CN203171646U - Universal joint and parallel rod robot with universal joint - Google Patents
Universal joint and parallel rod robot with universal joint Download PDFInfo
- Publication number
- CN203171646U CN203171646U CN 201320084340 CN201320084340U CN203171646U CN 203171646 U CN203171646 U CN 203171646U CN 201320084340 CN201320084340 CN 201320084340 CN 201320084340 U CN201320084340 U CN 201320084340U CN 203171646 U CN203171646 U CN 203171646U
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- Prior art keywords
- universal joint
- connector portions
- parallel rod
- robot
- axle
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Abstract
The utility model provides a universal joint and a parallel rod robot with the universal joint, wherein the universal joint can enlarge the movable range. The parallel rod robot (10) is characterized in that a fixed plate (12) and a movable plate (13) are connected with each other through a plurality of arms (14) and a plurality of connecting rods (17), the postures of the fixed plate (12) and the movable plate (13) can change freely, and the connecting rods (17) are connected with the movable plate (13) through the universal joints (21). The universal joint is characterized by comprising two joint parts (11). Shafts (11a, 11b) of the two joint parts (11) are crossed, and concave parts (11c) are formed in the joint parts (11) at the left side and the right side of a component for supporting the shafts (11a, 11b).
Description
Technical field
The utility model relates to the joint based on the robot of industry purposes.The utility model relates in particular to have by a plurality of arms with stationary machines people's fixed head with the universal joint that links this structure between the movable platen of effect such as end effector member is installed.
Background technology
As having by a plurality of arms with stationary machines people's fixed head with an example that links the parallel rod robot of this structure between the movable platen of effect such as end effector member is installed, has patent documentation 1 disclosed structure.
As shown in Figure 6, in the disclosed parallel rod robot, substrate (fixed head) 1 and movable plate (movable platen) 2 link mutually via central shaft 3 and 3 connecting rods 4 in patent documentation 1.The leading section of central shaft 3 is fixed on the central portion of movable plate 2.The rearward end of central shaft 3 connects the central portion of substrate 1 via the spline bearing 52 on the movable part that is installed in universal joint 5.The leading section of each connecting rod 4 is connected via the circumference of universal joint 7 with movable plate 2.The rearward end of each connecting rod 4 is connected with the circumference of substrate 1 via the ball nut 62 of the movable part of the universal joint 6 of packing into.
So, proposed to use in each joint of parallel rod robot the scheme of universal joint.
[look-ahead technique document]
[patent documentation]
[patent documentation 1] Japanese kokai publication hei 11-887 communique
[summary of utility model]
[problem that utility model will solve]
Yet in described universal joint in the past, there is the problem that limits in the movable range that has movable plate 2 in its structure aspects.
The utility model content
The utility model is used for solving described problem in the past, and its purpose is to provide a kind of parallel rod robot that can enlarge the universal joint of movable range and possess this universal joint.
[being used for solving the means of problem]
To achieve these goals, universal joint of the present utility model is characterised in that, two connector portions of being intersected by separately axle constitute, and described connector portions is formed with depression respectively about the member that is used for the described axle of supporting.
In addition, universal joint of the present utility model, preferred: under the situation that movable angle increases, the jut that forms about hole that the described axle that is used for for described connector portions of the side passes through is configured in the opposing party's the described depression of described connector portions.
In addition, the utility model also provides a kind of parallel rod robot, by a plurality of arms and connecting rod fixed head is connected in attitude change mode freely with movable platen, it is characterized in that above-mentioned universal joint is connected described connecting rod with described movable platen.
In addition, parallel rod of the present utility model robot, preferred: the described universal joint that is connected with described connecting rod is connected with described movable platen via rotating shaft, and the articulation mechanism that is made of described universal joint and described rotating shaft has three degree of freedom.
In addition, parallel rod of the present utility model robot, preferably: in described connector portions, from the center in the hole of the described member that is used for passing through for described axle to the width L2 of the distance L 1 of the end of described member, described depression, the center in hole that is used for the member that passes through for described axle is satisfied with the relation of the length L 4 of the distance L longitudinally 3 at the center of described depression, described axle: L1: L2=1: 0.35～1: 0.45 and L1: L3=1: 0.7～1: 0.8 and L4＞L1 * L2.
[utility model effect]
As mentioned above, according to universal joint of the present utility model and possess the parallel rod robot of this universal joint, can enlarge the movable range of universal joint.
Description of drawings
Fig. 1 is the schematic diagram of the parallel rod robot of embodiment 1 of the present utility model.
Fig. 2 is near the partial enlarged drawing of connector portions of the parallel rod robot of present embodiment 1.
Fig. 3 is near the partial enlarged drawing of universal joint of the parallel rod robot of present embodiment 1.
Fig. 4 is the schematic diagram of connector portions of the parallel rod robot of present embodiment 1.
Fig. 5 (a) and (b) are near partial enlarged drawings of universal joint of the parallel rod robot of present embodiment 1.
Fig. 6 is the schematic diagram of the parallel rod robot in the past that puts down in writing of expression patent documentation 1.
[symbol description]
10 parallel rod robots
11 connector portions
11a, 11b axle
The 11c depression
The 11d jut
12 fixed heads
13 movable platens
14 arms
15 motor
The 15a encoder
17 connecting rods
18 end effectors
21 universal joints
22 rotating shafts
The specific embodiment
Below, with reference to description of drawings embodiment of the present utility model.Need to prove, in the following description, to same structure mark prosign, and suitably omit explanation.
(embodiment 1)
Fig. 1 is the schematic configuration diagram of the parallel rod robot 10 of embodiment of the present utility model.In Fig. 1, parallel rod robot 10 links fixed head 12 and movable platen 13 by arm 14 and connecting rod 17.And, in parallel rod robot 10, by controlling position or the attitude of this arm 14 and connecting rod 17, thus the action of control movable platen 13.
Weight thing such as the movable platen 1 no drive source of the parallel rod robot 10 of present embodiment and be extremely light structure is therefore for the high speed motion that makes movable platen 13 high speed motion or directly teaching etc. is useful.Need to prove, " directly teaching " refers to, the user directly clutches movable platen 13 and directly moves it, the movement locus of the teaching of being undertaken by the hand that records this user, thereby directly to the method for the movement locus of parallel rod robot 10 teaching movable platens 13.
At this, in the fixed coordinate system in being set in the regulation space, position and attitude for the movable platen 13 that freely defines parallel rod robot 10 need make movable platen 13 have 6 frees degree (movable axis).The parallel rod robot 10 of present embodiment 1 uses 6 groups by 1 arm 14,1 connecting rod 17 and 1 group that motor 15 constitutes, and to per 1 group of rotation of controlling motor 15 independently, can in the space, freely set position and the attitude of movable platen 13 thus.That is, movable platen 13 is connected with fixed head 12 in attitude change mode freely by 3 groups of 6 arms 14 and 3 groups of 6 connecting rods 17, and its position and attitude change according to the anglec of rotation of 6 arms 14.
One end of arm 14 is installed on the fixed head 12, constitutes in 1 face of stipulating of regulation to circle round.The two ends of connecting rod 17 connect by the connector portions 11 that can freely circle round in the space.Connector portions 11 is an example of bearing.One end of connecting rod 17 is connected with the other end of arm 14 by connector portions 11, and the other end of connecting rod 17 is connected with movable platen 13 by 2 connector portions 11 of intersecting.Universal joint 21 is made of 2 connector portions 11 of this intersection.Universal joint 21 is the example of parallel rod robot with universal joint.That is, connector portions 11 and the opposing party's the connector portions 11 of universal joint 21 by making a side intersected as shown in Figure 3 and constituted.
And the position of movable platen 13 and attitude utilize arm 14 and connecting rod 17 to link and restriction, can change in the space according to position and the attitude of arm 14 and connecting rod 17.That is, the position of movable platen 13 and attitude can change by the anglec of rotation of utilizing drive source control arms 14 such as motor 15.Need to prove, on movable platen 13, for example be equipped be used to the end effector 18 of controlling object.
The angle of inclination of the movable platen 13 that needs in the present embodiment 1 is 30 °.This angle is the angle of inclination that can carry out the movable platen 13 of most assemblings except special circumstances.
Action for the angle of inclination of realizing this movable platen 13, in the parallel rod robot 10 of the such six bar types (hexa type) of present embodiment 1, need 2 frees degree for the connector portions 11 between arm 14 and the connecting rod 17, need 3 frees degree for the universal joint 21 between connecting rod 17 and the movable platen 13 (2 connector portions 11).And then in order to enlarge the movable range of movable platen 13, connector portions 11 can be carried out 45 ° rotation respectively under each free degree, need form the shape that the situation lower member that is 45 ° at the runout angle of all sites also can not interfere.
In addition, connector portions 11 not only needs to have the runout angle, and the rigidity, tolerance that need satisfy repeatable accuracy are based on the weight of movable platen 13 and end effector 18 and accelerate the inertia intensity of force that produces.
In order to satisfy such condition, in the connector portions 11 of the parallel rod robot 10 of present embodiment 1, replace sliding bearing to use roller bearing, even and constitute that the situation lower member that becomes the combination of 45 ° of maximum rotations under each free degree in connector portions 11 also can not be interfered and connector portions 11 can not extend after long-time action.
