CN108858180A - Central shaft transmission device, parallel robot - Google Patents
Central shaft transmission device, parallel robot Download PDFInfo
- Publication number
- CN108858180A CN108858180A CN201710323753.XA CN201710323753A CN108858180A CN 108858180 A CN108858180 A CN 108858180A CN 201710323753 A CN201710323753 A CN 201710323753A CN 108858180 A CN108858180 A CN 108858180A
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- CN
- China
- Prior art keywords
- small bar
- universal joint
- transmission device
- bar
- central shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- 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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The embodiment of the invention discloses central shaft transmission devices, parallel robot, are related to technical field of mechanical automation.The central shaft transmission device includes：First shaft coupling, the first universal joint, universal joint Coupling Shaft, the first small bar, the second small bar, the small bar of third, sliding collar, big bar, fixed collar, second shaft coupling and the second universal joint.First universal joint connects the first shaft coupling and the universal joint Coupling Shaft；The universal joint Coupling Shaft is installed in one end of the first small bar, the second small bar and the small bar of third, and the other end installs the fixed collar；The first small bar, the second small bar and the small bar of third pass through the sliding collar.Central shaft transmission device structure described in the embodiment of the present invention is simple, and motional inertia is relatively small, is conducive to the rotation for accurately controlling the central shaft transmission device, and can be avoided lubricant pollution to product.
Description
Technical field
Technical solution disclosed by the embodiments of the present invention is related to technical field of mechanical automation more particularly to central shaft transmission device
With parallel robot.
Background technique
Currently, parallel robot cooperation visual response device and conveying device, may be implemented quick crawl, the sorting of product
And assembly, it is widely used in during the processing and manufacturing of the products such as electronic product, food, drug.
Inventor study the present invention during find, in the prior art parallel robot central shaft transmission device (
Referred to as the 4th shaft transmission) there is a problem of that motional inertia is big.In addition, some central shaft transmission devices in the prior art need
Using oil lubrication ball spline shaft, it is easy the product that pollution parallel robot grabs.
Summary of the invention
Technical solution disclosed by the invention is at least able to solve following technical problem：Central shaft transmission device motional inertia is big；
The product that lubricant pollution parallel robot in central shaft transmission device grabs.
One or more embodiment of the invention discloses a kind of central shaft transmission device, including：First shaft coupling, first
Universal joint, universal joint Coupling Shaft, the first small bar, the second small bar, the small bar of third, sliding collar, big bar, fixed collar, second
Axis device and the second universal joint.
Wherein, first universal joint connects the first shaft coupling and the universal joint Coupling Shaft；The first small bar,
The universal joint Coupling Shaft is installed in one end of second small bar and the small bar of third, and the other end installs the fixed collar；Described
One small bar, the second small bar and the small bar of third pass through the sliding collar.
The sliding collar is installed in one end of the big bar, and the other end passes through the fixed collar and the second shaft coupling
It is connected.
The second shaft coupling connects the big bar and second universal joint.
In one or more embodiment of the invention, the first small bar, the second small bar and the third
Small bar is relative to the universal joint Coupling Shaft/sliding collar/fixed collar annular array distribution.
One or more embodiment of the invention also discloses a kind of parallel robot.The parallel robot includes：
Central shaft transmission device, base portion, first connecting rod mechanism, second connecting rod mechanism, third connecting rod mechanism and movable platform.Wherein, institute
Stating central shaft transmission device is any one of the above central shaft transmission device.
Compared with prior art, technical solution disclosed by the invention mainly has following beneficial effect：
In an embodiment of the present invention, the sliding collar and the big bar can be relative to the described first small bars, described
Two small bars and the small bar sliding of the third, thus the central shaft transmission device is without using ball spline shaft.The axis passes
Motivation structure is lubricated without using lubricating oil during the work time, avoids lubricant pollution to product.In addition, the axis
Transmission mechanism structure is simple, and motional inertia is relatively small, is conducive to the rotation for accurately controlling the central shaft transmission device.
In an embodiment of the present invention, the parallel robot realizes product rotation using the central shaft transmission device,
Lubricant pollution is avoided to product, and is conducive to improve the operating accuracy of the parallel robot.
Detailed description of the invention
Fig. 1 is the explosive view of central shaft transmission device in one embodiment of the invention；
Fig. 2 is the assembling schematic diagram of central shaft transmission device in one embodiment of the invention；
Fig. 3 is the overall structure diagram of parallel robot in one embodiment of the invention.
Description of symbols：1- first shaft coupling, the first universal joint of 2-, 3- universal joint Coupling Shaft, the small bar of 4- first, 5-
The fixed collar of two small bars, the small bar of 6- third, 7- sliding collar, the big bar of 8-, 9-, 10- second shaft coupling, the second universal joint of 11-,
100- central shaft transmission device, 200- base portion, 300- first connecting rod mechanism, 400- movable platform, 500- second connecting rod mechanism, 700-
Third connecting rod mechanism, 1000- parallel robot.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Following claims, specification and Figure of description
In term " first ", " second ", " third " etc. be to be not use to describe a particular order for distinguishing different objects.
One embodiment of the invention discloses a kind of central shaft transmission device, is applied to parallel robot.
With reference to Fig. 1 and Fig. 2, wherein Fig. 1 is the explosive view of central shaft transmission device 100 in one embodiment of the invention, and Fig. 2 is
The assembling schematic diagram of central shaft transmission device 100 in one embodiment of the invention.
The central shaft transmission device includes：First shaft coupling 1, the first universal joint 2, universal joint Coupling Shaft 3, the first small bar 4,
Second small bar 5, the small bar 6 of third, sliding collar 7, big bar 8, fixed collar 9, second shaft coupling 10 and the second universal joint 11.
Wherein, first universal joint 2 connects the first shaft coupling 1 and the universal joint Coupling Shaft 3.Described first is small
The universal joint Coupling Shaft 3 is installed in one end of bar 4, the second small bar 5 and the small bar 6 of third, and the other end installs the fixed collar
9.The first small bar 4, the second small bar 5 and the small bar 6 of third pass through the sliding collar 7.Install institute in one end of the big bar 8
Sliding collar 7 is stated, the other end passes through the fixed collar 9 and is connected with the second shaft coupling 10.The second shaft coupling 10 connects
Connect the big bar 8 and second universal joint 11.
The first small bar 4, the second small bar 5 and the small bar 6 of the third are relative to the universal joint Coupling Shaft 3/
The distribution of 9 annular array of collar is fixed described in the sliding collar 7/.The first small bar 4, the second small bar 5 and described
The central axes of three small bars 6 are spaced 120 degree relative to annular array center two-by-two.
Referring to figs. 2 and 3, wherein Fig. 3 be one embodiment of the invention in parallel robot 1000 overall structure diagram.
The parallel robot 1000 includes：Central shaft transmission device 100, base portion 200, first connecting rod mechanism 300, second connect
Linkage 500, third connecting rod mechanism 700 and movable platform 400.Wherein, the central shaft transmission device 100 is above-mentioned any one
Kind central shaft transmission device.
The driving mechanism (not shown) of the central shaft transmission device 100, the first connecting rod are assembled in the base portion 200
Driving mechanism (not shown), the driving mechanism (not shown) of the second connecting rod mechanism 500, the third connecting rod of mechanism 300
The driving mechanism (not shown) of mechanism 700, control unit (not shown) of the parallel robot 1000 etc..
The first connecting rod mechanism 300, second connecting rod mechanism 500 and third connecting rod mechanism 700 respectively by ball wrist with
The movable platform 400 fits together.The first connecting rod mechanism 300, second connecting rod mechanism 500 and third connecting rod mechanism
700 for moving the movable platform 400.
Under the effect of the first connecting rod mechanism 300, second connecting rod mechanism 500 and third connecting rod mechanism 700, the cunning
Moving axis ring 7 and the big bar 8 are slided relative to the described first small bar 4, the second small bar 5 and the small bar 6 of the third.
The driving mechanism of the central shaft transmission device 100 include driving motor (not shown), speed reducer (not shown) and
Speed reducer Coupling Shaft (not shown).Wherein, the driving motor is fitted together with the speed reducer.The speed reducer Coupling Shaft
Connect the speed reducer and the first shaft coupling 1.Second universal joint 11 connects the second shaft coupling 10 and shaft (not
Diagram).The shaft can be used for installing the devices such as claw, sucker.
Under the driving of the driving motor, the central shaft transmission device 100 is rotated.The card being mounted in the shaft
Pawl, sucker etc. are rotated synchronously with the central shaft transmission device 100.Thus, the parallel robot 1000 passes through the claw, suction
The product of the crawls such as disk can also realize rotation.
The sliding collar 7 and the big bar 8 in above-described embodiment can be relative to the described first small bars 4, described second
Small bar 5 and the small bar 6 of the third slide, thus the central shaft transmission device 100 is without using ball spline shaft.The axis
Transmission mechanism 100 is lubricated without using lubricating oil during the work time, avoids lubricant pollution to product.In addition, institute
It states that 100 structure of central shaft transmission device is simple, and motional inertia is relatively small, is conducive to accurately control the central shaft transmission device
100 rotation.
Parallel robot 1000 in above-described embodiment realizes product rotation using the central shaft transmission device 100, keeps away
Exempt from lubricant pollution to product, and is conducive to improve the operating accuracy of the parallel robot 1000.
Finally it should be noted that：Above embodiments are only to illustrate the technical solution of the application, rather than its limitations.Although
The application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
And these are modified or replaceed, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (3)
1. a kind of central shaft transmission device, which is characterized in that including：First shaft coupling (1), the first universal joint (2), universal joint switching
Axis (3), the first small bar (4), the second small bar (5), the small bar of third (6), sliding collar (7), big bar (8), fixed collar (9), the
Two shaft couplings (10) and the second universal joint (11)；
Wherein, first universal joint (2) connects the first shaft coupling (1) and the universal joint Coupling Shaft (3)；Described first
The universal joint Coupling Shaft (3) is installed in one end of small bar (4), the second small bar (5) and the small bar of third (6), and the other end installs institute
State fixed collar (9)；The first small bar (4), the second small bar (5) and the small bar of third (6) pass through the sliding collar (7)；
The sliding collar (7) is installed in one end of the big bar (8), and the other end passes through the fixed collar (9) and described second
Shaft coupling (10) is connected；
The second shaft coupling (10) connects the big bar (8) and second universal joint (11).
2. central shaft transmission device according to claim 1, which is characterized in that the first small bar (4), the second small bar
(5) and the small bar of the third (6) is relative to the universal joint Coupling Shaft (3)/sliding collar (7)/fixed collar
(9) annular array is distributed.
3. a kind of parallel robot, including：Central shaft transmission device (100), base portion (200), first connecting rod mechanism (300), second
Link mechanism (500), third connecting rod mechanism (700) and movable platform (400), which is characterized in that the central shaft transmission device
It (100) is central shaft transmission device of any of claims 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710323753.XA CN108858180A (en) | 2017-05-10 | 2017-05-10 | Central shaft transmission device, parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710323753.XA CN108858180A (en) | 2017-05-10 | 2017-05-10 | Central shaft transmission device, parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858180A true CN108858180A (en) | 2018-11-23 |
Family
ID=64287588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710323753.XA Pending CN108858180A (en) | 2017-05-10 | 2017-05-10 | Central shaft transmission device, parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858180A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030064816A1 (en) * | 2001-09-17 | 2003-04-03 | Schuler Hans Andrea | Device for transmitting torques |
| US20030121350A1 (en) * | 2000-02-10 | 2003-07-03 | Hakan Hvittfeldt | Industrial robot device |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| CN103802102A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Large telescopic double-cross joint rotation shaft of parallel robot |
| CN103802094A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot |
| CN103895004A (en) * | 2014-04-04 | 2014-07-02 | 浙江钱江摩托股份有限公司 | Center shaft structure of delta robot |
-
2017
- 2017-05-10 CN CN201710323753.XA patent/CN108858180A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030121350A1 (en) * | 2000-02-10 | 2003-07-03 | Hakan Hvittfeldt | Industrial robot device |
| US20030064816A1 (en) * | 2001-09-17 | 2003-04-03 | Schuler Hans Andrea | Device for transmitting torques |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| CN103802102A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Large telescopic double-cross joint rotation shaft of parallel robot |
| CN103802094A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot |
| CN103895004A (en) * | 2014-04-04 | 2014-07-02 | 浙江钱江摩托股份有限公司 | Center shaft structure of delta robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |
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| RJ01 | Rejection of invention patent application after publication |