CN106671066A - Vertical type reconfigurable multifunctional parallel mechanism - Google Patents
Vertical type reconfigurable multifunctional parallel mechanism Download PDFInfo
- Publication number
- CN106671066A CN106671066A CN201710116914.8A CN201710116914A CN106671066A CN 106671066 A CN106671066 A CN 106671066A CN 201710116914 A CN201710116914 A CN 201710116914A CN 106671066 A CN106671066 A CN 106671066A
- Authority
- CN
- China
- Prior art keywords
- rocking bar
- hole
- ball bearing
- connecting rod
- reconfigurable
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 238000010146 3D printing Methods 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 239000012636 effector Substances 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 3
- 238000000149 argon plasma sintering Methods 0.000 abstract 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 7
- 229910052782 aluminium Inorganic materials 0.000 description 7
- 239000004411 aluminium Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000013519 translation 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
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
Abstract
In order to solve the problems that in the prior art, 5R parallel mechanisms are small in movement space, incapable of fast reconfiguration and large in rod and rod connection friction, the invention discloses a vertical type reconfigurable multifunctional parallel mechanism. The vertical type reconfigurable multifunctional parallel mechanism comprises a working platform, a five-rod mechanism, a reconfigurable end effector and a rack position adjusting device. A rack is fixed on the position adjusting device, and the end effector is installed on connecting rods of the parallel mechanism. The rack position adjusting device drives a ball screw through a stepping motor, then the position of the rack is changed, and thus the whole parallel mechanism moves in the axis direction of the ball screw so as to obtain larger working space. The reconfigurable end effector is of the structure that the clamping range is changeable and disassembling is easy, so that clamping of different components such as an electric spindle, a 3D printing head and a laser sintering head is achieved, and fast reconfiguration is achieved so as to realize different processing technologies.
Description
Technical field
The present invention relates to machine and mechanism technology field, and in particular to a kind of vertical reconfigurable multifunctional parallel institution.
Background technology
Restructural parallel institution is a kind of can to change the device of configuration according to the change of task or environment.By to mould
Block is combined, the device for being assembled into suitable different task that restructural can be simple and quick.Parallel institution application at present is compared
Ripe mostly is minority carrier generation lifetime, and wherein 2DOF 5R parallel institutions are the most typical.2DOF 5R parallel institutions are tied
Structure is simply compact, is easily controlled, and as parallel manipulator and the bulk motion structure of robot, is widely used in small parts essence
It is close the field of operation such as to pick and place, be machined.
Patent CN201510246105.X discloses a kind of combination drive restructural five-rod experimental bench, but the experimental bench
The reconstruct of five bar configurations is only realized, the reconstruct of function is not carried out, the connected mode between bar and bar is connecing for face and face
Touch, rub when in actual applications bar is rotated larger, rotate dumb, single function.German A Heng polytechnical universities have developed one
Dyna-M type horizontal Machining centers is planted, its heavy moving parts is big, therefore its movement velocity is restricted；Its space is vertical
Formula, and frame is connected with base, and five-rod range of movement is limited by frame-type support member, and its working space is less,
And structure is more complicated, driving-chain is longer.
The content of the invention
Present invention is generally directed to five rod models working space of the prior art is little, it is impossible to quick reconfiguration, parallel institution work(
Can be single, the rotation of bar is dumb, and rub larger problem, there is provided a kind of compact conformation, working space is big, rotates flexible, group
Convenient vertical reconfigurable multifunctional parallel institution is unloaded in assembly and disassembly.
The technical scheme taken to solve the above problems of the present invention is：
A kind of vertical reconfigurable multifunctional parallel institution, including workbench and support frame, reconfigurable function device and
Shelf position adjusting means, in parallel mechanism is connected the reconfigurable function device with shelf position adjusting means；
The reconfigurable function device includes clamping device, tool heads, and tool heads are arranged in clamping device；
The parallel institution includes two-way bindiny mechanism, is connected with rocking bar per the connecting rod of road bindiny mechanism, rocking bar and servo
Motor connection, servomotor is fixed in shelf position adjusting means；
Connecting rod is with the structure of rocking bar：Small end face and lower surface are machined with shoulder hole, and deep groove ball bearing is arranged on
In the upper shoulder hole of connecting rod；The upper half-turn of thrust ball bearing is arranged in the downstairs hole of connecting rod, and lower branch is arranged on rocking bar
In upper shoulder hole；Bolt is fixed connecting rod with rocking bar with nut through after deep groove ball bearing and thrust ball bearing；
Rocking bar is with the attachment structure of servomotor：Servo motor shaft faces down perpendicular to workbench, shaft end, with shaft coupling
The upper end of device is connected, and the shaft coupling other end is connected with straight pin, and inner expension cap is provided with straight pin, and outer expansion set is arranged on and shakes
In the hole of bar, sleeve is set outside straight pin, the sleeve upper end with inner expension cap is abutted, lower end abuts with end cap；The end cap
It is screwed on the screw thread of straight pin lower end；The upper half-turn of thrust ball bearing is arranged in the downstairs hole of rocking bar, and lower branch is installed
In the ream flat hole of frame, outer expansion set is arranged in deep groove ball bearing；
Described shelf position adjusting means includes frame, shaft coupling, link plate, ball-screw, the axis of guide (18), stepping electricity
Machine；Frame is fixed on link plate, and link plate is fixed with slide block, and slide block is fixed with feed screw nut；Two parallel axis of guides are through cunning
Block；Step motor shaft is connected with ball-screw with shaft coupling, and leading screw is threadedly coupled with feed screw nut.
The tool heads are electro spindle, laser sintered head, one kind of 3D printing head.
To ensure the distance between connecting rod and rocking bar, the thickness of the thrust ball bearing is more than connecting rod and the shoulder hole of rocking bar
Depth sum.
To ensure the distance of rocking bar and frame, the thickness of thrust ball bearing is put down more than rocking bar lower step hole with the ream of frame
The height sum in hole.
Compared with prior art, the present invention has following beneficial effect：
1st, perpendicular to work top, work top is workbench together with shelf position adjusting means to main shaft of the invention
It is fixedly connected on aluminium chassis, forms the horizontal working space of five-rod, is different from traditional vertical working space.Horizontal work
Space has that working face scope is wide, exercise performance is stable, the initial angle between rod member is easily controlled and can be in rod member
Hinged place lay angle, speed, the sensor such as stress, be the kinematics of five-rod, dynamic analysis provides strong reality
Test basis.
2nd, the present invention can realize three kinds of configurations of end effector, including the machining based on electro spindle, with laser
Increasing material manufacturing based on sintering head and 3D printing head, the object based on gripper is picked and placeed, and realizes end effector structures
Modularization, reconfigurable design.Shelf position adjusting means driving stepper motor, is turned rotary motion by ball screw
Linear motion is turned to, thus it is possible to vary the position of five bar parallel institutions, so as to expand Work Space Range.The driving means of driving link
Using Servo motor drive control, different control strategies, the controllable track of output expection are formulated by motion control card.The present invention
Kinematics and dynamic character law study for the bar parallel institution of reconfigurable multifunctional five establishes experiment basis, and be conducive to can be again
The multi-functional five bars parallel institution of structure picks and places pushing away for the fields such as operation being engaged in machining, increasing material manufacturing, small parts precision
Wide application.
3rd, the present invention is connected using expansion set, by frictional force transmitting torque, but plays certain antioverloading effect, and
Excessive machining is avoided, repair demolition is very convenient easily；In addition, the present invention is using deep-groove ball and thrust ball bearing
Combining form is connected with each other rod member, and its frictional force is very little, and dress is dynamic flexible, and junction rigidity is sufficiently high, meets and adds
The high speed of work, high accuracy, flexible requirement.
Description of the drawings
Fig. 1 is the isometric three dimensional structure diagram of vertical reconfigurable multifunctional parallel institution of the invention；
Fig. 2 is the overlooking the structure diagram of vertical reconfigurable multifunctional parallel institution of the invention；
Fig. 3 is the left view structural representation of vertical reconfigurable multifunctional parallel institution of the invention；
Fig. 4 is the connecting rod and rocking bar connection diagram of vertical reconfigurable multifunctional parallel institution of the invention；
Fig. 5 is the servomotor drive rocker attachment structure schematic diagram of vertical reconfigurable multifunctional parallel institution of the invention；
Fig. 6 is the expansion set attachment structure schematic diagram of vertical reconfigurable multifunctional parallel institution of the invention.
Specific embodiment
As shown in Figure 1 to Figure 3, a kind of vertical reconfigurable multifunctional parallel institution of this example, wherein by workbench and propping up
Support frame frame, reconfigurable function device and shelf position adjusting means composition, the workbench and support frame include 10 40
Serial aluminium section bar 1, angle connector 9,14,10 40 integrant support frames of serial aluminium section bar 1 of work top, and connected with angle
The reinforcement by connection of fitting 9, the screw bolt and nut of work top 14 is fastened on 40 serial aluminium section bars 1.
The reconfigurable function device includes left connecting rod 16, contiguous block 27, straight pin 21, screw 22, link 20, clamping
Mechanism 15, tool heads 13, straight pin 21 is connected to contiguous block 27 in left connecting rod 16 from one end, plays positioning and supporting role, spiral shell
Nail 22 fastens contiguous block 27 on connecting rod, takes into account supporting role, and the bolt of link 20 is fastened on the other end of contiguous block 27, clamping
The screw of mechanism 15 is fastened on link 20, and tool heads 13 are arranged in clamping device and clamp.Described tool heads 13 can be with
It is electro spindle, laser sintered head, the first-class different instrument of 3D printing, if its diameter is more or less the same, can only changes tool heads
13, if diameter difference is larger, clamping device 15 can be changed together with tool heads 13, to change processing technology, adapt to not
Same processing request.
The shelf position adjusting means includes frame 11, shaft coupling 3, link plate 19, ball-screw 2, feed screw nut 26, cunning
The serial aluminium section bar 1 of block 7, the axis of guide 18, stepper motor 4, stepper motor support 5,40, middle spacer 23, fastening plates 8, supporting plate
6th, angle connector 9, straight pin 25, screw 24 are constituted.Frame 11 is positioned on link plate 19 with straight pin 25, and plays Zhi Chengzuo
With, frame 11 is fixed on link plate with screw 24, similarly, link plate is fixedly connected with slide block with straight pin and screw, silk
The screw of thick stick nut 26 is fastened on slide block 7, and also through slide block 7, stepper motor 4 is fixed on stepping to two parallel axis of guides 18
On electric machine support 5, step motor shaft is connected with ball-screw 2 with shaft coupling 3, so as to drive ball screw 2 to rotate, ball wire
The convert rotational motion of stepper motor 4 is linear motion with feed screw nut 26 by thick stick 2, so as to drive frame 11 to move, so as to band
Whole parallel institution and end effector translation are moved, working space is expanded.Ball-screw 2 and stepper motor support 5 are pacified
It is mounted on supporting plate 6, and is placed on the framework being made up of 40 serial aluminium section bars 1 and angle connector 9, it is heavy to be reserved with supporting plate 6
Head bore, by bolt, is fastened in fastening plates 8 through middle spacer 23, and fastening plates 8 to be fastened on 40 by using bolt serial
On the framework of the composition of aluminium section bar 1.
As shown in figure 4, the type of attachment of the parallel institution is left connecting rod 16, left rocking bar 17, right connecting rod 12, right rocking bar
10th, deep groove ball bearing 29, thrust ball bearing 30, articulation hole bolt 28, big flat washer circle 31, little plain washer 34 and spring washer
33.By taking connection of the left connecting rod 16 with left rocking bar 17 as an example, in the upper surface of left connecting rod 16 and lower surface shoulder hole, zanjon are machined with
Ball bearing 29 is arranged in the upper shoulder hole in left connecting rod 16, and the upper half-turn of thrust ball bearing 30 is arranged on the lower rank of left connecting rod 16
In terraced hole, the lower branch of thrust ball bearing 30 is arranged in the upper shoulder hole of left rocking bar 17, it is ensured that left connecting rod 16 and left rocking bar 17
Between have the space of 1-2mm, a little plain washer 34 is installed, with articulation hole spiral shell on the deep groove ball bearing 29 in left connecting rod 16
Then big flat washer circle 31 is placed in the lower surface of left rocking bar 17 through deep groove ball bearing 29 and little plain washer 34 by bolt 28, then puts one
Then spring washer 33 is fastened on articulation hole bolt 28 with nut 32 for locking.In the same manner, right connecting rod 12 and right rocking bar 10,
Type of attachment between left connecting rod 16 and right connecting rod 12 is also such.
As shown in figure 5, the type of attachment of the servomotor drive rocker includes servomotor 35, servomotor support
42nd, shaft coupling 41, straight pin 36, tighten end cap 38, thrust ball bearing 39, deep groove ball bearing 40, expansion set 43,44, sleeve 37.With
As a example by the left side axle of servomotor 35 and the type of attachment of left rocking bar 17, the axle of servomotor 35 faces down perpendicular to workbench, shaft end,
It is connected with the upper end of shaft coupling 41, the other end of shaft coupling 41 is connected with straight pin 36, installs on straight pin as shown in Figure 6 36
There is inner expension cap 44, outer expansion set 43 is arranged in the hole of left rocking bar 17, tightens end cap 38 and be fastened on left rocking bar 17, will tighten end cap
After 38 fastenings, force sleeve 37 to move axially upward, compress outer expansion set 43, deep-groove ball is installed in the upper shoulder hole of left rocking bar 17
Bearing 40, for positioning and compresses outer expansion set 43 so that inner expension cap 44 and outer expansion set 43 are mutually extruded, and produce radial deformation, from
And make to be relatively fixed connection by frictional force between straight pin 36 and left rocking bar 17, the upper half-turn of thrust ball bearing 39 is arranged on a left side
In the downstairs hole of rocking bar 17, the lower branch of thrust ball bearing 39 is arranged in the ream flat hole of frame 11, it is ensured that left rocking bar 17 with
There is the gap of 1-2mm between frame 11, straight pin 36 is matched somebody with somebody with half-turn on thrust ball bearing 39 through the hole of left rocking bar 17 with transition
Close connection, it is ensured that the center line of straight pin 36 simultaneously can flexible rotating with the center superposition in hole.In the same manner, right side servomotor shakes with the right side
The type of attachment of bar 10 is also such.
After the track to be moved is determined, the operation to motion control card is realized by program, motion control card is just
Data can be passed to servo-driver control servomotor motion, control end effector realizes predetermined track.
Claims (4)
1. a kind of vertical reconfigurable multifunctional parallel institution, it is characterised in that：Can be again including workbench and support frame, function
Structure device and shelf position adjusting means, in parallel mechanism connects the reconfigurable function device with shelf position adjusting means
Connect；
The reconfigurable function device includes clamping device, tool heads, and tool heads are arranged in clamping device；
The parallel institution includes two-way bindiny mechanism, is connected with rocking bar per the connecting rod of road bindiny mechanism, rocking bar and servomotor
Connection, servomotor is fixed in shelf position adjusting means；
Connecting rod is with the structure of rocking bar：Small end face and lower surface are machined with shoulder hole, and deep groove ball bearing is arranged on connecting rod
Upper shoulder hole in；The upper half-turn of thrust ball bearing is arranged in the downstairs hole of connecting rod, and lower branch is arranged on the upper rank of rocking bar
In terraced hole；Bolt is fixed connecting rod with rocking bar with nut through after deep groove ball bearing and thrust ball bearing；
Rocking bar is with the attachment structure of servomotor：Servo motor shaft faces down perpendicular to workbench, shaft end, with shaft coupling
Upper end is connected, and the shaft coupling other end is connected with straight pin, and inner expension cap is provided with straight pin, and outer expansion set is arranged on rocking bar
In hole, sleeve is set outside straight pin, the sleeve upper end with inner expension cap is abutted, lower end abuts with end cap；The end cap spins
On the screw thread of straight pin lower end；The upper half-turn of thrust ball bearing is arranged in the downstairs hole of rocking bar, and lower branch is arranged on machine
In the ream flat hole of frame, outer expansion set is arranged in deep groove ball bearing；
Described shelf position adjusting means includes frame, shaft coupling, link plate, ball-screw, the axis of guide (18), stepper motor；
Frame is fixed on link plate, and link plate is fixed with slide block, and slide block is fixed with feed screw nut；Two parallel axis of guides pass through slide block；
Step motor shaft is connected with ball-screw with shaft coupling, and leading screw is threadedly coupled with feed screw nut.
2. a kind of vertical reconfigurable multifunctional parallel institution according to claim 1, it is characterised in that：The tool heads are
Electro spindle, laser sintered head, one kind of 3D printing head.
3. a kind of vertical reconfigurable multifunctional parallel institution according to claim 1, it is characterised in that：The thrust ball axle
The thickness for holding is more than connecting rod and the depth sum of the shoulder hole of rocking bar.
4. a kind of vertical reconfigurable multifunctional parallel institution according to claim 1, it is characterised in that：Thrust ball bearing
Thickness is more than rocking bar lower step hole and the height sum of the ream flat hole of frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116914.8A CN106671066B (en) | 2017-03-01 | 2017-03-01 | A kind of vertical reconfigurable multifunctional parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116914.8A CN106671066B (en) | 2017-03-01 | 2017-03-01 | A kind of vertical reconfigurable multifunctional parallel institution |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106671066A true CN106671066A (en) | 2017-05-17 |
| CN106671066B CN106671066B (en) | 2018-10-16 |
Family
ID=58862446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710116914.8A Expired - Fee Related CN106671066B (en) | 2017-03-01 | 2017-03-01 | A kind of vertical reconfigurable multifunctional parallel institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671066B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115654A (en) * | 2017-12-27 | 2018-06-05 | 清华大学 | Become drive motion chain and the parallel robot containing the kinematic chain containing V belt translation |
| CN108501446A (en) * | 2018-03-28 | 2018-09-07 | 西安工程大学 | A kind of restructural parallel institution and its reconfigurable control method |
| CN109051750A (en) * | 2018-08-03 | 2018-12-21 | 奇瑞万达贵州客车股份有限公司 | A kind of two axis parallel robots |
| CN109129496A (en) * | 2017-06-15 | 2019-01-04 | 鸿富锦精密工业（深圳）有限公司 | Milling robot |
| CN109129449A (en) * | 2017-06-15 | 2019-01-04 | 鸿富锦精密工业（深圳）有限公司 | robot |
| CN110053040A (en) * | 2018-01-18 | 2019-07-26 | 深圳市裕展精密科技有限公司 | The calibration method in robot tool face |
| CN111267072A (en) * | 2020-03-10 | 2020-06-12 | 燕山大学 | Single-drive reconfigurable parallel mechanism branched chain device and reconfiguration method thereof |
| CN111975761A (en) * | 2020-08-11 | 2020-11-24 | 北京理工大学 | High-precision robot for precision assembly |
| CN115043212A (en) * | 2022-06-22 | 2022-09-13 | 江南大学 | Manipulator suitable for multiple operation objects and operation method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6675671B1 (en) * | 2002-05-22 | 2004-01-13 | Sandia Corporation | Planar-constructed spatial micro-stage |
| CN202241279U (en) * | 2011-09-22 | 2012-05-30 | 广西大学 | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain |
| CN103481283A (en) * | 2013-09-17 | 2014-01-01 | 江南大学 | Three-axis five-bar parallel manipulator |
| CN104819838A (en) * | 2015-05-14 | 2015-08-05 | 中北大学 | Combination-drive reconfigurable five-rod mechanism experiment table |
| CN104972456A (en) * | 2015-07-16 | 2015-10-14 | 哈尔滨工业大学 | Bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation |
| CN106355990A (en) * | 2016-10-27 | 2017-01-25 | 上海建桥学院 | Planar five-bar mechanism demonstration instrument with two degrees of freedom |
-
2017
- 2017-03-01 CN CN201710116914.8A patent/CN106671066B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6675671B1 (en) * | 2002-05-22 | 2004-01-13 | Sandia Corporation | Planar-constructed spatial micro-stage |
| CN202241279U (en) * | 2011-09-22 | 2012-05-30 | 广西大学 | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain |
| CN103481283A (en) * | 2013-09-17 | 2014-01-01 | 江南大学 | Three-axis five-bar parallel manipulator |
| CN104819838A (en) * | 2015-05-14 | 2015-08-05 | 中北大学 | Combination-drive reconfigurable five-rod mechanism experiment table |
| CN104972456A (en) * | 2015-07-16 | 2015-10-14 | 哈尔滨工业大学 | Bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation |
| CN106355990A (en) * | 2016-10-27 | 2017-01-25 | 上海建桥学院 | Planar five-bar mechanism demonstration instrument with two degrees of freedom |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129496A (en) * | 2017-06-15 | 2019-01-04 | 鸿富锦精密工业（深圳）有限公司 | Milling robot |
| CN109129449A (en) * | 2017-06-15 | 2019-01-04 | 鸿富锦精密工业（深圳）有限公司 | robot |
| CN108115654A (en) * | 2017-12-27 | 2018-06-05 | 清华大学 | Become drive motion chain and the parallel robot containing the kinematic chain containing V belt translation |
| CN110053040A (en) * | 2018-01-18 | 2019-07-26 | 深圳市裕展精密科技有限公司 | The calibration method in robot tool face |
| CN110053040B (en) * | 2018-01-18 | 2021-03-02 | 深圳市裕展精密科技有限公司 | Calibration method of robot tool face |
| CN108501446A (en) * | 2018-03-28 | 2018-09-07 | 西安工程大学 | A kind of restructural parallel institution and its reconfigurable control method |
| CN108501446B (en) * | 2018-03-28 | 2019-11-26 | 西安工程大学 | A kind of restructural parallel institution and its reconfigurable control method |
| CN109051750A (en) * | 2018-08-03 | 2018-12-21 | 奇瑞万达贵州客车股份有限公司 | A kind of two axis parallel robots |
| CN111267072A (en) * | 2020-03-10 | 2020-06-12 | 燕山大学 | Single-drive reconfigurable parallel mechanism branched chain device and reconfiguration method thereof |
| CN111975761A (en) * | 2020-08-11 | 2020-11-24 | 北京理工大学 | High-precision robot for precision assembly |
| CN111975761B (en) * | 2020-08-11 | 2023-08-15 | 北京理工大学 | A high accuracy robot for precision assembly |
| CN115043212A (en) * | 2022-06-22 | 2022-09-13 | 江南大学 | Manipulator suitable for multiple operation objects and operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106671066B (en) | 2018-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106671066A (en) | Vertical type reconfigurable multifunctional parallel mechanism | |
| CN205817837U (en) | A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN103737577A (en) | Six-freedom-degree industrial robot with ball screw pair transmission | |
| CN102928220A (en) | Experimental device for comprehensively testing dynamic characteristics of linear feeding system | |
| CN107443173A (en) | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe | |
| CN105729450A (en) | Four-degree-of-freedom parallel mechanism | |
| CN102528525A (en) | Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom | |
| CN103101049A (en) | Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain | |
| CN106736635B (en) | A kind of freedom degree parallel connection translation fast tool servo device | |
| CN203210372U (en) | Parallel robot | |
| CN103753604A (en) | Modular flexible connection device allowing dynamic adjustment of stiffness | |
| CN205588291U (en) | Four degree of freedom parallel mechanism | |
| CN203460173U (en) | Parallel mechanism capable of achieving three-dimensional translation and three-dimensional | |
| CN203460172U (en) | High-speed six-freedom-degree parallel connection mechanical hand | |
| CN108381521B (en) | Six-degree-of-freedom mechanism for high Mach number high dynamic pressure high lift model capture track test | |
| CN104786211B (en) | A kind of Six-DOF industrial robot containing ball screw assembly, | |
| CN103231362A (en) | Parallel robot | |
| CN1358609A (en) | Mixed connection based virtual axle machine tool | |
| CN103231371B (en) | Parallel robot and parallelogram levers group thereof | |
| JP7140419B2 (en) | 3-axis parallel linear robot | |
| CN101137468A (en) | Five-bar mechanism with dynamic balancing means and method for dynamically balancing a five-bar mechanism | |
| CN213956799U (en) | Space multi-body mechanism rigid-flexible coupling tester considering clearance and rigidity of kinematic pair | |
| CN203210376U (en) | Parallel robot and parallelogram rod group thereof | |
| CN1193859C (en) | Redundant driving parallel device for machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181016 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |