CN206561414U - A kind of rotatable parallel motion - Google Patents
A kind of rotatable parallel motion Download PDFInfo
- Publication number
- CN206561414U CN206561414U CN201720128832.0U CN201720128832U CN206561414U CN 206561414 U CN206561414 U CN 206561414U CN 201720128832 U CN201720128832 U CN 201720128832U CN 206561414 U CN206561414 U CN 206561414U
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- platform
- motor
- active
- electric motors
- linear electric
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Abstract
The utility model discloses the rotatable parallel motion of one kind, including parallel moving mechanism, it is connected to the rotational motion mechanism of parallel moving mechanism output end, the parallel moving mechanism sets round-meshed active platform including pedestal, at least three linear electric motors, center, the linear electric motors are uniform around base central, the cylinder body of the linear electric motors is connected by hinge with pedestal, and the bar portion of the linear electric motors is connected by universal joint with the active platform；The rotational motion mechanism from top to bottom includes connecting platform, electric motor fixation mechanism, motor successively, the motor is connected in below active platform by electric motor fixation mechanism, and connecting platform is rotatably arranged on above the active platform and is connected by shaft coupling with the output shaft of the motor.The utility model realizes three-dimensional floating and turnover motion simultaneously, and many freedoms of motion, small volume, compact conformation, stable transmission, the connection high available for flexibility ratios such as joint of robot can be achieved.
Description
Technical field
The utility model is related to a kind of motion, more particularly to it is a kind of based on parallel connection platform, can be within the specific limits
Floating simultaneously can be with the motion of whole revolution.
Background technology
Parallel institution is connected by moving platform with fixed platform by least two self-movement chains to be constituted, with two
Or the two or more free degree, and a kind of close loop mechanism driven with parallel way.Parallel connection platform has high accuracy and high-freedom degree
The characteristics of, but its type of drive determines that its effective travel in any free degree is not high, and due to drive system phase
To bulky complex, few examples compensate this defect with the motion superposition of itself.
Utility model content
The utility model is related to a kind of motion, is characterized in carrying out three-dimensional motion within the specific limits and can be with
Rotate freely.
The utility model solves the technical scheme that its technical problem used：
A kind of rotatable parallel motion, including parallel moving mechanism, to be connected to the parallel moving mechanism defeated
Go out the rotational motion mechanism at end, the parallel moving mechanism sets round-meshed master including pedestal, at least three linear electric motors, center
Moving platform, the pedestal is fixed in frame, and the linear electric motors are uniform around base central, and the cylinder body of the linear electric motors passes through
Hinge is connected with the pedestal, and the bar portion of the linear electric motors is connected by universal joint with the active platform；
Described rotational motion mechanism from top to bottom includes connecting platform, electric motor fixation mechanism, motor successively, described
Motor is connected in below the active platform by electric motor fixation mechanism, and the connecting platform is rotatably arranged on the active and put down
It is connected by shaft coupling above platform and with the output shaft of the motor.
Further, described electric motor fixation mechanism includes the motor cabinet that center is provided with circular hole, and the motor is fixed on
The motor cabinet lower surface, the motor cabinet upper surface is consolidated by some equally distributed pillars and the active platform lower surface
Fixed connection.
Further, it is provided with thrust ball bearing between the active platform and connecting platform.
Further, thrust ball bearing is from top to bottom disposed between the active platform and shaft coupling, for propping up
The circular bottom plate of the thrust ball bearing is supportted, the bottom plate lower surface is contacted with the shaft coupling.
Further, described shaft coupling includes shaft stool, and the shaft stool is clamped-in style shaft coupling, is included for pressing from both sides
It is close to the central through hole connect.
Further, described shaft coupling also includes long spiro nail, nut, the central through hole both sides of the shaft stool, bottom plate,
Connecting platform is provided with up and down alignment respectively is used to penetrate the screw hole for installing the long spiro nail, and it is flat that described nut is located at connection
The top of platform and it is threadedly coupled with long spiro nail.
Further, the right opposite between the bottom plate, active platform, connecting platform three is equipped with and the thrust ball
The annular stop groove that bearing outer ring coordinates.
Compared with prior art, advantage of the present utility model has：
（1）Three-dimensional floating and turnover motion are realized simultaneously, and achievable freedom of motion is a lot, is closed available for robot
The high connections of flexibility ratio such as section；
（2）Rotating mechanism need not drive parallel institution, and motional inertia is small；
（3）SERVO CONTROL can be applied, motion controllability and precision are very high；
（4）Bearing capacity is high, stable transmission；
（5）Small volume, mechanism is compact, without taking excessive space.
Brief description of the drawings
Fig. 1 is a kind of rotatable parallel motion parallel connection part overall schematic of the utility model embodiment.
Fig. 2 is a kind of rotatable parallel motion rotating part overall schematic of the utility model embodiment.
Fig. 3 is the active platform structural representation of the utility model embodiment.
Fig. 4 is the shaft stool structural representation of the utility model embodiment.
In figure：1- pedestals；2- linear electric motors；3- universal joints；4- active platforms；5- motor；6- motor cabinets；7- axle branch
Seat；8- pillars；9- bottom plates；10- thrust ball bearings；11- connecting platforms；12- long spiro nails；13- nuts.
Embodiment
The purpose of this utility model is described in further detail below by specific embodiment, embodiment can not be herein
Repeat one by one, but therefore embodiment of the present utility model is not defined in following examples.
As shown in figure 1 and 2, a kind of rotatable parallel motion, including parallel moving mechanism, be connected to it is described
The rotational motion mechanism of parallel moving mechanism output end.
The parallel moving mechanism includes pedestal 1, three linear electric motors 2, centers and sets round-meshed active platform 4, described
Pedestal 1 is fixed in frame, and the linear electric motors 2 are uniform around base central, and the cylinder body of the linear electric motors 2 passes through single-degree-of-freedom
Hinge is connected with the pedestal 1, and the bar portion of the linear electric motors 2 is connected by universal joint 3 with the active platform 4, base
Seat 1, three linear electric motors 2, centers set round-meshed active platform 4, single-degree-of-freedom hinge, universal joint 3 and collectively formed and through transport
Motivation structure, by adjusting the flexible of linear electric motors 2, realizes that active platform 4 is three-dimensional and floats.
Described rotational motion mechanism from top to bottom includes connecting platform 11, electric motor fixation mechanism, motor 5, institute successively
The motor 5 stated is connected in the lower section of active platform 4 by electric motor fixation mechanism, and the connecting platform 11 is rotatably arranged on institute
State the top of active platform 4 and be connected by shaft coupling with the output shaft of the motor 5.
Described electric motor fixation mechanism includes the motor cabinet 6 that center is provided with circular hole, and the motor cabinet 6 includes circular body,
The circular body is provided centrally with circular hole, and radial uniform be extended in edge of the circular body have three pillars
Installation portion.The motor 5 is fixed on the lower surface of motor cabinet 6, and the upper surface of motor cabinet 6 passes through some equally distributed
Pillar 8 is fixedly connected with the lower surface of active platform 4.The motor cabinet 6 passes through the pillar 8 and the phase of active platform 4
Even and geo-stationary is kept with it, the motor 5 is fixed on the motor cabinet lower surface.
Thrust ball bearing 10 is provided between the active platform 4 and connecting platform 11.The active platform 4 and shaft coupling
Between be from top to bottom disposed with thrust ball bearing 10, the circular bottom plate 9 for supporting the thrust ball bearing 10, the bottom
The lower surface of plate 9 is contacted with the shaft coupling.Thrust ball bearing 10 can reduce friction, improve rotational motion mechanism efficiency and
Kinematic accuracy.
As shown in figure 4, described shaft coupling includes shaft stool 7, long spiro nail 12, nut 13, the shaft stool 7 is clamped-in style
Shaft coupling, includes the central through hole for clamping connection, and the motor shaft of the motor 5 passes through the circular hole in the center of motor cabinet 6
The central through hole of the described shaft stool 7 of insertion and the trip bolt compression on shaft stool 7, constitute rotational motion mechanism.
The central through hole both sides of the shaft stool 7, bottom plate 9, connecting platform 11 are provided with for penetrating in up and down alignment respectively
The screw hole of the long spiro nail 12 is installed, described nut 13 is located at the top of connecting platform 11 and connected with the screw thread of long spiro nail 12
Connect.Two long spiro nails 12 sequentially pass through the shaft stool 7, bottom plate 9, active platform 4, connecting platform along screw hole and circular hole
11, and coordinate the nut 13 to be compressed so that upper member is unified, constitute revolute.
As shown in figure 3, the active platform 4 includes circular body, the circular body is provided centrally with circular hole, described
Radial uniform be extended in edge of circular body has three universal joint installation portions, meanwhile, installed positioned at adjacent universal joint
Circular body edge between portion is radial to be evenly arranged with three pillar installation portions, for fixing pillar 8.Respectively pushed away to limit
The position of power ball bearing 10, the right opposite between the bottom plate 9, active platform 4, the three of connecting platform 11 is equipped with to be pushed away with described
The annular stop groove that the outer ring of power ball bearing 10 coordinates.
In use, by adjusting the flexible of linear electric motors 2, the three-dimensional floating of connecting platform 11 is realized, meanwhile, it is described electronic
The motor shaft of machine 5 is rotated by shaft stool 7, long spiro nail 12, the drive connection platform 11 of nut 13, it can be seen that the present embodiment is same
When realize it is three-dimensional float and turnover motion, achievable freedom of motion is a lot, available for the flexibility ratio such as joint of robot pole
High connection；Meanwhile, the rotating mechanism need not drive parallel institution, and motional inertia is small, can apply SERVO CONTROL, move controllable
Property and precision it is very high, bearing capacity is high, stable transmission；Small volume, mechanism is compact, without taking excessive space.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.
All any modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (7)
1. a kind of rotatable parallel motion, including parallel moving mechanism, it is connected to the parallel moving mechanism output
The rotational motion mechanism at end, it is characterised in that：
The parallel moving mechanism sets round-meshed active platform including pedestal (1), at least three linear electric motors (2), center
(4), the pedestal (1) is fixed in frame, and the linear electric motors (2) are uniform around base central, the cylinder of the linear electric motors (2)
Body is connected by hinge with the pedestal (1), and the bar portion of the linear electric motors (2) is put down by universal joint (3) and the active
Platform (4) is connected；
Described rotational motion mechanism from top to bottom includes connecting platform (11), electric motor fixation mechanism, motor (5), institute successively
The motor (5) stated is connected in below the active platform (4) by electric motor fixation mechanism, and the connecting platform (11) rotates and set
Put above the active platform (4) and be connected by shaft coupling with the output shaft of the motor (5).
2. rotatable parallel motion according to claim 1, it is characterised in that：Described electric motor fixation mechanism
The motor cabinet (6) of circular hole is provided with including center, the motor (5) is fixed on the motor cabinet (6) lower surface, the motor cabinet
(6) upper surface is fixedly connected by some equally distributed pillars (8) with the active platform (4) lower surface.
3. rotatable parallel motion according to claim 1, it is characterised in that：The active platform (4) with
Thrust ball bearing (10) is provided between connecting platform (11).
4. rotatable parallel motion according to claim 3, it is characterised in that：The active platform (4) with
Thrust ball bearing (10), the circular base for supporting the thrust ball bearing (10) are from top to bottom disposed between shaft coupling
Plate (9), bottom plate (9) lower surface is contacted with the shaft coupling.
5. rotatable parallel motion according to claim 1, it is characterised in that：Described shaft coupling includes axle
Bearing (7), the shaft stool (7) is clamped-in style shaft coupling, includes the central through hole for clamping connection.
6. rotatable parallel motion according to claim 5, it is characterised in that：Described shaft coupling also includes
Long spiro nail (12), nut (13), the central through hole both sides of the shaft stool (7), bottom plate (9), connecting platform (11) respectively above and below
Being provided with alignment is used to penetrate the screw hole for installing the long spiro nail (12), and described nut (13) is located at connecting platform (11)
Top and it is threadedly coupled with long spiro nail (12).
7. rotatable parallel motion according to claim 4, it is characterised in that：The bottom plate (9), active are flat
Right opposite between platform (4), connecting platform (11) three is equipped with the annular coordinated with the thrust ball bearing (10) outer ring and limited
Position groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720128832.0U CN206561414U (en) | 2017-02-14 | 2017-02-14 | A kind of rotatable parallel motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720128832.0U CN206561414U (en) | 2017-02-14 | 2017-02-14 | A kind of rotatable parallel motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206561414U true CN206561414U (en) | 2017-10-17 |
Family
ID=60031042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720128832.0U Expired - Fee Related CN206561414U (en) | 2017-02-14 | 2017-02-14 | A kind of rotatable parallel motion |
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| Country | Link |
|---|---|
| CN (1) | CN206561414U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737606A (en) * | 2017-02-14 | 2017-05-31 | 华南理工大学 | A kind of rotatable parallel motion |
| CN109249405A (en) * | 2018-10-30 | 2019-01-22 | 哈尔滨工业大学（深圳） | A kind of omnidirectional's big corner high-precision attitude adjustment robot of mobile auxiliary drive |
-
2017
- 2017-02-14 CN CN201720128832.0U patent/CN206561414U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737606A (en) * | 2017-02-14 | 2017-05-31 | 华南理工大学 | A kind of rotatable parallel motion |
| CN109249405A (en) * | 2018-10-30 | 2019-01-22 | 哈尔滨工业大学（深圳） | A kind of omnidirectional's big corner high-precision attitude adjustment robot of mobile auxiliary drive |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171017 Termination date: 20200214 |