Fig. 2 represents near the partial enlarged drawing of connector portions of the parallel rod robot of present embodiment 1, and Fig. 3 represents near the partial enlarged drawing of universal joint of the parallel rod robot of present embodiment 1.
Fig. 2 is near the figure of the connector portions 11 between expression arm 14 and the connecting rod 17, disposes 1 connector portions 11 between each arm 14 and connecting rod 17.
Fig. 3 is near the figure of the universal joint 21 between expression connecting rod 17 and the movable platen 13, disposes 2 connector portions 11 in separately a mode of intersecting between each connecting rod 17 and movable platen 13.Particularly, as shown in Figure 3, in axle 11a, the 11b of 2 connector portions 11 of intersecting, form horizontal through hole at a side axle 11a, and the axle 11b that makes the opposing party constitutes 2 axle 11a, 11b that intersect thus by this through hole.2 axle 11a, 11b intersecting become the cross pin structure.The two ends of each 11a, 11b become the external screw thread shape, form the structure of passing through the fastening bearing of screw from both sides, thereby the situation that machinery rocks can not take place in the axial direction.That is, axle 11a, 11b is made of bolt and nut.
In addition, as shown in Figure 3, universal joint 21 is connected with movable platen 13 via rotating shaft 22.According to 2 frees degree of universal joint 21 and 1 free degree of rotating shaft 22, the articulation mechanism between connecting rod 17 and the movable platen 13 has 3 frees degree.According to such structure, in the parallel rod robot 10 of present embodiment 1, in the articulation mechanism of connecting rod 17 and movable platen 13, can realize can miniaturization 3 degree-of-freedom joint mechanisms.
Need to prove, dispose roller bearing at the front end of arm 14 and the two ends of connecting rod 17.
At this, observe the figure that connector portions 11 obtains from positive (direction of the direction of the arrow A of Fig. 2, the arrow B of Fig. 3) shown in Fig. 4.Fig. 4 is the schematic diagram of connector portions 11 of the parallel rod robot of present embodiment 1.
As shown in Figure 4, connector portions 11 has depression 11c.Depression 11c is configured in for about the member of bolster 11a, 11b.In addition, depression 11c is configured in from the position of the misalignment in the hole that is used for passing through for axle 11a, 11b.
The universal joint 21 of present embodiment 1 is performance and universal joint identical functions in the past under the little situation of movable angle.But, the universal joint 21 of present embodiment 1 constitutes following mode, that is, under movable angle became big situation, the jut 11d that forms about hole that the axle 11a, the 11b that are used for for a side connector portions 11 pass through was configured in the opposing party's the depression 11c of connector portions 11.And, the universal joint of present embodiment 1 21 since the mode in the opposing party's the depression 11c of connector portions 11 of being configured in the jut 11d of a side connector portions 11 constitute can be movable, therefore compare its movable range with universal joint in the past and become big.
In the connector portions 11 of present embodiment 1, from the center in the hole that is used for passing through for axle 11a, 11b to the distance L 1 of the end of joint for below the above 10mm of 5mm, roughly radius R=L2 of the depression 11c of semi-circular shape is below the above 5mm of 1.5mm, the center that is used for the hole passed through for axle 11a, 11b and the distance L longitudinally 3 at the center of depression 11c are for below the above 10mm of 3mm, and the length L 4 (with reference to Fig. 3) of spool 11a, 11b is below the above 20mm of 10mm.Need to prove, in present embodiment 1, to use L1=6.5mm, L2=1.7mm, L3=5mm, the situation of the connector portions 11 of L4=14mm is illustrated.
At this, as previously mentioned, in order also to realize 45 ° of maximum runout angles in the connector portions 11 of intersecting, need make L1: L2 be 1: 0.35 above below 1: 0.45.And then, need make L4＞L1 * 2, and L1: L3 be 1: 0.7 above below 1: 0.8.
In addition, have the intensity of regulation in order to make connector portions 11, need make L1 〉=5mm, and L3 〉=3.5mm.
Need to prove that for the shape of the front end of the connector portions 11 of present embodiment 1, be configured in other the depression 11c of connector portions in order to make jut 11d, the quadrangle shape is false, and need form the roughly semi-circular shape of R=L1.
In addition, the shape of depression 11c does not need to be semi-circular shape roughly, is below the above 10mm of 3mm as long as have the horizontal recess width of the paper of suitable cup depth and Fig. 4, then can be the quadrangle shape yet.
Shown in Fig. 5 (a) and (b), for the connector portions 11 of the parallel rod robot 10 of formation like this, even endways actuator 18 move and the situation of rotating under, the maximum runout angle (45 °) that reaches each free degree before each component parts can not interfere yet.This connector portions 11 that is based on present embodiment 1 is provided with the effect that caves in 11c and produce.Need to prove, as shown in Figure 6, in universal joint in the past, do not have such depression.
Need to prove, in present embodiment 1, be formed with universal joint 21 at the connecting portion of connecting rod 17 and movable platen 13, but in order further to enlarge movable range, also can form universal joint at the connecting portion of arm 14 and connecting rod 17.
[utilizability on the industry]
Parallel rod of the present utility model robot with universal joint and the parallel rod robot that possesses this universal joint as the robot that is used for the assembling that industry uses and useful.
Claims (5)
1. a universal joint is characterized in that,
Two connector portions of being intersected by separately axle constitute,
Described connector portions is formed with depression respectively about the member that is used for the described axle of supporting.
2. universal joint according to claim 1 is characterized in that,
Under the situation that movable angle increases, the jut that forms about hole that the described axle that is used for for described connector portions of the side passes through is configured in the opposing party's the described depression of described connector portions.
3. a parallel rod robot is connected with movable platen fixed head by a plurality of arms and connecting rod in attitude change mode freely, it is characterized in that,
Claim 1 or 2 described universal joints are connected described connecting rod with described movable platen.
4. parallel rod according to claim 3 robot is characterized in that,
The described universal joint that is connected with described connecting rod is connected with described movable platen via rotating shaft,
The articulation mechanism that is made of described universal joint and described rotating shaft has three degree of freedom.
5. according to claim 3 or 4 described parallel rod robots, it is characterized in that,
In described connector portions, from the center in the hole of the described member that is used for passing through for described axle to the width L2 of the distance L 1 of the end of described member, described depression, the center in hole that is used for the member that passes through for described axle is satisfied with the relation of the length L 4 of the distance L longitudinally 3 at the center of described depression, described axle: L1: L2=1: 0.35～1: 0.45 and L1: L3=1: 0.7～1: 0.8 and L4＞L1 * L2.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-207870 | 2012-09-21 | ||
| JP2012207870A JP2014061571A (en) | 2012-09-21 | 2012-09-21 | Universal joint and parallel link robot having the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203171646U true CN203171646U (en) | 2013-09-04 |
Family
ID=49068398
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310058547.2A Pending CN103659831A (en) | 2012-09-21 | 2013-02-25 | Universal joint and parallel rod robot with universal joint |
| CN 201320084340 Expired - Lifetime CN203171646U (en) | 2012-09-21 | 2013-02-25 | Universal joint and parallel rod robot with universal joint |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310058547.2A Pending CN103659831A (en) | 2012-09-21 | 2013-02-25 | Universal joint and parallel rod robot with universal joint |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2014061571A (en) |
| CN (2) | CN103659831A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106573380A (en) * | 2014-08-06 | 2017-04-19 | 索尼公司 | Parallel link robot and parallel link structure |
| CN111065495A (en) * | 2017-09-15 | 2020-04-24 | Groove X 株式会社 | Robot capable of moving interestingly and structure thereof |
| CN112754550A (en) * | 2021-04-07 | 2021-05-07 | 北京数医脊微科技有限公司 | Machine control system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6558849B2 (en) * | 2015-09-14 | 2019-08-14 | 株式会社ミツバ | Parallel robot |
| JP6774540B1 (en) * | 2019-08-07 | 2020-10-28 | 株式会社バンダイ | Joint structure and doll body |
| KR102471779B1 (en) * | 2021-06-03 | 2022-11-28 | 원광대학교산학협력단 | Micro nano robot control system |
-
2012
- 2012-09-21 JP JP2012207870A patent/JP2014061571A/en active Pending
-
2013
- 2013-02-25 CN CN201310058547.2A patent/CN103659831A/en active Pending
- 2013-02-25 CN CN 201320084340 patent/CN203171646U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106573380A (en) * | 2014-08-06 | 2017-04-19 | 索尼公司 | Parallel link robot and parallel link structure |
| CN106573380B (en) * | 2014-08-06 | 2020-04-07 | 索尼公司 | Parallel connecting rod robot and parallel connecting rod structure |
| CN111065495A (en) * | 2017-09-15 | 2020-04-24 | Groove X 株式会社 | Robot capable of moving interestingly and structure thereof |
| CN112754550A (en) * | 2021-04-07 | 2021-05-07 | 北京数医脊微科技有限公司 | Machine control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103659831A (en) | 2014-03-26 |
| JP2014061571A (en) | 2014-04-10 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130904 |