rotatably connected on described center driving axle, described second quill shaft is fixed with the first gear wheel, described first gear wheel and the engagement of the first little gear, described first little gear is by the second decelerator transmission, described second decelerator is arranged on described pedestal, and described second decelerator is driven by the second motor；Described second quill shaft is fixed with the second quill shaft driving wheel, described second quill shaft driving wheel passes through silk thread transmission supporting roller, described supporting roller is packed in moving platform rotating shaft, described moving platform rotating shaft and described center driving axle be arranged in parallel, are connected with perpendicular moving platform pedestal in described moving platform rotating shaft；
Described second master arm is packed on the 3rd quill shaft, described 3rd quill shaft is rotatably connected on described center driving axle, described 3rd quill shaft is fixed with second largest gear, described second largest gear and two pinion engagement, described two pinion is by the 3rd decelerator transmission, described 3rd decelerator is arranged on described pedestal, and described 3rd decelerator is driven by the 3rd motor；Described arbitrary-movement articulator empty set is on described center driving axle, and the bottom of described arbitrary-movement articulator is supported by a set of cups, and the two formation is rotationally connected, and described a set of cups is fixed on described second quill shaft；Described a set of cups is positioned at the top of described second quill shaft driving wheel；Described arbitrary-movement articulator is provided with overhanging section of level, overhanging section of described level is fixed with the line slideway vertical with arbitrary-movement articulator rotor sections axis, described line slideway is provided with movable slider, it is equipped with a steel wire storage structure in the described both sides with movable slider and arbitrary-movement articulator rotor sections, two described steel wire storage structures are parallel to each other, each described steel wire storage structure is formed by k the steel wire storage assembly pulley set gradually from top to bottom, and k is integer, and k > 1；Described steel wire storage assembly pulley walked around by described silk thread；Described first master arm is connected with the side of described moving platform pedestal by the first slave arm side chain away from the end of center driving axle, the opposite side of described moving platform pedestal is hinged away from the end of center driving axle by the second slave arm side chain and described second master arm, and described second slave arm side chain is connected with described moving platform pedestal by hinge axis II；Being provided with, away from the end of center driving axle, the constraint foot rest being rotationally connected with it at described first master arm, described constraint foot rest is provided with orthogonal link I and link II；Described first master arm is provided with master arm parallel bar in parallel, described master arm parallel bar is hinged away from the end of center driving axle and the link I of described constraint foot rest, and described master arm parallel bar is hinged with arbitrary-movement articulator rotor sections near the end of center driving axle；Described first slave arm side chain is provided with the first driven armed lever and slave arm parallel bar in parallel, described slave arm parallel bar is positioned at the outside of described first driven armed lever, one end is hinged with the link II of described constraint foot rest, and the other end is hinged with described moving platform pedestal；One end of described first driven armed lever is hinged with described first master arm, and the other end is hinged by hinge axis I and described moving platform pedestal；The lower surface of the upper surface of described second master arm rotor sections, the described lower surface with movable slider and the described arbitrary-movement articulator section of stretching out is linked together by the first hinged secondary bar corresponding to them, the second secondary bar and the 3rd secondary bar；The upper surface of described second master arm rotor sections is hinged with the described first secondary bar by the second master arm alignment pin；The lower surface of the upper surface of the described arbitrary-movement articulator section of stretching out, the described upper surface with movable slider and described first master arm rotor sections is linked together by hinged fourth officer bar corresponding to them, the 5th secondary bar and the 6th secondary bar；The lower surface of described first master arm rotor sections is hinged with the described 6th secondary bar by the first master arm alignment pin；It is hinged with the upper surface of the described arbitrary-movement articulator section of stretching out that described fourth officer bar connects axle by overhanging section of level；Described with the upper surface of movable slider is fixed with rotating shaft, described with the lower surface of movable slider is fixed with lower rotary shaft, described 5th secondary bar is by described upper rotating shaft with described hinged with movable slider, and the described second secondary bar passes through described lower rotary shaft with described hinged with movable slider；Described first master arm and described second master arm length are equal, and described first slave arm side chain and described second slave arm branch lengths are equal；Described master arm parallel bar is equal with described first master arm length, and described arbitrary-movement articulator, described first master arm, described master arm parallel bar and described constraint corner bracket constitute parallel-crank mechanism；Described slave arm parallel bar and described first slave arm branch lengths are equal, and described constraint corner bracket, described slave arm parallel bar, described first slave arm side chain and described moving platform pedestal constitute parallel-crank mechanism；The length of the described 3rd secondary bar is equal to the 3rd quill shaft axial line distance b with described second master arm alignment pin axis, fourth officer pole length and the first master arm alignment pin axis are equal to center driving axle axial line distance b, it is equal that described first secondary pole length connects axle axial line distance a with described arbitrary-movement articulator its own rotation axis line to overhanging section of its level, and it is equal that the 6th secondary pole length connects axle axial line distance a with arbitrary-movement articulator its own rotation axis line to its elongation end；The length of described second slave arm side chain and the described second secondary length ratio of bar, length and the described 5th secondary length ratio of bar of described first slave arm side chain, length and the described 3rd secondary length ratio of bar of described second master arm, length and the length ratio of described fourth officer bar of described first master arm, hinge axis I and hinge axis II axial line distance m and be positioned at and described be k with the ratio of the described upper rotating shaft on movable slider and the distance n of described lower rotary shaft axis, k is integer, and k > 1。
Described first driven armed lever has two be arranged in parallel up and down, and two described first driven armed levers are linked together by the first slave arm restrained beam；Described second driven armed lever has two be arranged in parallel up and down, and two described second driven armed levers are linked together by the second slave arm restrained beam。
Described line slideway has three be parallel to each other, described it is assemblied on centrally located described line slideway with movable slider, turning respectively on the described line slideway be positioned at both sides and be furnished with a straight-line guide rail slide block, described straight-line guide rail slide block is fixed together with movable slider with described。
The present invention has the advantage that and has the benefit effect that the first master arm and the second master arm can realize complete cycle revolution, moving platform can realize the two dimensional motion in plane, transmission by the driving of the second quill shaft driving wheel, silk thread and supporting roller, moving platform rotating shaft can realize the rotation around the own axes being perpendicular to moving platform plane of movement, wire length is fixed, in mechanism kinematic process, the silk thread changes in distribution caused to the change of moving platform shaft axis distance because of master arm rotation axis can be adjusted by silk drive mechanism。The present invention disclosure satisfy that general motion requirement, and motion parts rotary inertia is relatively small, has at a high speed and high acceleration ability, and kinesiology and dynamic performance have axial symmetry。
Accompanying drawing explanation
Fig. 1 is one of structural representation of the present invention；
Fig. 2 is the two of the structural representation of the present invention；
Fig. 3 is the coaxial transmission phantom of the present invention；
Fig. 4 is the silk running part structural representation of the present invention；
Fig. 5 is the moving platform structural representation of the present invention；
Fig. 6 is the mechanism principle figure of the present invention。
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby enumerate following example, and it be as follows to coordinate accompanying drawing to describe in detail:
Refer to Fig. 1～Fig. 6, a kind of coaxial output mechanism of the Three Degree Of Freedom containing silk transmission, including the center driving axle 36 being vertically arranged, described center driving axle 36 is supported by horizontally disposed pedestal 7, described center driving axle 36 is by the first decelerator 8 transmission, described first decelerator 8 is arranged on described pedestal 7, and described first decelerator 8 is driven by the first motor 9。
Described center driving axle 36 is sequentially installed with the first master arm 23, arbitrary-movement articulator the 49, second quill shaft 39 and the second master arm 19 from top to bottom。
Described first master arm 23 is fixed on the top of described center driving axle 36, described second quill shaft 39 is rotatably connected on described center driving axle 36, described second quill shaft 39 is fixed with the first gear wheel 17, described first gear wheel 17 engages with the first little gear 14, described first little gear 14 is by the second decelerator 10 transmission, described second decelerator 10 is arranged on described pedestal 7, and described second decelerator 10 is driven by the second motor 11；Described second quill shaft 39 is fixed with the second quill shaft driving wheel 44, described second quill shaft driving wheel 44 is by silk thread 62 transmission supporting roller 68, described supporting roller 68 is packed in moving platform rotating shaft 66, described moving platform rotating shaft 66 be arranged in parallel with described center driving axle 36, is connected with perpendicular moving platform pedestal 63 in described moving platform rotating shaft 66。
Described second master arm 19 is packed on the 3rd quill shaft 42, described 3rd quill shaft 42 is rotatably connected on described center driving axle 36, described 3rd quill shaft 42 is fixed with second largest gear 18, described second largest gear 18 engages with two pinion 16, described two pinion 16 is by the 3rd decelerator 12 transmission, described 3rd decelerator 12 is arranged on described pedestal 7, and described 3rd decelerator 12 is driven by the 3rd motor 13。
Described arbitrary-movement articulator 49 empty set is on described center driving axle 36, and the bottom of described arbitrary-movement articulator 49 is supported by a set of cups 46, and the two formation is rotationally connected, and described a set of cups 46 is fixed on described second quill shaft 39；Described a set of cups 46 is positioned at the top of described second quill shaft driving wheel 44；Described arbitrary-movement articulator 49 is provided with overhanging section of level, overhanging section of described level is fixed with the line slideway 51 vertical with arbitrary-movement articulator rotor sections axis, described line slideway 51 is provided with movable slider 53, it is equipped with a steel wire storage structure in the described both sides with movable slider 53 and arbitrary-movement articulator rotor sections, two described steel wire storage structures are parallel to each other, each described steel wire storage structure is formed by k the steel wire storage assembly pulley set gradually from top to bottom, and k is integer, and k > 1；Described steel wire storage assembly pulley walked around by described silk thread 62。
