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

Abstract

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.

Description

Two degrees of freedom translational parallel mechanism

technical field

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

Background technique

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

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

Contents of the invention

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

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

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

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.

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

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

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

Description of drawings:

Fig. 1 is a structural diagram of the utility model.

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

Detailed ways:

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.

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

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

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. 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. 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. 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. 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.

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