CN206242091U - A kind of parallel robot Stewart platforms ball pivot installation frock - Google Patents
A kind of parallel robot Stewart platforms ball pivot installation frock Download PDFInfo
- Publication number
- CN206242091U CN206242091U CN201621166787.XU CN201621166787U CN206242091U CN 206242091 U CN206242091 U CN 206242091U CN 201621166787 U CN201621166787 U CN 201621166787U CN 206242091 U CN206242091 U CN 206242091U
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- China
- Prior art keywords
- ball
- steel ball
- frock
- ball pivot
- sphere
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Abstract
The utility model discloses a kind of parallel robot Stewart platforms ball pivot installation frock, including steel ball seat and steel ball；Steel ball seat is provided with steel ball receiving face and repair face, and steel ball is arranged in steel ball receiving face and the steel ball is centrally located on the axis of steel ball seat.In ball pivot installation process, first replace ball pivot installing component with frock ball pin, measure the position error of the frock ball pin centre of sphere, carry out repair, the sphere center position degree error of frock ball pin is met tolerance, compared with frock ball pin and corresponding ball pivot installing component afterwards, repair spacer thickness, make the centre of sphere height of ball pivot installing component contour with the frock ball pin centre of sphere, the sphere center position degree error of ball pivot installing component is reached tolerance eventually；So, due to the ball pin simple structure of the utility model frock, the relative position of the centre of sphere and moving platform is easily determined, therefore, the sphere center position of ball pivot installing component is determined using the utility model, the position accuracy demand of parallel robot Stewart platforms ball pivot installation is met.
Description
Technical field
The utility model is related to a kind of frock of parallel robot Stewart platforms ball pivot installation.
Background technology
Parallel robot Stewart platforms have that rigidity is big, bearing capacity is strong, error is small, high precision, deadweight duty ratio
The series of advantages such as small, power performance is good, control is easy, is more and more applied in recent years.Stewart platforms are a kind of
Close loop mechanism, drives side chain etc. to constitute by silent flatform, moving platform and 6 sets, often covers side chain and is hinged by a set of Hooke with silent flatform,
Often set side chain is connected with moving platform by a set of ball pivot, and Hooke's hinge, the position error of the ball pivot centre of gyration directly affect moving platform
Static pose accuracy.
Hooke's hinge pitch circle diameter on silent flatform and the ball pivot pitch circle diameter on moving platform not phase
Deng, original state, the ball pin of ball pivot, ball bowl center line overlap with the axis of side chain is driven, and the axis and moving platform are into a space
Angle, the axis of often set driving side chain is different from moving platform angle direction, and ball pivot is connected in the original state with moving platform.
The ball pin end of ball pivot is connected through a screw thread with side chain is driven, and has an adjusting pad in the middle of the ball bowl end of ball pivot and ball pivot seat
Piece, ball bowl end is connected through a screw thread with ball pivot seat, and ball pivot seat is positioned with moving platform by hole axle, loading end, by lock washer and spiral shell
Mother's connection fastening.Ball pivot, ball pivot seat and adjusting shims into ball pivot installing component.
On moving platform there is mismachining tolerance in ball pivot mounting hole and its load plane, the ball being made up of ball pivot seat, pad, ball pivot
The centre of sphere for cutting with scissors installing component highly there is also error, cause the sphere center position degree of ball pivot to there is error, due to the ball pin end of ball pivot
Sphere it is difficult to directly measure the sphere center position of ball pivot, causes the ball pivot centre of sphere in installation process by the Internal Spherical Surface parcel at ball bowl end
Position degree precision is relatively difficult to ensure card.
In view of this, it is special to propose the utility model.
Utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, there is provided a kind of parallel robot
Stewart platform ball pivot installation frocks, solve to be difficult to pinpoint problem when the ball pivot centre of sphere is installed on moving platform.
In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：
A kind of parallel robot Stewart platforms ball pivot installation frock, including steel ball seat and steel ball；The steel ball seat sets
There are steel ball receiving face and repair face, the steel ball is arranged in the steel ball receiving face and the steel ball is centrally located at the steel ball
On the axis of seat.
Above-mentioned parallel robot Stewart platforms ball pivot installation frock, the steel ball receiving face is inner conical surface.
Above-mentioned parallel robot Stewart platforms ball pivot installation frock, the steel ball of the frock is glued to the steel
On ball seat.
Above-mentioned parallel robot Stewart platforms ball pivot installation frock, the steel ball of the frock is away from the steel ball
Expose the outer surface of the side of seat.
Above-mentioned parallel robot Stewart platforms ball pivot installation frock, the steel ball of the frock and the platform ball pivot
In steel ball size difference be no more than 5mm.
Above-mentioned parallel robot Stewart platforms ball pivot installation frock, the repair face surfacing, and and steel ball seat
Axis it is vertical.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art：
The utility model first replaces ball pivot installing component in ball pivot installation process with frock ball pin, measures frock ball pin
The position error of the centre of sphere, carries out repair, the sphere center position degree error of frock ball pin is met the position of the ball pivot installing component centre of sphere
Degree of putting tolerance, is then compared, repair ball pivot installing component with often set frock ball pin and corresponding ball pivot installing component
In spacer thickness, make ball pivot installing component the centre of sphere height it is highly contour with the frock ball pin centre of sphere, finally install ball pivot
The sphere center position degree error of part reaches tolerance；In this way, due to the ball pin simple structure of the utility model frock, easily surveying
Determine the relative position of the centre of sphere and moving platform, therefore, the sphere center position determined using the utility model is easy to ball pivot installing component
Repair and the accurate installation of sphere center position.
Brief description of the drawings
Fig. 1 is the structural representation of parallel robot Stewart platforms.
Fig. 2 is the structural representation of the ball pivot of parallel robot Stewart platforms.
Fig. 3 is knot when the utility model parallel robot Stewart platform ball pivot installation frocks are attached to moving platform
Structure schematic diagram.
Fig. 4 is the structural representation of the utility model parallel robot Stewart platform ball pivot installation frocks.
Fig. 5 is the parallels that the utility model parallel robot Stewart platform ball pivot installations frock is arranged on moving platform
On structural representation.
Fig. 6 is the structural representation on the ball pivot installation parallels of parallel robot Stewart platforms.
Fig. 7 is ball pivot installing component elevation carrection schematic diagram.
In above-mentioned accompanying drawing, 1, silent flatform；2nd, Hooke's hinge；3rd, side chain is driven；4th, ball pivot installing component；5th, moving platform；6th, work
Dress ball pin；7th, ball pivot seat；8th, adjust pad；9th, ball pivot；10th, steel ball seat；11st, steel ball；12nd, parallels.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail, to help understanding that this practicality is new
The content of type.
As shown in figure 1, parallel robot Stewart platforms include silent flatform 1, Hooke's hinge 2, drive side chain 3, ball pivot to install
Part 4 and moving platform 5.Hooke's hinge 2 connects silent flatform 1 and drives side chain 3, and ball pivot installing component 4 connects moving platform 5 and drives branch
Chain 3, ball pivot installing component 4 is fastened with lock washer and nut with moving platform 5.
As shown in Fig. 2 ball pivot installing component 4 includes ball pivot seat 7, adjust pad 8 and ball pivot 9.Adjust pad 8 is in ball pivot seat
7 and ball pivot 9 in the middle of, the thickness h of repair adjust pad 8 can adjust the height A of the ball pivot centre of sphere2.Often cover ball pivot installing component 4
Adjust pad 8, ball pivot seat 7 and ball pivot 9 correspond, pairing mark should be made, in order to avoid loaded in mixture with other ball pivot installing components.
As shown in Figure 3, Figure 4, the utility model provides a kind of frock ball on Stewart platforms moving platform 5
Pin 6 (i.e. parallel robot Stewart platforms ball pivot installation frock), is fastened with lock washer and nut with moving platform 5.This
The frock ball pin 6 of embodiment includes steel ball seat 10 and steel ball 11；Steel ball seat 10 is provided with steel ball receiving face 101 and repair face 102；Steel
Ball 11 is arranged in the steel ball receiving face 101 and the steel ball 11 is centrally located on the axis of the steel ball seat 10.Steel ball holds
Face 101 is received for inner conical surface, it is ensured that the center of steel ball 11 is on the center line of steel ball seat 10.Steel ball 11 is existed with steel ball seat 10 with glue sticking
Together.Often set frock ball pin makees pairing mark with it in moving platform installation site, in order to avoid load in mixture.Steel ball 11 is away from the steel ball seat
The outer surface of 10 side is exposed, in this way, the steel ball 11 of frock ball pin 6 exposes, sphere sphere center position is easy to measurement.For the ease of
Calculate, the steel ball of the frock is no more than 5mm with the steel ball size difference in the platform ball pivot.For ease of repair and measurement,
The surface of the repair face 102 is set to burnishing surface and vertical with the axis of steel ball seat.
As shown in figure 5, when the frock ball pin of the present embodiment is used by steel ball seat insertion parallels 12 hole in, while measurement 6
The sphere center position of frock ball pin is covered, calculating assesses the overproof frock ball pin of position degree, calculates frock ball pin centre of sphere height A1
Repair amount, the repair face 102 of repair frock ball pin 6 changes steel ball 11 centre of sphere height A1, then the set frock ball pin 6 is loaded
The original position of moving platform 5, measures 6 sets of sphere center positions of frock ball pin again, does not such as meet position error requirement, repeats to repair
With, assembling, measurement operation, untill 6 sets of frock ball pin centre ofs sphere meet position error requirement.
The height dimension A of 6 sets of frock ball pins that repair is completed is measured on parallels 123(pushed up to steel ball 11 by repair face 102
The distance in portion), according to formula A1=A3- n/2 calculates the height dimension A of the centre of sphere1(n is the diameter of steel ball 11), records numerical value.
As shown in fig. 6, measuring 6 sets of height dimension D of ball pivot sphere on parallels 12, calculated according to formula B=D-m/2
The height dimension B (m is the steel ball size of ball pivot) of the ball pivot centre of sphere, records numerical value.
As shown in fig. 7,6 sets of ball pivot height dimension C of ball pivot installing component 4 are measured on parallels 12, according to formula A2=
C-B calculates the height dimension A of the ball pivot centre of sphere2, A2With the height dimension A of corresponding frock ball pin 61It is compared, according to
Difference △=A2-A1, repair adjust pad thickness, until A2=A1Untill.Now ball pivot installing component repair is completed, and installs 6 sets
Ball pivot installing component loads lock washer to the corresponding installation site of moving platform 5, tightens small round nut, completes the position of the ball pivot centre of sphere
The high accuracy install of degree of putting.
The utility model first replaces ball pivot installing component in ball pivot installation process with frock ball pin, measures frock ball pin
The position error of the centre of sphere, carries out repair, the sphere center position degree error of frock ball pin is met tolerance, then with often covering work
Dress ball pin and corresponding ball pivot installing component are compared, and the spacer thickness in repair ball pivot installing component makes ball pivot installation portion
The centre of sphere height of part is highly contour with the frock ball pin centre of sphere, the sphere center position degree error of ball pivot installing component is reached public affairs
Difference is required；In this way, due to the ball pin simple structure of the utility model frock, the relative position of the centre of sphere and middle platform is easily determined,
Therefore, it is easy to the accurate repair of ball pivot to install after determining sphere center position using the utility model.
The above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as protection domain of the present utility model.
Claims (6)
1. a kind of parallel robot Stewart platforms ball pivot installation frock, it is characterised in that including steel ball seat and steel ball；Institute
State steel ball seat and be provided with steel ball receiving face and repair face, the steel ball is arranged in the steel ball receiving face and the steel ball centre bit
In on the axis of the steel ball seat.
2. parallel robot Stewart platforms ball pivot installation frock according to claim 1, it is characterised in that described
Steel ball receiving face is inner conical surface.
3. parallel robot Stewart platforms ball pivot installation frock according to claim 1, it is characterised in that the work
The steel ball of dress is glued in the steel ball seat.
4. parallel robot Stewart platforms ball pivot installation frock according to claim 1, it is characterised in that the work
The steel ball of dress exposes away from the outer surface of the side of the steel ball seat.
5. parallel robot Stewart platforms ball pivot installation frock according to claim 1, it is characterised in that the work
The steel ball of dress is no more than 5mm with the steel ball size difference in the platform ball pivot.
6. parallel robot Stewart platforms ball pivot installation frock according to claim 1, it is characterised in that described
The surfacing of repair face, and it is vertical with the axis of steel ball seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621166787.XU CN206242091U (en) | 2016-10-31 | 2016-10-31 | A kind of parallel robot Stewart platforms ball pivot installation frock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621166787.XU CN206242091U (en) | 2016-10-31 | 2016-10-31 | A kind of parallel robot Stewart platforms ball pivot installation frock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242091U true CN206242091U (en) | 2017-06-13 |
Family
ID=58996197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621166787.XU Expired - Fee Related CN206242091U (en) | 2016-10-31 | 2016-10-31 | A kind of parallel robot Stewart platforms ball pivot installation frock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206242091U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660281A (en) * | 2020-06-04 | 2020-09-15 | 中国科学院长春光学精密机械与物理研究所 | Parallel robot assembling method and auxiliary tool thereof |
-
2016
- 2016-10-31 CN CN201621166787.XU patent/CN206242091U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660281A (en) * | 2020-06-04 | 2020-09-15 | 中国科学院长春光学精密机械与物理研究所 | Parallel robot assembling method and auxiliary tool thereof |
| CN111660281B (en) * | 2020-06-04 | 2022-03-22 | 中国科学院长春光学精密机械与物理研究所 | Parallel robot assembling method and auxiliary tool thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20201031 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |