CN105835034B - The mobile roll-over table of Three Degree Of Freedom industry - Google Patents
The mobile roll-over table of Three Degree Of Freedom industry Download PDFInfo
- Publication number
- CN105835034B CN105835034B CN201610231327.9A CN201610231327A CN105835034B CN 105835034 B CN105835034 B CN 105835034B CN 201610231327 A CN201610231327 A CN 201610231327A CN 105835034 B CN105835034 B CN 105835034B
- Authority
- CN
- China
- Prior art keywords
- shaped connecting
- connecting rod
- rotary shaft
- movement branched
- expansion link
- 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.)
- Expired - Fee Related
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000003466 welding Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
Abstract
A kind of mobile roll-over table of Three Degree Of Freedom industry, it includes pedestal, motion platform and two movement branched chains for connecing pedestal and motion platform.The second movement branched chain in two movement branched chains includes four H-shaped connecting rods, two expansion links and ten rotary shafts, wherein, four H-shaped connecting rods are rotatablely connected by rotary shaft, first expansion link is connected by rotary shaft with the first H-shaped connecting rod and the 4th H-shaped link rotatable, and the second expansion link is rotatablely connected by one end of rotary shaft and the 4th H-shaped connecting rod and pedestal；For the first movement branched chain in two movement branched chains in addition to no second expansion link and its connector, the annexation between other parts and part is identical with the second movement branched chain.Kinematics of mechanism algorithm of the present invention is simple, precision is high, bearing capacity is strong, simple in construction, moving range and upset ability is big and good manufacturability, is particularly suitable for linking with welding robot, the welding for large complicated part.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of industrial platform.
Background technology
The mobile roll-over table of industry of parallel-connection structure is the infant industry platform that recent decades occur, and this industrial platform is usual
Connected both a plurality of motion branches by pedestal, motion platform with parallel way and formed, its driving part may be mounted at base
On seat or near pedestal, make it that there are some unique performances compared with the industrial platform of cascaded structure, as rigidity is big, symmetry
It is good, compact-sized and dynamic performance is good etc..Stewart (Stewart) platform is most typical Six Degree-of-Freedom Parallel Platform,
This platform is made up of motion platform, pedestal and connection both six scalable movement branched chains, passes through six movement branched chains
Stretching motion makes motion platform realize that the sextuple space of optional position and posture moves, and this kind of platform that is, has six freedom
Degree.But many actual industrial operating platforms in modern production are only needed with some freedom, such as have two respectively, three,
Four and the operating platform of five degree of freedom, wherein, Three Degree Of Freedom work with two-dimensional movement and one-dimensional rotation and with practicality
Industry movement roll-over table is actually rare.
The content of the invention
It is an object of the invention to provide it is a kind of it is simple in construction, precision is high, bearing capacity is strong, moving range and overturns ability
Greatly, the Three Degree Of Freedom industry of the two-dimensional movement that can be realized in vertical plane of good manufacturability and the rotation around a trunnion axis is mobile
Roll-over table.
The present invention includes pedestal, motion platform and two movement branched chains at connection pedestal and motion platform both ends.It is described
The second movement branched chain in two movement branched chains includes four H-shaped connecting rods, two expansion links and ten rotary shafts, wherein, the first H
One end of shape connecting rod and the 3rd H-shaped connecting rod respectively by one end of the 3rd rotary shaft and the 4th rotary shaft and the second H-shaped connecting rod and
Middle and lower part is rotatablely connected, and the other end of the second H-shaped connecting rod is rotatablely connected by the first rotary shaft and motion platform, and described the
The other end of one H-shaped connecting rod and the 3rd H-shaped connecting rod is respectively by the 6th rotary shaft and the 5th rotary shaft and the 4th H-shaped connecting rod
Top and one end rotation connection, the other end of the 4th H-shaped connecting rod are rotatablely connected by the second rotary shaft and pedestal, and described the
One H-shaped connecting rod and the 3rd H-shaped connecting rod are parallel to each other, and the second H-shaped connecting rod and the 4th H-shaped connecting rod are parallel to each other；First is flexible
One end of bar by the position of centre one of the 7th rotary shaft and the first H-shaped connecting rod be rotatablely connected, first expansion link it is another
One end is connected by the 9th rotary shaft with the lower rotational of the 4th H-shaped connecting rod, and one end of the second expansion link passes through eighth-turn
The middle part of moving axis and the 4th H-shaped connecting rod is rotatablely connected, the other end of second expansion link pass through the tenth rotary shaft and pedestal one
End rotation connection；All rotary shafts are parallel to each other and horizontally disposed；The first movement branched chain in two movement branched chains
In addition to no second expansion link and its connector, annexation and the second movement branched chain phase between other parts and part
Together；On the moving platform, by the driving of three expansion links of three movement branched chains, it is flat that motion can be achieved in workpiece or fixture installation
Two-dimensional movement of the platform in vertical plane and the rotation around a trunnion axis.
The present invention has the following advantages that compared with prior art：
1st, there is clear and definite kinetic characteristic, i.e. the two-dimensional movement in vertical plane and the rotation around a trunnion axis.
2nd, kinematics of mechanism algorithm is simple, precision is high, bearing capacity is strong, simple in construction, moving range and upset ability are big
And good manufacturability.
3rd, the present invention has wide practical use in modern industry field, is particularly suitable for linking with welding robot, is used for
The welding of large complicated part.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the three-dimensional simplified schematic diagram of the second movement branched chain of the invention.
In figure：1. pedestal, 2. first movement branched chains, 3. second movement branched chains, 4. motion platforms, 5. first rotary shafts,
6. the second rotary shaft, 7. first H-shaped connecting rods, 8. the 3rd rotary shafts, 9. the 4th rotary shafts, 10. second H-shaped connecting rods, 11. the 3rd H
Shape connecting rod, 12. the 7th rotary shafts, 13. the 5th rotary shafts, 14. the 4th H-shaped connecting rods, 15. the 6th rotary shafts, 16. first are stretched
Bar, 17. eighth-turn moving axis, 18. second expansion links, 19. the tenth rotary shafts, 20. the 9th rotary shafts.
Embodiment
In the mobile roll-over table schematic diagram of Three Degree Of Freedom industry shown in Fig. 1 and Fig. 2, the both ends of pedestal 1 and motion platform 4
Connected respectively by the first movement branched chain 2 and the second movement branched chain 3, second movement branched chain include four H-shaped connecting rods, two
Expansion link and ten rotary shafts, wherein, one end of the first H-shaped connecting rod 7 and the 3rd H-shaped connecting rod 11 passes through the 3rd rotary shaft 8 respectively
It is rotatablely connected with the 4th rotary shaft 9 and one end of the second H-shaped connecting rod 10 and middle and lower part, the other end of the second H-shaped connecting rod leads to
Cross the first rotary shaft 5 to be rotatablely connected with motion platform, the other end of the first H-shaped connecting rod and the 3rd H-shaped connecting rod passes through respectively
6th rotary shaft 15 and the 5th rotary shaft 13 and the middle and upper part of the 4th H-shaped connecting rod 14 and one end are rotatablely connected, and the 4th H-shaped connects
The other end of bar is rotatablely connected by the second rotary shaft 6 with pedestal, and the first H-shaped connecting rod and the 3rd H-shaped connecting rod are parallel to each other,
The second H-shaped connecting rod and the 4th H-shaped connecting rod are parallel to each other；One end of first expansion link 16 by the 7th rotary shaft 12 with it is described
The position of centre one rotation connection of first H-shaped connecting rod, the other end of first expansion link pass through the 9th rotary shaft 20 and described the
The lower rotational connection of four H-shaped connecting rods, the middle part that one end of the second expansion link 18 passes through the H-shaped connecting rod of eighth-turn moving axis 17 and the 4th
Rotation connection, the other end of second expansion link are rotatablely connected by the tenth rotary shaft 19 and one end of pedestal；Described all turns
Moving axis is parallel to each other and horizontally disposed；First movement branched chain in addition to second expansion link 18 and its connector, its
Annexation between its part and part is identical with the second movement branched chain；Workpiece or fixture installation on the moving platform, pass through three
The driving of three expansion links of individual movement branched chain, two-dimensional movement of the motion platform in vertical plane can be achieved and around a trunnion axis
Rotate.
Claims (1)
1. a kind of mobile roll-over table of Three Degree Of Freedom industry, it includes pedestal, motion platform and connection pedestal and motion platform two
End the first movement branched chain and the second movement branched chain, second movement branched chain include four H-shaped connecting rods, two expansion links and
Ten rotary shafts, wherein, one end of the first H-shaped connecting rod and the 3rd H-shaped connecting rod passes through the 3rd rotary shaft and the 4th rotary shaft respectively
It is rotatablely connected with one end of the second H-shaped connecting rod and middle and lower part, the other end of the second H-shaped connecting rod passes through the first rotary shaft and fortune
Moving platform is rotatablely connected, and the other end of the first H-shaped connecting rod and the 3rd H-shaped connecting rod passes through the 6th rotary shaft and the 5th turn respectively
Moving axis and the middle and upper part of the 4th H-shaped connecting rod and one end are rotatablely connected, and the other end of the 4th H-shaped connecting rod passes through the second rotary shaft
It is rotatablely connected with pedestal, the first H-shaped connecting rod and the 3rd H-shaped connecting rod are parallel to each other, the second H-shaped connecting rod and the 4th H-shaped
Connecting rod is parallel to each other, it is characterised in that：In two movement branched chains, one end of the first expansion link by the 7th rotary shaft with
The position of centre one rotation connection of the first H-shaped connecting rod, the other end of first expansion link by the 9th rotary shaft with it is described
The lower rotational connection of 4th H-shaped connecting rod, one end of the second expansion link are turned by the middle part of eighth-turn moving axis and the 4th H-shaped connecting rod
Dynamic connection, the other end of second expansion link are rotatablely connected by one end of the tenth rotary shaft and pedestal；All rotary shafts
It is parallel to each other and horizontally disposed；First movement branched chain is in addition to no second expansion link and its connector, other parts
And the annexation between part is identical with the second movement branched chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610231327.9A CN105835034B (en) | 2016-04-14 | 2016-04-14 | The mobile roll-over table of Three Degree Of Freedom industry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610231327.9A CN105835034B (en) | 2016-04-14 | 2016-04-14 | The mobile roll-over table of Three Degree Of Freedom industry |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835034A CN105835034A (en) | 2016-08-10 |
| CN105835034B true CN105835034B (en) | 2017-11-24 |
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ID=56597475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610231327.9A Expired - Fee Related CN105835034B (en) | 2016-04-14 | 2016-04-14 | The mobile roll-over table of Three Degree Of Freedom industry |
Country Status (1)
| Country | Link |
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| CN (1) | CN105835034B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN108608412B (en) * | 2018-05-04 | 2020-08-21 | 北京交通大学 | Platform assembly and parallel mobile robot with same |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
| CN102145487A (en) * | 2011-02-11 | 2011-08-10 | 中国电力科学研究院 | Rotary input robot for testing oscillating performance of overhead power transmission line |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2262428B1 (en) * | 2005-04-04 | 2007-11-16 | Fundacion Fatronik | ROBOT PARALLEL OF FOUR DEGREES OF LIBERTY WITH UNLIMITED ROTATION. |
| US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
| JP5212797B2 (en) * | 2008-05-19 | 2013-06-19 | 国立大学法人 名古屋工業大学 | Haptic manipulator |
-
2016
- 2016-04-14 CN CN201610231327.9A patent/CN105835034B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
| CN102145487A (en) * | 2011-02-11 | 2011-08-10 | 中国电力科学研究院 | Rotary input robot for testing oscillating performance of overhead power transmission line |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105835034A (en) | 2016-08-10 |
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