CN202622802U - Two-freedom-degree translation parallel mechanism - Google Patents
Two-freedom-degree translation parallel mechanism Download PDFInfo
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- CN202622802U CN202622802U CN 201220097317 CN201220097317U CN202622802U CN 202622802 U CN202622802 U CN 202622802U CN 201220097317 CN201220097317 CN 201220097317 CN 201220097317 U CN201220097317 U CN 201220097317U CN 202622802 U CN202622802 U CN 202622802U
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- slide block
- nut
- sliding block
- lever
- screw rod
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Abstract
The utility model relates to a two-freedom-degree translation parallel mechanism which comprises a main servo motor, a big sliding block, a small sliding block, a movable platform, a balancing lever and a dead-load lever, wherein the balancing lever and the dead-load lever are movably connected to the big sliding block and the movable platform. An actuating lever, the balancing lever, the big sliding block, the dead-load lever and the movable platform form a parallel quadrilateral mechanism. The main servo motor is coaxially connected with a thread screw rod through a coupler. The big sliding block is provided with a fixing nut pair sleeved on the thread screw rod. The small sliding block is provided with a rotating nut pair sleeved on the thread screw rod and is further provided with an auxiliary servo motor driving the rotating nut pair to rotate. The small sliding block is movably connected with the upper end of the actuating lever. The lower end of the actuating lever is movably connected with the body of the dead-load lever to form a y-shaped unsymmetrical structure. By aid of a parallel structure, the two-freedom-degree translation parallel mechanism is simple in structure, light in weight, easy to control real-timely, large in operation space, reliable in operation, relatively low in manufacture cost, and applied to automated taking-out of mechanical arms in industries of extrusion forming such as die-casting, injection molding and stamping.
Description
Technical field
The utility model relates to industrial robot, particularly is applicable to the two-degree-of-freedom plane mobile parallel connection mechanism of the automation extracting mechanical arm of extrusion molding industries such as die casting, injection moulding and punching press.
Background technology
Because the parallel institution rigidity of structure is good, bearing capacity is big, positional precision is high, adds advantages such as upper volume is little, in light weight, manual dexterity speed is fast, attracted the extensive concern of engineering circle with academia.The two-degree-of-freedom plane mobile parallel connection mechanism is the basic configuration in the lower-mobility robot, has passed through the research of decades, and the research in theory of two-degree-of-freedom plane mobile parallel connection mechanism is more and more ripe.In recent years, development of advanced manufacturing is right.The research and development of two-degree-of-freedom plane movable parallel robot plays positive facilitation, also has higher requirement.How to make.The two-degree-of-freedom plane mobile parallel connection mechanism progressively moves towards practicability from research, finally moves towards market, and the increasing effect of performance also needs scientific and technical personnel to make great efforts by persistence in people's life.
For the realization two-freedom-degree parallel mechanism is done translational motion, one of existing technical scheme is to adopt the parallelogram branched structure to realize for example existing Chinese patent CN101224578A, CN2741730Y.Existing Chinese patent CN2741730Y discloses a kind of two-degree-of-freedom plane mobile parallel connection mechanism, and mechanism realizes motion in the plane through two movement branched chain of active sliding block control of two separations.Its weak point is that two slide blocks are controlled respectively by motor, symmetrical configuration, and stroke is shorter, and transmission efficiency is low.Chinese patent CN101224578A discloses a kind of two degrees of freedom translation mechanism, and this mechanism is implemented in binary two dimensional motion through two movement branched chain of linear electric motors control of two separations.Its weak point has been to use the linear electric motors of two separations, and symmetrical configuration can make that stroke is shorter, and complex structure is heavy, and processing cost is high, and the heavy burden ability is relatively poor.
Summary of the invention
The purpose of the utility model is the deficiency that solves above-mentioned two degrees of freedom translation mechanism, provide a kind of simple in structure, precision is high, rigidity is big, stroke is big, processing and assembly process process is good and the heavy burden ability is big two-degrees-of-freedom translation parallel structure.
In order to solve the problems of the technologies described above, the technical solution of the utility model is: the two-degrees-of-freedom translation parallel structure comprises the main servo motor, big slide block; Small slide block; Moving platform, movable balancing pole and the prypole on big slide block and the moving platform, the operating bar of being connected; Balancing pole, big slide block, prypole constitute parallel four limit mechanisms with moving platform, and the main servo motor is connected with a threaded screw rod is coaxial through shaft coupling; Big slide block is provided with the hold-down nut pair, and said hold-down nut pair is nested with on threaded screw rod; Small slide block is provided with the rotation pair of nut, and said rotation pair of nut is nested with on threaded screw rod; Also be provided with the secondary servomotor that the driven in rotation pair of nut rotates on the small slide block; The upper end of small slide block and operating bar flexibly connects, and the lower end of operating bar and the body of rod of prypole flexibly connect the asymmetric structure that forms a y type.
Can be with bearing outward on the rotation pair of nut on the above small slide block, bearing fixing is connected on the small slide block
The rotating shaft of the secondary servomotor on the small slide block of the utility model can be respectively equipped with timing belt pulley with rotating on the pair of nut, connects through synchronous belt between two timing belt pulleys.
Can be provided with on the prypole of the utility model can be along the hinged block of body of rod slip adjustment, and the lower end of said hinged block and operating bar flexibly connects.
The know-why of the utility model is: the big slide block of two-degrees-of-freedom translation parallel structure, small slide block are installed on same the threaded screw rod guide rail, have expanded stroke; Adopt prypole, three bars of balancing pole and operating bar are connected the heavy burden ability that improved; Adopt dissymmetrical structure between operating bar and the prypole, conveniently make stroke increase according to purposes adjustment argument structure lengthening prypole; Main servo motor rotation drives threaded screw rod and drives big slide block and small slide block, thereby orders about moving platform along transverse movement, moving platform vertically drive synthetic simultaneously by secondary servomotor and main servo motor to motion.
The beneficial effect of the utility model is: simple in structure, precision is high, rigidity is big, stroke is big, the heavy burden ability is good, processing and assembly process process are good.
Description of drawings:
Fig. 1 is the structure diagram of the utility model.
Among the figure: 1-main servo motor, the 2-threaded screw rod, the big slide block of 3-, the 4-prypole, the 5-balancing pole, the 6-moving platform, the 7-operating bar, the secondary servomotor of 8-, 9-rotates pair of nut, the 10-synchronous belt, the 11-bearing, the 12-small slide block, the 19-shaft coupling, the 20-hold-down nut is secondary.
The specific embodiment:
As shown in Figure 1, the two-degrees-of-freedom translation parallel structure comprises main servo motor 1, big slide block 3, small slide block 12, moving platform 5, operating bar 7, the movable balancing pole 6 and prypole 4 that is installed on big slide block 3 and the moving platform 5.Balancing pole 6, big slide block 3, prypole 4 and moving platform 5 constitute parallel four limit mechanisms.Shaft coupling 19 is installed in the rotating shaft of main servo motor 1, and is fixedly connected with threaded screw rod 2 through shaft coupling 19.Be processed with nut seat in the big slide block 3, hold-down nut pair 20 is installed in nut seat, hold-down nut secondary 20 is sleeved on the threaded screw rod 2.Also be processed with nut seat on the small slide block 12, pair of nut 9 is rotated in movable being equipped with in this nut seat, and rotation pair of nut 9 is sleeved on the threaded screw rod 2.Also be installed with secondary servomotor 8 on the small slide block 12, secondary servomotor 8 is connected with ball nut secondary 9 through driving-belt.Small slide block 12 is connected with movable installation the in the upper end of operating bar 7, and can installing along the piece activity that is movably hinged of body of rod slip adjustment of the middle part of the lower end of operating bar 7 and prypole 4 is connected to form the asymmetric structure of a y type.
The two ends of prypole 4 are installed be fixedly hinged piece and contiguous block respectively, are installed with the master connecting-rod base on the big slide block 3, and big slide block 3 flexibly connects with prypole 4 and balancing pole 6 respectively through the master connecting-rod base.Prypole 4 flexibly connects through contiguous block and moving platform 5.
Be set with bearing 11 on the rotation pair of nut 9 on the small slide block 12, bearing 11 is fixedly mounted in the nut seat of small slide block 12.
Be installed with the active synchronization belt pulley in the rotating shaft of the secondary servomotor 8 on the small slide block 12; Be installed with driven timing belt pulley on the rotation pair of nut 9; Be connected through synchronous belt 10 between said active synchronization belt pulley and the driven timing belt pulley; Driven timing belt pulley driven rotary pair of nut 9 rotates, and drives small slide block 12 and moves horizontally along threaded screw rod 2.The rotating shaft of secondary servomotor 8 also can be installed gear respectively with rotating on the pair of nut 9, connects with the gear drive band between two gears.
Claims (4)
1. the two-degrees-of-freedom translation parallel structure comprises the main servo motor, big slide block; Small slide block; Moving platform, movable balancing pole and the prypole on big slide block and the moving platform, the operating bar of being connected; Balancing pole, big slide block, prypole constitute parallel four limit mechanisms with moving platform, it is characterized in that the main servo motor is connected with a threaded screw rod is coaxial through shaft coupling; Big slide block is provided with the hold-down nut pair, and said hold-down nut pair is nested with on threaded screw rod; Small slide block is provided with the rotation pair of nut, and said rotation pair of nut is nested with on threaded screw rod; Also be provided with the secondary servomotor that the driven in rotation pair of nut rotates on the small slide block; The upper end of small slide block and operating bar flexibly connects, and the lower end of operating bar and the body of rod of prypole flexibly connect the asymmetric structure that forms a y type.
2. two-degrees-of-freedom translation parallel structure as claimed in claim 1 is characterized in that being with bearing outward on the rotation pair of nut on the small slide block, and bearing fixing is connected on the small slide block.
3. two-degrees-of-freedom translation parallel structure as claimed in claim 1 is characterized in that the rotating shaft of the secondary servomotor on the small slide block is respectively equipped with timing belt pulley with rotating on the pair of nut, connects through synchronous belt between two timing belt pulleys.
4. two-degrees-of-freedom translation parallel structure as claimed in claim 1, it is characterized in that prypole is provided with can be along the slide piece that is movably hinged of adjustment of the body of rod, the said lower end flexible connection that is movably hinged piece and operating bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220097317 CN202622802U (en) | 2012-03-15 | 2012-03-15 | Two-freedom-degree translation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220097317 CN202622802U (en) | 2012-03-15 | 2012-03-15 | Two-freedom-degree translation parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202622802U true CN202622802U (en) | 2012-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220097317 Expired - Fee Related CN202622802U (en) | 2012-03-15 | 2012-03-15 | Two-freedom-degree translation parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202622802U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624768A (en) * | 2013-07-03 | 2014-03-12 | 深圳市领略数控设备有限公司 | Novel parallel connection arm-and-hand system with two degrees of freedom |
| CN105752882A (en) * | 2016-04-28 | 2016-07-13 | 巢湖学院 | Multifunctional lifting platform device |
| CN112497200A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom high-rigidity robot |
| CN112497211A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
-
2012
- 2012-03-15 CN CN 201220097317 patent/CN202622802U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624768A (en) * | 2013-07-03 | 2014-03-12 | 深圳市领略数控设备有限公司 | Novel parallel connection arm-and-hand system with two degrees of freedom |
| CN105752882A (en) * | 2016-04-28 | 2016-07-13 | 巢湖学院 | Multifunctional lifting platform device |
| CN105752882B (en) * | 2016-04-28 | 2018-07-27 | 巢湖学院 | A kind of multifunctional lifting platform device |
| CN112497200A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom high-rigidity robot |
| CN112497211A (en) * | 2020-11-11 | 2021-03-16 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
| CN112497211B (en) * | 2020-11-11 | 2022-05-13 | 天津大学 | Three-degree-of-freedom robot with high rigidity |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20140315 |