CN204183546U - A kind of shaft mechanism for high speed parallel robot - Google Patents
A kind of shaft mechanism for high speed parallel robot Download PDFInfo
- Publication number
- CN204183546U CN204183546U CN201420584257.1U CN201420584257U CN204183546U CN 204183546 U CN204183546 U CN 204183546U CN 201420584257 U CN201420584257 U CN 201420584257U CN 204183546 U CN204183546 U CN 204183546U
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- CN
- China
- Prior art keywords
- feather key
- shaft mechanism
- high speed
- key axle
- parallel robot
- 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.)
- Expired - Fee Related
Links
- 210000003746 feather Anatomy 0.000 claims abstract description 51
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model relates to a kind of shaft mechanism for high speed parallel robot, this shaft mechanism one end is connected with reductor through the silent flatform of robot, the other end is arranged on the moving platform of robot, described shaft mechanism comprises top linkage unit, ball feather key axle, float support and bottom linkage unit, the top of described ball feather key axle is connected with reductor by top linkage unit, and bottom is connected with the moving platform of robot by float support, bottom linkage unit successively.Compared with prior art, the utility model structure is simple, adopts ball feather key axle to match with ball feather key sliding sleeve, and be provided with float support in the bottom of ball feather key axle, practical, safe and reliable, the reliability service of parallel robot can be ensured, and extend the service life of parallel robot.
Description
Technical field
The utility model belongs to Machining Technology field, relates to a kind of shaft mechanism, especially relates to a kind of shaft mechanism for high speed parallel robot.
Background technology
Existing Delta parallel robot is by silent flatform mostly, motor, master arm, ball pivot, slave arm, middle rotating shaft mechanism and moving platform composition, middle rotating shaft mechanism can realize the rotation of robot moving platform 360 °, its upper end is that ball feather key axle is connected with silent flatform by Hooke hinge, lower end is that tubular axis is connected with moving platform by Hooke hinge, can relative sliding between ball feather key axle and tubular axis, thus realize the Telescopic of middle rotating shaft, but in actual use, very large friction can be produced between the axle head of ball feather key axle and interior adapter sleeve, interior adapter sleeve is made to produce a large amount of heats, adapter sleeve in heavy wear, simultaneously with very large noise, increase the maintenance cost of robot, reduce the service life of robot, use to actual production and bring very large puzzlement.
Utility model content
The purpose of this utility model is exactly to overcome the defect and the shaft mechanism for high speed parallel robot that provides a kind of structure simple, safe and reliable that above-mentioned prior art exists.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of shaft mechanism for high speed parallel robot, this shaft mechanism one end is connected with reductor through the silent flatform of robot, the other end is arranged on the moving platform of robot, described shaft mechanism comprises top linkage unit, ball feather key axle, float support and bottom linkage unit, the top of described ball feather key axle is connected with reductor by top linkage unit, and bottom is connected with the moving platform of robot by float support, bottom linkage unit successively.
Described top linkage unit comprises top connector, top shaft coupling and top universal joint, described top connector is arranged between top shaft coupling and top universal joint, top is connected with reductor by top shaft coupling, and bottom is connected with ball feather key axle by top universal joint.
Described top universal joint is fixedly connected with rolling feather key axle by straight pin.
The epimere shaft portion of described rolling feather key axle is provided with outer adapter sleeve, and hypomere shaft portion is provided with interior adapter sleeve.
Ball feather key sliding sleeve is also provided with between the epimere shaft portion of described rolling feather key axle and outer adapter sleeve.
The top of described outer adapter sleeve is fixedly connected with ball feather key sliding sleeve by screw, and bottom is connected with interior adapter sleeve by straight pin.
Described bottom linkage unit comprises bottom connector and bottom universal joint, and the top of described bottom connector is connected with rolling feather key axle by float support, and bottom is connected with moving platform by bottom universal joint.
Described interior adapter sleeve is fixedly connected with bottom connector by straight pin.
Ball feather key axle achieves the flexible of shaft mechanism with coordinating of ball feather key sliding sleeve, the float support of the bottom setting of ball feather key axle, in the course of the work, stretching along with shaft mechanism, float support and interior adapter sleeve produce and rub, thus the axle head eliminated because of ball feather key axle and the direct contact friction of interior adapter sleeve, and cause interior adapter sleeve heavy wear and the problem such as noise is large, effective minimizing frictional heating, extends the service life of shaft mechanism.
Compared with prior art, the utility model has following characteristics:
1) owing to adopting float support, effectively can reduce the friction of parallel robot when vertical direction stretches, reduce the resistance of motion, ensure that parallel robot stable working is reliable;
2) owing to being provided with ball feather key sliding sleeve between the epimere shaft portion and outer adapter sleeve of rolling feather key axle, achieve shaft mechanism free-extension operationally, effectively reduce the friction between rolling feather key axle and outer adapter sleeve;
3) structure is simple, practical, safe and reliable, can ensure the reliability service of parallel robot, and extend the service life of parallel robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of shaft mechanism for high speed parallel robot of the utility model;
Description of symbols in figure:
Adapter sleeve, 8-straight pin, 9-float support, 10-bottom connector, 11-bottom universal joint, 12-silent flatform, 13-reductor, 14-screw in the outer adapter sleeve of 1-top shaft coupling, 2-top connector, 3-top universal joint, 4-ball feather key axle, 5-ball feather key sliding sleeve, 6-, 7-.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Embodiment:
As shown in Figure 1, a kind of shaft mechanism for high speed parallel robot, this shaft mechanism one end is connected with reductor 13 through the silent flatform 12 of robot, the other end is arranged on the moving platform of robot, shaft mechanism comprises top linkage unit, ball feather key axle 4, float support 9 and bottom linkage unit, the top of ball feather key axle 4 is connected with reductor 13 by top linkage unit, and bottom is connected with the moving platform of robot by 9 support of floating, bottom linkage unit successively.
Top linkage unit comprises top connector 2, top shaft coupling 1 and top universal joint 3, top connector 2 is arranged between top shaft coupling 1 and top universal joint 3, top is connected with reductor 13 by top shaft coupling 1, and bottom is connected with ball feather key axle 4 by top universal joint 3.
Top universal joint 3 is fixedly connected with rolling feather key axle 4 by straight pin 8.
The epimere shaft portion of rolling feather key axle 4 is provided with outer adapter sleeve 6, and hypomere shaft portion is provided with interior adapter sleeve 7.
Ball feather key sliding sleeve 5 is also provided with between the epimere shaft portion of rolling feather key axle 4 and outer adapter sleeve 6.
The top of outer adapter sleeve 6 is fixedly connected with ball feather key sliding sleeve 5 by screw 14, and bottom is connected with interior adapter sleeve 7 by straight pin 8.
Bottom linkage unit comprises bottom connector 10 and bottom universal joint 11, and the top of bottom connector 10 is connected with rolling feather key axle 4 by float support 9, and bottom is connected with moving platform by bottom universal joint 11.
Interior adapter sleeve 7 is fixedly connected with bottom connector 10 by straight pin 8.
Ball feather key axle 4 achieves the flexible of shaft mechanism with coordinating of ball feather key sliding sleeve 5, the float support 9 of the bottom setting of ball feather key axle 4, can make parallel robot in the flexible process of vertical direction, very large friction can not be produced, reduce the resistance of motion.
Ball feather key axle 4 achieves the flexible of shaft mechanism with coordinating of ball feather key sliding sleeve 5, the float support 9 of the bottom setting of ball feather key axle 4, in the course of the work, stretching along with shaft mechanism, float support 9 and interior adapter sleeve 7 produce and rub, thus the axle head eliminated because of ball feather key axle 4 and the direct contact friction of interior adapter sleeve 7, and cause the heavy wear of interior adapter sleeve 7 and the problem such as noise is large, effective minimizing frictional heating, extends the service life of shaft mechanism.
Claims (8)
1. the shaft mechanism for high speed parallel robot, this shaft mechanism one end is connected with reductor through the silent flatform of robot, the other end is arranged on the moving platform of robot, it is characterized in that, described shaft mechanism comprises top linkage unit, ball feather key axle, float support and bottom linkage unit, the top of described ball feather key axle is connected with reductor by top linkage unit, and bottom is connected with the moving platform of robot by float support, bottom linkage unit successively.
2. a kind of shaft mechanism for high speed parallel robot according to claim 1, it is characterized in that, described top linkage unit comprises top connector, top shaft coupling and top universal joint, described top connector is arranged between top shaft coupling and top universal joint, top is connected with reductor by top shaft coupling, and bottom is connected with ball feather key axle by top universal joint.
3. a kind of shaft mechanism for high speed parallel robot according to claim 2, is characterized in that, described top universal joint is fixedly connected with rolling feather key axle by straight pin.
4. a kind of shaft mechanism for high speed parallel robot according to claim 1, is characterized in that, the epimere shaft portion of described rolling feather key axle is provided with outer adapter sleeve, and hypomere shaft portion is provided with interior adapter sleeve.
5. a kind of shaft mechanism for high speed parallel robot according to claim 4, is characterized in that, is also provided with ball feather key sliding sleeve between the epimere shaft portion of described rolling feather key axle and outer adapter sleeve.
6. a kind of shaft mechanism for high speed parallel robot according to claim 4 or 5, is characterized in that, the top of described outer adapter sleeve is fixedly connected with ball feather key sliding sleeve by screw, and bottom is connected with interior adapter sleeve by straight pin.
7. a kind of shaft mechanism for high speed parallel robot according to claim 1, it is characterized in that, described bottom linkage unit comprises bottom connector and bottom universal joint, the top of described bottom connector is connected with rolling feather key axle by float support, and bottom is connected with moving platform by bottom universal joint.
8. a kind of shaft mechanism for high speed parallel robot according to claim 4 or 7, is characterized in that, described interior adapter sleeve is fixedly connected with bottom connector by straight pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420584257.1U CN204183546U (en) | 2014-10-10 | 2014-10-10 | A kind of shaft mechanism for high speed parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420584257.1U CN204183546U (en) | 2014-10-10 | 2014-10-10 | A kind of shaft mechanism for high speed parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204183546U true CN204183546U (en) | 2015-03-04 |
Family
ID=52615577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420584257.1U Expired - Fee Related CN204183546U (en) | 2014-10-10 | 2014-10-10 | A kind of shaft mechanism for high speed parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204183546U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563457A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Intermediate shaft mechanism for high-speed parallel robot |
-
2014
- 2014-10-10 CN CN201420584257.1U patent/CN204183546U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563457A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Intermediate shaft mechanism for high-speed parallel robot |
| CN105563457B (en) * | 2014-10-10 | 2018-10-26 | 上海沃迪自动化装备股份有限公司 | A kind of shaft mechanism for high speed parallel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150304 |