Described first master arm 23 is connected with the side of described moving platform pedestal 63 by the first slave arm side chain away from the end of center driving axle, the opposite side of described moving platform pedestal 63 is hinged away from the end of center driving axle by the second slave arm side chain and described second master arm 19, and described second slave arm side chain is connected with described moving platform pedestal 63 by hinge axis II。
Being provided with, away from the end of center driving axle, the constraint foot rest 27 being rotationally connected with it at described first master arm 23, described constraint foot rest 27 is provided with orthogonal link I and link II；Described first master arm 23 is provided with master arm parallel bar 25 in parallel, described master arm parallel bar 25 is hinged away from the end of center driving axle and the link I of described constraint foot rest 27, and described master arm parallel bar 25 is hinged with arbitrary-movement articulator rotor sections near the end of center driving axle。
Described first slave arm side chain is provided with the first driven armed lever 31 and slave arm parallel bar 30 in parallel, described slave arm parallel bar 30 is positioned at the outside of described first driven armed lever 31, one end is hinged with the link II of described constraint foot rest 27, and the other end is hinged with described moving platform pedestal 63；One end of described first driven armed lever 31 is hinged with described first master arm 23, and the other end is hinged by hinge axis I and described moving platform pedestal 63。
The lower surface of the upper surface of described second master arm 19 rotor sections, the described lower surface with movable slider 53 and the described arbitrary-movement articulator section of stretching out is linked together by the first hinged secondary secondary bar of bar 54, second 55 corresponding to them and the 3rd secondary bar 56；The upper surface of described second master arm 19 rotor sections is hinged with the described first secondary bar 54 by the second master arm alignment pin 43。
The lower surface of the upper surface of the described arbitrary-movement articulator section of stretching out, the described upper surface with movable slider 53 and described first master arm 23 rotor sections is linked together by the secondary bar of hinged fourth officer bar the 58, the 5th corresponding to them 59 and the 6th secondary bar 60；The lower surface of described first master arm 23 rotor sections is hinged with the described 6th secondary bar 60 by the first master arm alignment pin 48；It is hinged with the upper surface of the described arbitrary-movement articulator section of stretching out that described fourth officer bar 58 connects axle by overhanging section of level。
The described upper surface with movable slider 53 is fixed with rotating shaft, the described lower surface with movable slider 53 is fixed with lower rotary shaft, described 5th secondary bar 59 is by described upper rotating shaft with described hinged with movable slider 53, and the described second secondary bar 55 passes through described lower rotary shaft with described hinged with movable slider 53。
Described first master arm 23 and described second master arm 19 length are equal, and described first slave arm side chain and described second slave arm branch lengths are equal；Described master arm parallel bar 25 is equal with described first master arm 23 length, and described arbitrary-movement articulator 49, described first master arm 23, described master arm parallel bar 25 and described constraint corner bracket 27 constitute parallel-crank mechanism；Described slave arm parallel bar 30 and described first slave arm branch lengths are equal, and described constraint corner bracket 27, described slave arm parallel bar 30, described first slave arm side chain and described moving platform pedestal 63 constitute parallel-crank mechanism。
The length of the described 3rd secondary bar 56 and described second master arm alignment pin 43 axis to the 3rd quill shaft 42 axial line distance b2Equal, fourth officer bar 58 length and the first master arm alignment pin 48 axis are to center driving axle 36 axial line distance b1Equal, it is equal that the described first secondary bar 54 length connects axle axial line distance a with described arbitrary-movement articulator 49 its own rotation axis line to overhanging section of its level, and it is equal that the 6th secondary bar 60 length connects axle axial line distance a with arbitrary-movement articulator 49 its own rotation axis line to its elongation end。
The length of described second slave arm side chain and the described second secondary length ratio of bar 55, length and the described 5th secondary length ratio of bar 59 of described first slave arm side chain, length and the described 3rd secondary length ratio of bar 56 of described second master arm 19, length and the length ratio of described fourth officer bar 58 of described first master arm 23, hinge axis I and hinge axis II axial line distance m and be positioned at and described be k with the ratio of the described upper rotating shaft on movable slider 53 and the distance n of described lower rotary shaft axis, k is integer, and k > 1。
In the present embodiment, described first driven armed lever 31 has two be arranged in parallel up and down, and two described first driven armed levers 31 are linked together by the first slave arm restrained beam 32；Described second driven armed lever 21 has two be arranged in parallel up and down, and two described second driven armed levers 21 are linked together by the second slave arm restrained beam 22。Described line slideway 51 has three be parallel to each other, described it is assemblied on centrally located described line slideway with movable slider 53, turning respectively on the described line slideway be positioned at both sides and be furnished with a straight-line guide rail slide block 52, described straight-line guide rail slide block 52 is fixed together with movable slider 53 with described。
In conjunction with Fig. 1～Fig. 6, the structure of said mechanism is described in detail:
A kind of coaxial output mechanism of the Three Degree Of Freedom containing silk transmission includes drive part 1, coaxial transmission part 2, silk running part the 3, first slave arm side chain the 4, second slave arm side chain 5 and moving platform part 6。As shown in figures 2-3, drive part 1 includes pedestal the 7, first decelerator the 8, first motor the 9, second decelerator the 10, second motor the 11, the 3rd decelerator the 12, the 3rd motor the 13, first little gear 14, connects axle 15, two pinion the 16, first gear wheel 17 and second largest gear 18, first decelerator 8 input and the fixing connection of the first motor 9 output shaft, first decelerator 8 is arranged on pedestal 7, second decelerator 10 input and the fixing connection of the second motor 11 output shaft, the second decelerator 10 is arranged on pedestal 7。3rd decelerator 12 input and the fixing connection of the 3rd motor 13 output shaft, the 3rd decelerator 12 is arranged on pedestal 7。Second decelerator 10 output shaft and the first little fixing connection of gear 14, the output shaft of the 3rd decelerator 12 is fixedly and coaxially connected with being connected axle 15 lower end, the upper end of connection axle 15 is fixing with two pinion 16 to be connected, first gear wheel 17 is packed in the lower end of the second quill shaft 39, first gear wheel 17 lower surface overlaps with the second quill shaft 39 lower end shaft shoulder end face, second largest gear 18 is packed in the lower end of the 3rd quill shaft 42, second largest gear 18 lower surface overlaps with the 3rd quill shaft 42 lower end shaft shoulder end face, first little gear 14 coordinates installation with the first gear wheel 17 according to certain centre-to-centre spacing and gear ratio, two pinion 16 coordinates installation with second largest gear 18 according to certain centre-to-centre spacing and gear ratio。
As shown in Figure 3, coaxial transmission part 2 includes the second master arm 19, first master arm 23, retaining ring 34a, retaining ring 34b, anchor ear 35, center driving axle 36, base bearing 37a, base bearing 37b, reinforced shaft 38, second quill shaft 39, second quill shaft bottom bearing 40a, second quill shaft bottom bearing 40b, 3rd quill shaft bearing 41a, 3rd quill shaft bearing 41b, 3rd quill shaft 42, second master arm alignment pin 43, second quill shaft driving wheel 44, second quill shaft top bearing 45a, second quill shaft top bearing 45b, a set of cups 46, a set of cups bearing 47 and the first master arm alignment pin 48, anchor ear 35 lower end is connected by retaining ring 34a locking with the first decelerator 8 output shaft, anchor ear 35 upper end is connected by retaining ring 34b locking with axle head bottom center driving axle 36, base bearing 37a and base bearing 37b is installed in the dead eye of pedestal 7 side by side, reinforced shaft 38 and center driving axle 36 are co-axially mounted, its lower end is installed in the brearing bore of base bearing 37a and base bearing 37b and is positioned by shaft shoulder end face, second quill shaft 39 is co-axially mounted with center driving axle 36, fix with reinforced shaft 38 bottom it and be connected, second quill shaft bottom bearing 40a and the second quill shaft bottom bearing 40b is installed in the bottom bearing hole of the second quill shaft 39 side by side, 3rd quill shaft 42 and the second quill shaft 39 are co-axially mounted, 3rd quill shaft bearing 41a is installed in the 3rd quill shaft 42 bottom bearing hole, its bearing inner race lower surface overlaps with the second quill shaft 39 shaft shoulder end face, 3rd quill shaft bearing 41b is installed in the 3rd quill shaft 42 top axle bearing bore, second master arm 19 is fixing with the 3rd quill shaft 42 to be connected, second master arm alignment pin 43 is fixedly connected on the second master arm 19 rotor sections upper surface and becomes 180 ° to be symmetrically installed with the second master arm 19 brachium direction, second quill shaft driving wheel 44 is coaxially fixedly installed in the second quill shaft 39 top, second quill shaft top bearing 45a and the second quill shaft top bearing 45b is installed in the dead eye at the second quill shaft 39 top side by side, a set of cups 46 is coaxially fixedly installed in the second quill shaft 39 top, a set of cups bearing 47 is installed on a set of cups 46 and is positioned by shaft shoulder end face, first master arm 23 is fixing with center driving axle 36 top to be connected, first master arm alignment pin 48 is fixedly connected on the first master arm 23 rotor sections lower surface and becomes 180 ° to be symmetrically installed with the first master arm 23 brachium direction。
As shown in figs. 34, silk running part 4 includes arbitrary-movement articulator 49, pulley 50, line slideway 51, straight-line guide rail slide block 52, with movable slider 53, first secondary bar 54, second secondary bar 55, 3rd secondary bar 56, first secondary bar rotating shaft 57, fourth officer bar 58, 5th secondary bar 59, 6th secondary bar 60, second secondary bar rotating shaft 61 and silk thread 62, arbitrary-movement articulator 49 rotor sections and a set of cups 46 are co-axially mounted, its bottom bearing hole coordinates installation with a set of cups bearing 47, pulley 50 is symmetrically arranged on arbitrary-movement articulator 49 and with movable slider 53 both sides, line slideway 51 is fixedly installed in overhanging section of the level of arbitrary-movement articulator 49, straight-line guide rail slide block 52 is installed on line slideway 51, it is connected with movable slider 53 is fixing with straight-line guide rail slide block 52, one end of first secondary bar 54 is connected with the second master arm alignment pin 43, its other end and the first secondary bar rotating shaft 57 connect, one end of second secondary bar 55 is connected with the rotating shaft bottom movable slider 53, its other end and the first secondary bar rotating shaft 57 connect, one end of 3rd secondary bar 56 is connected with rotating shaft bottom arbitrary-movement articulator 49 external part, its other end and the first secondary bar rotating shaft 57 connect, one end of fourth officer bar 58 is connected with the top rotating shaft of arbitrary-movement articulator 49 external part, its other end and the second secondary bar rotating shaft 61 connect, the top rotating shaft of arbitrary-movement articulator 49 external part and bottom rotating shaft concentric, one end of 5th secondary bar 59 is connected with movable slider 53 top rotating shaft, its other end and the second secondary bar rotating shaft 61 connect, one end of 6th secondary bar 60 is connected with the first master arm alignment pin 48, its other end and the second secondary bar rotating shaft 61 connect, silk thread 62 is walked around successively and is symmetrically arranged on arbitrary-movement articulator 49 and with the pulley 50 of movable slider 53 both sides and the second quill shaft driving wheel 44。
As shown in Fig. 1～2, first slave arm side chain 4 mainly includes master arm parallel bar the first rotating shaft 24, master arm parallel bar 25, master arm parallel bar the second rotating shaft 26, constraint corner bracket 27, first master arm rotating shaft 28, slave arm parallel bar the first rotating shaft 29, slave arm parallel bar 30, first driven armed lever 31, first slave arm restrained beam 32 and slave arm parallel bar the second rotating shaft 33, one end of master arm parallel bar 25 is connected with master arm parallel bar the first rotating shaft 24 being installed on arbitrary-movement articulator 49 rear end, the other end of master arm parallel bar 25 is connected with master arm parallel bar the second rotating shaft 26 being installed on constraint foot rest 27, one end of slave arm parallel bar 30 is connected with slave arm parallel bar the first rotating shaft 29 being installed on constraint foot rest 27, the other end of slave arm parallel bar 30 is connected with slave arm parallel bar the second rotating shaft 33 being installed on moving platform pedestal 63, constraint foot rest 27 is connected with the first master arm 23 by the first master arm rotating shaft 28, two links of constraint foot rest 27 become 90 ° of vertical design of plane, first driven armed lever 31 is symmetrically arranged on the first slave arm restrained beam 32 both sides, one end of first driven armed lever 31 is connected with the first master arm rotating shaft 28, its other end is connected with the hinge axis I of moving platform pedestal 63 side。
As shown in Fig. 1～2, second slave arm side chain 5 mainly includes second master arm rotating shaft the 20, second driven armed lever 21 and the second slave arm restrained beam 22, second driven armed lever 21 is symmetrically arranged on the second slave arm restrained beam 22 both sides, one end of second driven armed lever 21 is connected with the second master arm rotating shaft 20, and its other end is connected with the hinge axis II of moving platform pedestal 63 side。
As shown in Figure 5, moving platform part 6 mainly includes moving platform pedestal 63, bearing (ball) cover 64, moving platform bearing 65, moving platform rotating shaft 66, moving platform pulley 67 and supporting roller 68, bearing (ball) cover 64 is respectively arranged in both sides, moving platform pedestal 63 metal (upper hole, moving platform bearing 65 is respectively arranged in the dead eye of moving platform pedestal about 63 both sides, moving platform rotating shaft 66 two ends are respectively arranged in the brearing bore of moving platform bearing 65, moving platform pulley 67 is respectively arranged in the pulley rotating shaft of moving platform pedestal 63, one end of supporting roller 68 and moving platform rotating shaft 66 is fixedly and coaxially connected, and moving platform pulley 67 overlaps with the central plane of supporting roller 68, silk thread 62 walks around moving platform pulley 67 and supporting roller 68 successively。
As shown in Fig. 1～2, the first master arm 23 and the second master arm 19 length are equal, and the first driven armed lever 31 and the second driven armed lever 21 length are equal；Master arm parallel bar 25 is equal with the first master arm 23 length, arbitrary-movement articulator 49 rear end and the first master arm 23, master arm parallel bar 25 and about beam angle frame 27 constitute parallel-crank mechanism；Slave arm parallel bar 30 is equal with the first driven armed lever 31 length, and constraint corner bracket 27 constitutes parallel-crank mechanism with slave arm parallel bar the 30, first driven armed lever 31 and moving platform pedestal 63 external part。
As shown in figures 1-4,3rd secondary bar 56 length is equal to the 3rd quill shaft 42 axial line distance b2 with the second master arm alignment pin 43 axis, fourth officer bar 58 length is equal to center driving axle 36 axial line distance b1 with the first master arm alignment pin 48 axis, it is equal that first secondary bar 54 length connects axle axial line distance a with arbitrary-movement articulator 49 its own rotation axis line to its elongation end, and it is equal that the 6th secondary bar 60 length connects axle axial line distance a with arbitrary-movement articulator 49 its own rotation axis line to overhanging section of its level。
As shown in Fig. 1～2 and Fig. 4～5, second driven armed lever 21 length and the second secondary bar 55 length ratio, the first driven armed lever 31 length and the 5th secondary bar 59 length ratio, the second master arm 19 length and the 3rd secondary bar 56 length ratio, the first master arm 23 length and the two hinge axis axial line distance m being connected with slave arm on fourth officer bar 58 length ratio, moving platform are k (k is integer, and k > 1) with the ratio of movable slider about 53 shaft axis distance n。
The operation principle of the present invention:
As shown in Figures 1 to 3, driving by the first motor 9, transmission through the first decelerator 8 and center driving axle 36, the first master arm 23 can be realized turn round around z-axis complete cycle, driving by the 3rd motor 13, through the 3rd decelerator 12, the transmission connecting axle 15, two pinion 16, second largest gear 18 and the 3rd quill shaft 42, the second master arm 19 can be realized turn round around z-axis complete cycle, transmission by the first slave arm side chain 4 and the second slave arm side chain 5, it may be achieved the moving platform pedestal 63 two dimensional motion in vertical z-axis plane。
The present invention can be reduced to principle mechanism as shown in Figure 6, coaxial rotation along with the first master arm 23 and the second master arm 19, by two parallelogram constraint mechanisms that arbitrary-movement articulator the 49, first master arm 23, master arm parallel bar 25 and constraint foot rest 27 and slave arm parallel bar the 30, first driven armed lever 31 and moving platform pedestal 63 external part form so that moving platform is perpendicular to the angular bisector of the first master arm 23 and the second master arm 19 all the time。
As shown in Figure 6, coaxial rotation along with the first master arm 23 and the second master arm 19, each secondary bar and will follow two master arms with movable slider 53 and carry out plane motion, arbitrary-movement articulator 49 external part direction is by all the time along the angular bisector of the first master arm 23 and the second master arm 19。
As shown in Figure 6, after the first master arm 23 and the second master arm 19 proceed by rotary motion from initial position, moving platform pedestal 63 central point is by c1Point moves to c2Point, with movable slider 53 central point by d1Point moves to d2Point, master arm rotation axis is increased to H+ Δ H to moving platform pedestal 63 central point vertical dimension by H, arbitrary-movement articulator 49 front end connects axle axis to be increased to h+ Δ h to movable slider 53 central point vertical dimension by h, and Δ H=k × Δ h, and wherein k is the ratio of master and slave swing arm and each corresponding secondary pole length；
As shown in Figure 4 and Figure 6, for side, each is installed on the pulley on arbitrary-movement articulator 49 and is installed on pulley one assembly pulley of composition on movable slider 53 accordingly, amount to k group (all the other are installed on the pulley on arbitrary-movement articulator 49 only for being wound around silk thread 62), when master arm rotation axis to moving platform pedestal 63 central point vertical dimension increases Δ H, now arbitrary-movement articulator 49 front end connects axle axis increases Δ h to movable slider 53 central point vertical dimension, wire length accordingly from master arm rotation axis to moving platform pedestal 63 central point increases Δ H, and the silk thread distance being installed between an assembly pulley on arbitrary-movement articulator reduces Δ h, amount to and reduce k × Δ h, and k × Δ h=Δ H, therefore silk thread 62 can keep overall length to immobilize。
As shown in Figure 2-5, driving by the second motor 11, through the transmission of first little gear the 14, first gear wheel the 17, second quill shaft the 39, second quill shaft driving wheel 44, silk thread 62 and supporting roller 68, to realize the moving platform rotating shaft 66 rotary motion around own axes。
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing; but the invention is not limited in above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is merely schematic; it is not restrictive; those of ordinary skill in the art is under the enlightenment of the present invention; when without departing from present inventive concept and scope of the claimed protection, it is also possible to making a lot of form, these belong within protection scope of the present invention。
Claims (3)
1. the coaxial output mechanism of the Three Degree Of Freedom containing silk transmission, it is characterized in that, including the center driving axle being vertically arranged, described center driving axle is by horizontally disposed base support, described center driving axle is by the first decelerator transmission, described first decelerator is arranged on described pedestal, and described first decelerator is driven by the first motor；
Described center driving axle is sequentially installed with the first master arm, arbitrary-movement articulator, the second quill shaft and the second master arm from top to bottom；
Described first master arm is fixed on the top of described center driving axle；
Described second quill shaft is rotatably connected on described center driving axle, described second quill shaft is fixed with the first gear wheel, described first gear wheel and the engagement of the first little gear, described first little gear is by the second decelerator transmission, described second decelerator is arranged on described pedestal, and described second decelerator is driven by the second motor；Described second quill shaft is fixed with the second quill shaft driving wheel, described second quill shaft driving wheel passes through silk thread transmission supporting roller, described supporting roller is packed in moving platform rotating shaft, described moving platform rotating shaft and described center driving axle be arranged in parallel, are connected with perpendicular moving platform pedestal in described moving platform rotating shaft；
Described second master arm is packed on the 3rd quill shaft, described 3rd quill shaft is rotatably connected on described center driving axle, described 3rd quill shaft is fixed with second largest gear, described second largest gear and two pinion engagement, described two pinion is by the 3rd decelerator transmission, described 3rd decelerator is arranged on described pedestal, and described 3rd decelerator is driven by the 3rd motor；
Described arbitrary-movement articulator empty set is on described center driving axle, and the bottom of described arbitrary-movement articulator is supported by a set of cups, and the two formation is rotationally connected, and described a set of cups is fixed on described second quill shaft；
Described a set of cups is positioned at the top of described second quill shaft driving wheel；
Described arbitrary-movement articulator is provided with overhanging section of level, overhanging section of described level is fixed with the line slideway vertical with arbitrary-movement articulator rotor sections axis, described line slideway is provided with movable slider, it is equipped with a steel wire storage structure in the described both sides with movable slider and arbitrary-movement articulator rotor sections, two described steel wire storage structures are parallel to each other, each described steel wire storage structure is formed by k the steel wire storage assembly pulley set gradually from top to bottom, and k is integer, and k > 1；
Described steel wire storage assembly pulley walked around by described silk thread；
Described first master arm is connected with the side of described moving platform pedestal by the first slave arm side chain away from the end of center driving axle, the opposite side of described moving platform pedestal is hinged away from the end of center driving axle by the second slave arm side chain and described second master arm, and described second slave arm side chain is connected with described moving platform pedestal by hinge axis II；
Being provided with, away from the end of center driving axle, the constraint foot rest being rotationally connected with it at described first master arm, described constraint foot rest is provided with orthogonal link I and link II；Described first master arm is provided with master arm parallel bar in parallel, described master arm parallel bar is hinged away from the end of center driving axle and the link I of described constraint foot rest, and described master arm parallel bar is hinged with arbitrary-movement articulator rotor sections near the end of center driving axle；
Described first slave arm side chain is provided with the first driven armed lever and slave arm parallel bar in parallel, described slave arm parallel bar is positioned at the outside of described first driven armed lever, one end is hinged with the link II of described constraint foot rest, and the other end is hinged with described moving platform pedestal；One end of described first driven armed lever is hinged with described first master arm, and the other end is hinged by hinge axis I and described moving platform pedestal；
The lower surface of the upper surface of described second master arm rotor sections, the described lower surface with movable slider and the described arbitrary-movement articulator section of stretching out is linked together by the first hinged secondary bar corresponding to them, the second secondary bar and the 3rd secondary bar；The upper surface of described second master arm rotor sections is hinged with the described first secondary bar by the second master arm alignment pin；
The lower surface of the upper surface of the described arbitrary-movement articulator section of stretching out, the described upper surface with movable slider and described first master arm rotor sections is linked together by hinged fourth officer bar corresponding to them, the 5th secondary bar and the 6th secondary bar；The lower surface of described first master arm rotor sections is hinged with the described 6th secondary bar by the first master arm alignment pin；It is hinged with the upper surface of the described arbitrary-movement articulator section of stretching out that described fourth officer bar connects axle by overhanging section of level；
Described with the upper surface of movable slider is fixed with rotating shaft, described with the lower surface of movable slider is fixed with lower rotary shaft, described 5th secondary bar is by described upper rotating shaft with described hinged with movable slider, and the described second secondary bar passes through described lower rotary shaft with described hinged with movable slider；
Described first master arm and described second master arm length are equal, and described first slave arm side chain and described second slave arm branch lengths are equal；Described master arm parallel bar is equal with described first master arm length, and described arbitrary-movement articulator, described first master arm, described master arm parallel bar and described constraint corner bracket constitute parallel-crank mechanism；Described slave arm parallel bar and described first slave arm branch lengths are equal, and described constraint corner bracket, described slave arm parallel bar, described first slave arm side chain and described moving platform pedestal constitute parallel-crank mechanism；
The length of the described 3rd secondary bar is equal to the 3rd quill shaft axial line distance b with described second master arm alignment pin axis, fourth officer pole length and the first master arm alignment pin axis are equal to center driving axle axial line distance b, it is equal that described first secondary pole length connects axle axial line distance a with described arbitrary-movement articulator its own rotation axis line to overhanging section of its level, and it is equal that the 6th secondary pole length connects axle axial line distance a with arbitrary-movement articulator its own rotation axis line to its elongation end；
The length of described second slave arm side chain and the described second secondary length ratio of bar, length and the described 5th secondary length ratio of bar of described first slave arm side chain, length and the described 3rd secondary length ratio of bar of described second master arm, length and the length ratio of described fourth officer bar of described first master arm, hinge axis I and hinge axis II axial line distance m and be positioned at and described be k with the ratio of the described upper rotating shaft on movable slider and the distance n of described lower rotary shaft axis, k is integer, and k > 1。
2. the coaxial output mechanism of the Three Degree Of Freedom containing silk transmission according to claim, it is characterised in that described first driven armed lever has two be arranged in parallel up and down, two described first driven armed levers are linked together by the first slave arm restrained beam；Described second driven armed lever has two be arranged in parallel up and down, and two described second driven armed levers are linked together by the second slave arm restrained beam。
3. the coaxial output mechanism of the Three Degree Of Freedom containing silk transmission according to claim, it is characterized in that, described line slideway has three be parallel to each other, described it is assemblied on centrally located described line slideway with movable slider, turning respectively on the described line slideway be positioned at both sides and be furnished with a straight-line guide rail slide block, described straight-line guide rail slide block is fixed together with movable slider with described。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610192333.8A CN105690374B (en) | 2016-03-29 | 2016-03-29 | A kind of coaxial output mechanism of Three Degree Of Freedom being driven containing silk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610192333.8A CN105690374B (en) | 2016-03-29 | 2016-03-29 | A kind of coaxial output mechanism of Three Degree Of Freedom being driven containing silk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105690374A true CN105690374A (en) | 2016-06-22 |
