CN202622802U - Two-freedom-degree translation parallel mechanism - Google Patents

Two-freedom-degree translation parallel mechanism Download PDF

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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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slider
rod
servo motor
small
parallel mechanism
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李锻能
梁泽江
周新云
江晓波
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Guangdong University of Technology
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Abstract

本实用新型涉及二自由度平动并联机构。其包括主伺服电机,大滑块,小滑块,动平台,活动的连接在大滑块与动平台上的平衡杆和起重杆,作动杆,平衡杆、大滑块、起重杆和动平台构成平行四边机构,主伺服电机通过联轴器与一螺纹丝杆同轴连接;大滑块上设有套置在螺纹丝杆上的固定螺母副;小滑块上设有有套置在螺纹丝杆上的旋转螺母副,小滑块上还设有驱动旋转螺母副转动的副伺服电机;小滑块与作动杆的上端活动连接,作动杆的下端与起重杆的杆体活动连接形成一个y型的不对称的结构。本实用新型采用的是并联机构,结构上简单,重量轻,易于实时控制,作业空间大,工作可靠,制作成本比较低,适用于压铸、注塑和冲压等挤压成形行业的自动化取出机械手。

Figure 201220097317

The utility model relates to a two-degree-of-freedom translation parallel mechanism. It includes the main servo motor, large slider, small slider, moving platform, movable balance bar and lifting rod connected on the large slider and moving platform, actuating rod, balance bar, large slider, lifting rod The parallelogram mechanism is composed of the moving platform, and the main servo motor is coaxially connected with a threaded screw through a coupling; The rotary nut set on the threaded screw rod, the small slider is also equipped with an auxiliary servo motor to drive the rotation of the rotary nut pair; the small slider is flexibly connected with the upper end of the actuating rod, and the lower end of the actuating rod is connected with The rod body is flexibly connected to form a Y-shaped asymmetric structure. The utility model adopts a parallel mechanism, which is simple in structure, light in weight, easy to control in real time, large in working space, reliable in work and relatively low in production cost, and is suitable for automatic take-out manipulators in extrusion molding industries such as die-casting, injection molding and stamping.

Figure 201220097317

Description

二自由度平动并联机构Two degrees of freedom translational parallel mechanism

技术领域 technical field

本实用新型涉及工业机器人,特别是适用于压铸、注塑和冲压等挤压成形行业的自动化取出机械手的二自由度平面移动并联机构。  The utility model relates to an industrial robot, in particular to a two-degree-of-freedom plane moving parallel mechanism for an automatic take-out manipulator in extrusion molding industries such as die-casting, injection molding and stamping. the

背景技术 Background technique

由于并联机构结构刚度好、承载能力大、位置精度高,加上体积小、重量轻、操作灵敏速度快等优点,吸引了工程界与学术界的广泛关注。二自由度平面移动并联机构是少自由度机器人中的基本构型,经过了几十年的研究,二自由度平面移动并联机构在理论上的研究越来越成熟。近年来,先进制造技术的发展对。二自由度平面移动并联机器人的研究和发展起着积极的促进作用,也提出了更高的要求。如何使。二自由度平面移动并联机构逐步从研究走向实用化,最终走向市场,在人们的生活中发挥越来越多的作用,还需要科技人员坚持不懈地努力。  Due to the advantages of good structural rigidity, large bearing capacity, high position accuracy, small size, light weight, and fast operation speed, the parallel mechanism has attracted extensive attention from the engineering and academic circles. The two-degree-of-freedom plane-moving parallel mechanism is the basic configuration in the robot with few degrees of freedom. After decades of research, the theoretical research on the two-degree-of-freedom planar-moving parallel mechanism has become more and more mature. In recent years, the development of advanced manufacturing technology on. The research and development of the two-degree-of-freedom planar mobile parallel robot plays a positive role in promoting, and also puts forward higher requirements. how to make. The two-degree-of-freedom planar mobile parallel mechanism gradually moves from research to practicality, and finally to the market. It plays more and more roles in people's lives, and it still requires the unremitting efforts of scientific and technological personnel. the

为实现二自由度并联机构做平移运动,现有的技术方案之一是采用平行四边形支链结构来实现,例如已有的中国专利CN101224578A、CN2741730Y。现有中国专利CN2741730Y公开了一种二自由度平面移动并联机构,机构通过两个分立的主动滑块控制两条运动支链,实现在平面上的运动。其不足之处在于两个滑块由电机分别控制,结构对称,行程较短,传动效率低。中国专利CN101224578A公开了一种二自由度平移运动机构,该机构通过两个分立的直线电机控制两条运动支链,实现在二自由度的二维运动。其不足之处在于使用了两个分立的直线电机,结构对称,会使得行程较短,结构复杂沉重,加工成本高,负重能力较差。  In order to realize the translational movement of the two-degree-of-freedom parallel mechanism, one of the existing technical solutions is to use a parallelogram branched chain structure to realize it, such as the existing Chinese patents CN101224578A and CN2741730Y. The existing Chinese patent CN2741730Y discloses a two-degree-of-freedom planar movement parallel mechanism. The mechanism controls two motion branch chains through two separate active sliders to realize movement on the plane. Its disadvantages are that the two sliders are controlled by motors separately, the structure is symmetrical, the stroke is short, and the transmission efficiency is low. Chinese patent CN101224578A discloses a two-degree-of-freedom translational motion mechanism, which controls two motion branch chains through two separate linear motors to realize two-dimensional motion in two degrees of freedom. Its shortcoming is that two discrete linear motors are used, and the structure is symmetrical, which will make the stroke short, the structure is complex and heavy, the processing cost is high, and the load capacity is poor. the

发明内容 Contents of the invention

本实用新型的目的是解决上述二自由度平移运动机构的不足,提供一种结构简单、精度高、刚度大、行程大、加工和装配工艺性好以及负重能力大的二自由度平动并联机构。  The purpose of this utility model is to solve the shortcomings of the above-mentioned two-degree-of-freedom translational movement mechanism, and provide a two-degree-of-freedom translational parallel mechanism with simple structure, high precision, large rigidity, large stroke, good processing and assembly process, and large load capacity . the

为了解决上述技术问题,本实用新型的技术解决方案是:二自由度平动并联机构包括主伺服电机,大滑块,小滑块,动平台,活动的连接在大滑块与动平台上的平衡杆和起重杆,作动杆,平衡杆、大滑块、起重杆和动平台构成平行四边机构,主伺服电机通过联轴器与一螺纹丝杆同轴连接;大滑块上设有固定螺母副,所述固定螺母副套置在螺纹丝杆上;小滑块设有旋转螺母副,所述旋转螺母副套置在螺纹丝杆上;小滑块上还设有驱动旋转螺母副转动的副伺服电机;小滑块与作动杆的上端活动连接,作动杆的下端与起重杆的杆体活动连接形成一个y型的不对称的结构。  In order to solve the above-mentioned technical problems, the technical solution of the utility model is: the two-degree-of-freedom translational parallel mechanism includes a main servo motor, a large slider, a small slider, a moving platform, and a moving platform connected to the large slider and the moving platform. The balance bar, the lifting bar, the actuating bar, the balance bar, the large slider, the lifting bar and the moving platform constitute a parallelogram mechanism, and the main servo motor is coaxially connected with a threaded screw through a coupling; There are fixed nut pairs, and the fixed nut pairs are set on the threaded screw rod; the small slider is provided with a rotating nut pair, and the rotating nut pair is set on the threaded screw rod; the small slider is also equipped with a driving rotating nut A secondary servo motor for auxiliary rotation; the small slider is movably connected with the upper end of the actuating rod, and the lower end of the actuating rod is movably connected with the rod body of the lifting rod to form a y-shaped asymmetric structure. the

以上所述小滑块上的旋转螺母副上可外套有轴承,轴承固定连接在小滑块上  The rotating nut pair on the above-mentioned small slider can be covered with a bearing, and the bearing is fixedly connected to the small slider

    本实用新型的小滑块上的副伺服电机的转轴和旋转螺母副上可分别设有同步皮带轮,两同步皮带轮之间通过同步皮带连接。 The rotating shaft of the secondary servo motor on the small slider of the utility model and the rotating nut pair can be respectively provided with a synchronous pulley, and the two synchronous pulleys are connected by a synchronous belt.

本实用新型的起重杆上可设有可沿杆体滑动调整的铰接块,所述铰接块与作动杆的下端活动连接。  The lifting rod of the utility model can be provided with a hinged block that can be slid and adjusted along the rod body, and the hinged block is movably connected with the lower end of the actuating rod. the

本实用新型的技术原理是:二自由度平动并联机构的大滑块、小滑块均安装在同一条螺纹丝杆导轨上,拓展了行程;采用起重杆,平衡杆和作动杆的三杆连接提高了负重能力;作动杆和起重杆之间采用不对称结构,方便根据用途调整参数结构加长起重杆使得行程增加;主伺服电机旋转驱动螺纹丝杆带动大滑块和小滑块,从而驱使动平台沿横向运动,动平台的垂直向运动由副伺服电机和主伺服电机同时驱动合成。  The technical principle of the utility model is: the large slider and the small slider of the two-degree-of-freedom translational parallel mechanism are installed on the same threaded screw guide rail, which expands the stroke; The three-bar connection improves the load-bearing capacity; the asymmetric structure is adopted between the actuating rod and the lifting rod, which is convenient to adjust the parameters according to the purpose. The slider drives the moving platform to move horizontally, and the vertical movement of the moving platform is simultaneously driven and synthesized by the auxiliary servo motor and the main servo motor. the

本实用新型的有益效果在于:结构简单、精度高、刚度大、行程大、负重能力好、加工和装配工艺性好。  The utility model has the beneficial effects of simple structure, high precision, large rigidity, large stroke, good load-bearing capacity, and good processing and assembling process. the

附图说明:    Description of drawings:

图1是本实用新型的结构简图。 Fig. 1 is a structural diagram of the utility model.

图中:1-主伺服电机,2-螺纹丝杆,3-大滑块,4-起重杆,5-平衡杆,6-动平台,7-作动杆,8-副伺服电机,9-旋转螺母副,10-同步皮带,11-轴承,12-小滑块, 19-联轴器,20-固定螺母副。  In the figure: 1-main servo motor, 2-thread screw, 3-big slider, 4-lifting rod, 5-balance rod, 6-moving platform, 7-actuating rod, 8-pair servo motor, 9 -rotating nut pair, 10-synchronous belt, 11-bearing, 12-small slide block, 19-coupling, 20-fixed nut pair. the

具体实施方式:Detailed ways:

如图1所示,二自由度平动并联机构包括主伺服电机1,大滑块3,小滑块12,动平台5,作动杆7,活动的安装在大滑块3与动平台5上的平衡杆6和起重杆4。平衡杆6、大滑块3、起重杆4和动平台5构成平行四边机构。主伺服电机1的转轴上安装有联轴器19,并通过联轴器19与螺纹丝杆2固定连接。大滑块3内加工有螺母座,在螺母座内安装有固定螺母副20,固定螺母副20套装在螺纹丝杆2上。小滑块12上也加工有螺母座,在该螺母座内活动的安装有旋转螺母副9,旋转螺母副9套装在螺纹丝杆2上。小滑块12上还固定安装有副伺服电机8,副伺服电机8通过传动带与滚珠螺母副9连接。小滑块12与作动杆7的上端活动安装连接,作动杆7的下端与起重杆4的中部的可沿杆体滑动调整的活动铰接块活动安装,连接形成一个y型的不对称的结构。 As shown in Figure 1, the two-degree-of-freedom translational parallel mechanism includes a main servo motor 1, a large slider 3, a small slider 12, a moving platform 5, and an actuating rod 7, which are movable on the large slider 3 and the moving platform 5. The balance pole 6 and the lifting pole 4 on the top. The balance bar 6, the large slide block 3, the lifting bar 4 and the moving platform 5 constitute a parallelogram mechanism. A shaft coupling 19 is installed on the rotating shaft of the main servo motor 1, and is fixedly connected with the threaded screw mandrel 2 through the shaft coupling 19. A nut seat is processed in the large slide block 3, and a fixed nut pair 20 is installed in the nut seat, and the fixed nut pair 20 is sleeved on the threaded screw mandrel 2. Nut seat is also processed on the small slide block 12, and rotating nut pair 9 is installed movably in this nut seat, and rotating nut pair 9 is sleeved on the threaded screw mandrel 2. The small slider 12 is also fixedly equipped with an auxiliary servo motor 8, and the auxiliary servo motor 8 is connected with the ball nut pair 9 through a transmission belt. The small slider 12 is movably installed and connected with the upper end of the actuating rod 7, and the lower end of the actuating rod 7 is movably installed with the movable hinge block which can be slid and adjusted along the rod body in the middle of the lifting rod 4, and is connected to form a y-shaped asymmetrical structure.

起重杆4的两端分别固定安装有固定铰接块和连接块, 大滑块3上固定安装有主连杆底座,大滑块3通过主连杆底座分别与起重杆4和平衡杆6活动连接。起重杆4通过连接块与动平台5活动连接。  The two ends of the lifting rod 4 are respectively fixedly installed with a fixed hinge block and a connecting block, and a main connecting rod base is fixedly installed on the large slider 3, and the large sliding block 3 is respectively connected with the lifting rod 4 and the balance rod 6 through the main connecting rod base. active connection. The lifting mast 4 is movably connected with the moving platform 5 through the connecting block. the

小滑块12上的旋转螺母副9上套装有轴承11,轴承11固定安装在小滑块12的螺母座内。  Bearing 11 is sleeved on the rotating nut pair 9 on the small slide block 12, and bearing 11 is fixedly installed in the nut seat of small slide block 12. the

    小滑块12上的副伺服电机8的转轴上固定安装有主动同步皮带轮,旋转螺母副9上固定安装有从动同步皮带轮,所述主动同步皮带轮与从动同步皮带轮之间通过同步皮带10连接,从动同步皮带轮带动旋转螺母副9转动,驱动小滑块12沿螺纹丝杆2水平移动。副伺服电机8的转轴和旋转螺母副9上也可以分别安装齿轮,两齿轮之间用齿轮传动带连接。  The rotating shaft of the auxiliary servo motor 8 on the small slider 12 is fixedly equipped with an active synchronous pulley, and the rotating nut pair 9 is fixedly equipped with a driven synchronous pulley, which is connected by a synchronous belt 10 between the active synchronous pulley and the driven synchronous pulley. , the driven synchronous pulley drives the rotating nut pair 9 to rotate, and drives the small slider 12 to move horizontally along the threaded screw mandrel 2. Also gear can be installed respectively on the rotating shaft of auxiliary servomotor 8 and the rotary nut pair 9, connect with gear transmission belt between two gears. the

Claims (4)

1.二自由度平动并联机构,包括主伺服电机,大滑块,小滑块,动平台,活动的连接在大滑块与动平台上的平衡杆和起重杆,作动杆,平衡杆、大滑块、起重杆和动平台构成平行四边机构,其特征在于主伺服电机通过联轴器与一螺纹丝杆同轴连接;大滑块上设有固定螺母副,所述固定螺母副套置在螺纹丝杆上;小滑块上设有旋转螺母副,所述旋转螺母副套置在螺纹丝杆上;小滑块上还设有驱动旋转螺母副转动的副伺服电机;小滑块与作动杆的上端活动连接,作动杆的下端与起重杆的杆体活动连接形成一个y型的不对称的结构。 1. Two-degree-of-freedom translational parallel mechanism, including main servo motor, large slider, small slider, moving platform, movable balance bar and lifting rod connected to the large slider and moving platform, actuating rod, balance Rod, large slider, lifting rod and moving platform constitute a parallelogram mechanism, which is characterized in that the main servo motor is coaxially connected with a threaded screw through a coupling; the large slider is provided with a pair of fixed nuts, and the fixed nut The pair is sleeved on the threaded screw; the small slider is provided with a rotating nut pair, and the rotating nut pair is sleeved on the threaded screw; the small slider is also provided with an auxiliary servo motor that drives the rotation of the rotating nut pair; the small The slider is movably connected with the upper end of the actuating rod, and the lower end of the actuating rod is movably connected with the rod body of the lifting rod to form a Y-shaped asymmetric structure. 2.如权利要求1所述的二自由度平动并联机构,其特征在于小滑块上的旋转螺母副上外套有轴承,轴承固定连接在小滑块上。 2. The two-degree-of-freedom translational parallel mechanism according to claim 1, characterized in that the rotating nut pair on the small slider is covered with a bearing, and the bearing is fixedly connected to the small slider. 3. 如权利要求1所述的二自由度平动并联机构,其特征在于小滑块上的副伺服电机的转轴和旋转螺母副上分别设有同步皮带轮,两同步皮带轮之间通过同步皮带连接。 3. The two-degree-of-freedom translational parallel mechanism as claimed in claim 1, characterized in that a synchronous pulley is respectively provided on the rotating shaft of the auxiliary servo motor on the small slider and the rotating nut pair, and the two synchronous pulleys are connected by a synchronous belt . 4. 如权利要求1所述的二自由度平动并联机构,其特征在于起重杆上设有可沿杆体滑动调整的活动铰接块,所述活动铰接块与作动杆的下端活动连接。 4. The two-degree-of-freedom translational parallel mechanism according to claim 1, wherein the lifting rod is provided with a movable hinge block that can be slid and adjusted along the rod body, and the movable hinge block is movably connected with the lower end of the actuating rod.
CN 201220097317 2012-03-15 2012-03-15 Two-freedom-degree translation parallel mechanism Expired - Fee Related CN202622802U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
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 A multifunctional lifting platform device
CN112497211A (en) * 2020-11-11 2021-03-16 天津大学 Three-degree-of-freedom robot with high rigidity
CN112497200A (en) * 2020-11-11 2021-03-16 天津大学 Three-degree-of-freedom high-rigidity robot

Cited By (6)

* Cited by examiner, † Cited by third party
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 A multifunctional lifting platform device
CN105752882B (en) * 2016-04-28 2018-07-27 巢湖学院 A kind of multifunctional lifting platform device
CN112497211A (en) * 2020-11-11 2021-03-16 天津大学 Three-degree-of-freedom robot with high rigidity
CN112497200A (en) * 2020-11-11 2021-03-16 天津大学 Three-degree-of-freedom high-rigidity robot
CN112497211B (en) * 2020-11-11 2022-05-13 天津大学 3DOF robot with high stiffness

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