| CN105690374B CN105690374B (en) | 2017-11-03 |
Family
ID=56218054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610192333.8A Expired - Fee Related CN105690374B (en) | 2016-03-29 | 2016-03-29 | A kind of coaxial output mechanism of Three Degree Of Freedom being driven containing silk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105690374B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272362A (en) * | 2016-10-07 | 2017-01-04 | 南京理工大学 | A kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution |
| CN109769479A (en) * | 2019-03-25 | 2019-05-21 | 河南工学院 | A kind of intelligent picking robot for preventing fruit from damaging |
| CN110154594A (en) * | 2019-06-19 | 2019-08-23 | 绘笔教育科技(深圳)有限责任公司 | Graphic rendering device |
| CN114652452A (en) * | 2022-04-20 | 2022-06-24 | 天津大学医疗机器人与智能系统研究院 | From the operating end arm |
| CN114652451A (en) * | 2022-04-20 | 2022-06-24 | 天津大学医疗机器人与智能系统研究院 | Instrument arm driving device and instrument arm using same |
| CN114770457A (en) * | 2022-04-20 | 2022-07-22 | 天津大学医疗机器人与智能系统研究院 | Manipulator and slave operation end using same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4984959A (en) * | 1988-07-13 | 1991-01-15 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot |
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101444431A (en) * | 2008-12-23 | 2009-06-03 | 天津大学 | Three dimensional force feedback main operator assisting minimally invasive surgery robot |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
| CN104440869A (en) * | 2014-09-24 | 2015-03-25 | 哈尔滨工业大学 | Three-freedom-degree parallel connection differential robot joint |
| CN105397802A (en) * | 2015-11-30 | 2016-03-16 | 梅江平 | Four-degree-of-freedom coaxial outputting mechanism |
-
2016
- 2016-03-29 CN CN201610192333.8A patent/CN105690374B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4984959A (en) * | 1988-07-13 | 1991-01-15 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot |
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101444431A (en) * | 2008-12-23 | 2009-06-03 | 天津大学 | Three dimensional force feedback main operator assisting minimally invasive surgery robot |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
| CN104440869A (en) * | 2014-09-24 | 2015-03-25 | 哈尔滨工业大学 | Three-freedom-degree parallel connection differential robot joint |
| CN105397802A (en) * | 2015-11-30 | 2016-03-16 | 梅江平 | Four-degree-of-freedom coaxial outputting mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272362A (en) * | 2016-10-07 | 2017-01-04 | 南京理工大学 | A kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution |
| CN109769479A (en) * | 2019-03-25 | 2019-05-21 | 河南工学院 | A kind of intelligent picking robot for preventing fruit from damaging |
| CN109769479B (en) * | 2019-03-25 | 2021-06-04 | 河南工学院 | Intelligent picking robot capable of preventing fruits from being damaged |
| CN110154594A (en) * | 2019-06-19 | 2019-08-23 | 绘笔教育科技(深圳)有限责任公司 | Graphic rendering device |
| CN110154594B (en) * | 2019-06-19 | 2024-05-03 | 绘笔教育科技(深圳)有限责任公司 | Image-text drawing device |
| CN114652452A (en) * | 2022-04-20 | 2022-06-24 | 天津大学医疗机器人与智能系统研究院 | From the operating end arm |
| CN114652451A (en) * | 2022-04-20 | 2022-06-24 | 天津大学医疗机器人与智能系统研究院 | Instrument arm driving device and instrument arm using same |
| CN114770457A (en) * | 2022-04-20 | 2022-07-22 | 天津大学医疗机器人与智能系统研究院 | Manipulator and slave operation end using same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105690374B (en) | 2017-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105690374A (en) | Three-freedom-degree coaxial output mechanism containing wire transmission | |
| KR200484533Y1 (en) | A two-way transfer robot with two rods by parallel principle | |
| CN2804018Y (en) | Stacking robot | |
| CN201143680Y (en) | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm | |
| CN204772545U (en) | Improvement structure of five manipulators of intelligence | |
| CN102039240B (en) | Spraying robot mechanism | |
| CN105014688B (en) | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length | |
| CN106346444B (en) | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation | |
| JP6749991B2 (en) | High speed press transfer robot | |
| CN110315511A (en) | A kind of rope driving sorting machine people in parallel using passive tensioned | |
| CN102615641A (en) | Five-degree-of-freedom parallel power head | |
| CN103552059A (en) | Pick-and-place operation oriented parallel robot mechanism with four degrees of freedom and large working space | |
| CN105127633B (en) | Seven-axis industrial welding robot | |
| CN108247622B (en) | Seven-degree-of-freedom modular rope-driven mechanical arm | |
| CN102284959A (en) | Wrist for two-degree-of-freedom industrial robot | |
| CN105014664B (en) | It is applicable to the light modularized mechanical arm of small space | |
| CN106037934B (en) | Operating robot and its mechanical arm | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN105522568B (en) | A kind of seven axle robots for having transverse motion mechanism | |
| CN103386681B (en) | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation | |
| CN102170097B (en) | Two-arm-regulating gravity type inspection robot for high-voltage transmission lines | |
| CN106272362B (en) | A kind of four-degree-of-freedom robot mechanism of achievable complete cycle revolution | |
| CN108858144A (en) | A kind of six-degree-of-freedom parallel connection mechanism containing redundant drive | |
| CN105904441A (en) | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism | |
| CN101792953B (en) | Knitting needle bed swinging mechanism of high-speed tricot machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92, Tianjin University Patentee before: Tianjin University |
|
| CP02 | Change in the address of a patent holder | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171103 Termination date: 20210329 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |