TWI458611B - Parallel robot - Google Patents
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- TWI458611B TWI458611B TW098145216A TW98145216A TWI458611B TW I458611 B TWI458611 B TW I458611B TW 098145216 A TW098145216 A TW 098145216A TW 98145216 A TW98145216 A TW 98145216A TW I458611 B TWI458611 B TW I458611B
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Description
本發明涉及一種並聯機器人。 The invention relates to a parallel robot.
機器人中常會採用並聯機器人以實現多方位之快速運動，且並聯機器人相對於串聯機構具有剛度大、結構穩定、承載能力強、精度高等優點，擴大機器人之應用領域。 Parallel robots are often used in robots to achieve multi-directional fast motion. Parallel robots have the advantages of high rigidity, stable structure, strong carrying capacity and high precision relative to the series mechanism, and expand the application field of robots.
一種並聯機器人，包括支架、可動平台以及連接於支架與可動平台之間之三條主動支鏈及一條轉動支鏈。主動支鏈包括與支架固定連接之驅動裝置、與可動平台鉸接之第一連桿及鉸接於驅動裝置及第一連桿之間之第二連桿。驅動裝置包括伺服電機及減速器，藉由減速器來改變來調節主動支鏈中之第一連桿之轉動速度。惟，由於減速器之成本較高，故此種並聯機器人之整體製作成本較高。此外，減速器結構較為複雜，不便於維修。 A parallel robot includes a bracket, a movable platform and three active branches and a rotating branch connected between the bracket and the movable platform. The active branch includes a driving device fixedly coupled to the bracket, a first link hinged to the movable platform, and a second link hinged between the driving device and the first link. The driving device includes a servo motor and a speed reducer, and is adjusted by the speed reducer to adjust the rotational speed of the first link in the active branch. However, due to the high cost of the reducer, the overall manufacturing cost of such a parallel robot is high. In addition, the structure of the reducer is complicated and is not convenient for maintenance.
鑒於上述狀況，有必要提供一種結構簡單且成本較低之並聯機器人。 In view of the above, it is necessary to provide a parallel robot that is simple in structure and low in cost.
一種並聯機器人，包括支架、可動平台、連接於支架與可動平台之間之平移支鏈及轉動支鏈，以及固定於支架上之第一動力裝置及第二動力裝置，第一動力裝置驅動平移支鏈，第二動力裝置驅動轉動支鏈，第一動力裝置包括主動輪，平移支鏈包括第一傳動 件及傳動繩，第一傳動件包括扇形傳動部及固定傳動繩之固定組件，傳動繩之中部纏繞於該主動輪上，且其餘部分纏繞於扇形傳動部之弧形邊緣上，使主動輪藉由傳動繩帶動第一傳動件轉動，固定組件將傳動繩之末端固定於扇形傳動部上，固定組件包括彈性件、固定於扇形傳動部上之定位件及與定位件連接之緊固件，緊固件與傳動繩固定連接，緊固件具有頭部，彈性件套設於緊固件上，且卡持於緊固件之頭部及定位件之間。 A parallel robot includes a bracket, a movable platform, a translational branch and a rotating branch connected between the bracket and the movable platform, and a first power device and a second power device fixed on the bracket, and the first power device drives the translation branch a chain, the second power unit drives the rotating branch, the first power unit includes a driving wheel, and the translational branch includes a first transmission And the transmission rope, the first transmission component comprises a fan-shaped transmission part and a fixed assembly of the fixed transmission rope, the middle part of the transmission rope is wound on the driving wheel, and the remaining part is wound on the curved edge of the fan-shaped transmission part, so that the driving wheel is borrowed The first transmission member is rotated by the driving rope, and the fixing component fixes the end of the transmission rope to the fan-shaped transmission portion. The fixing assembly comprises an elastic member, a positioning member fixed on the fan-shaped transmission portion, and a fastener connected with the positioning member, the fastener The utility model is fixedly connected to the driving rope. The fastener has a head, and the elastic member is sleeved on the fastener and is clamped between the head of the fastener and the positioning member.
上述並聯機器人藉由纏繞於第一動力裝置之主動輪和平移支鏈之第一傳動件之扇形傳動部之傳動繩來實現減速傳動，省去齒輪等結構複雜之裝置，結構簡單，且生產成本較低。此外，並聯機器人之平移支鏈之平移角度通常於一定範圍內，故藉由將第一傳動件之扇形傳動部之扇形角度根據平移角度來設置，而無需採用圓形齒輪，節省空間，減少轉動慣量，使該並聯機器人之結構簡單且具有較高之傳動精度。 The parallel robot realizes the reduction transmission by winding the driving rope of the first transmission part of the first power unit and the fan transmission part of the first transmission part of the translational branch, eliminating the complicated structure of the gear, the structure is simple, and the production cost is low. Lower. In addition, the translation angle of the translational branch of the parallel robot is usually within a certain range, so that the fan angle of the fan-shaped transmission portion of the first transmission member is set according to the translation angle, without using a circular gear, saving space and reducing rotation. The inertia makes the parallel robot simple in structure and has high transmission precision.
100‧‧‧並聯機器人 100‧‧‧ parallel robot
10‧‧‧相對支架 10‧‧‧relative bracket
11‧‧‧安裝口 11‧‧‧Installation port
13、21‧‧‧連接部 13, 21‧‧‧ Connection Department
131‧‧‧支撐軸承 131‧‧‧Support bearings
15‧‧‧安裝孔 15‧‧‧Mounting holes
20‧‧‧可動平台 20‧‧‧ movable platform
211、4131‧‧‧連接孔 211, 4131‧‧‧ connecting holes
30‧‧‧第一動力裝置 30‧‧‧First power unit
31、51‧‧‧馬達 31, 51‧‧‧ motor
33‧‧‧主動輪 33‧‧‧Drive wheel
40‧‧‧平移支鏈 40‧‧‧ Translational branch
41‧‧‧第一傳動件 41‧‧‧First transmission parts
411‧‧‧扇形傳動部 411‧‧‧ sector transmission
4112‧‧‧導向槽 4112‧‧‧ Guide groove
413‧‧‧傳動桿 413‧‧‧Transmission rod
415‧‧‧轉軸 415‧‧‧ shaft
43‧‧‧第二傳動件 43‧‧‧Second transmission parts
431‧‧‧第一連桿 431‧‧‧First Link
432‧‧‧第二連桿 432‧‧‧second link
433‧‧‧第一樞轉組件 433‧‧‧First pivoting assembly
4331‧‧‧第一轉動件 4331‧‧‧First rotating part
4333‧‧‧第二轉動件 4333‧‧‧Second rotating parts
434‧‧‧第二樞轉組件 434‧‧‧Second pivoting assembly
435‧‧‧第三樞轉組件 435‧‧‧ Third pivoting assembly
436‧‧‧第四樞轉組件 436‧‧‧4th pivoting assembly
437‧‧‧加強桿 437‧‧‧ Strengthening rod
45‧‧‧傳動繩 45‧‧‧Drive rope
47‧‧‧固定組件 47‧‧‧Fixed components
471‧‧‧定位件 471‧‧‧ Positioning parts
473‧‧‧緊固件 473‧‧‧fasteners
4731‧‧‧固定塊 4731‧‧‧Fixed block
4733‧‧‧螺釘 4733‧‧‧ screws
4735‧‧‧頭部 4735‧‧‧ head
475‧‧‧彈性件 475‧‧‧Flexible parts
50‧‧‧第二動力裝置 50‧‧‧second power unit
53‧‧‧傳動齒輪 53‧‧‧Transmission gear
60‧‧‧轉動支鏈 60‧‧‧Rotating branches
61‧‧‧轉動連桿 61‧‧‧Rotary link
63‧‧‧軸承 63‧‧‧ bearing
圖1係本發明實施例之並聯機器人之立體組合圖。 1 is a perspective assembled view of a parallel robot according to an embodiment of the present invention.
圖2係圖1所示並聯機器人之局部立體分解示意圖。 2 is a partial perspective exploded view of the parallel robot shown in FIG. 1.
圖3係圖1所示並聯機器人之第二傳動件之立體分解示意圖。 3 is a perspective exploded view of the second transmission member of the parallel robot shown in FIG. 1.
圖4係圖2所示並聯機器人IV處之放大示意圖。 Figure 4 is an enlarged schematic view of the parallel robot IV shown in Figure 2.
圖5係圖1所示並聯機器人之平移支鏈之局部立體分解示意圖。 FIG. 5 is a partial perspective exploded view of the translational branch of the parallel robot shown in FIG. 1. FIG.
下面結合附圖及實施方式對本發明提供之並聯機器人作進一步詳細說明。 The parallel robot provided by the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
請參閱圖1，本發明實施例提供之並聯機器人100包括一支架10、一可動平台20、連接於支架10與可動平台20之間之三平移支鏈40及一轉動支鏈60，以及固定於支架10上之三第一動力裝置30及一第二動力裝置50。 Referring to FIG. 1 , a parallel robot 100 according to an embodiment of the present invention includes a bracket 10 , a movable platform 20 , three translational branches 40 connected between the bracket 10 and the movable platform 20 , and a rotating branch 60 , and is fixed to Three first power devices 30 and one second power device 50 on the bracket 10.
支架10大致呈圓形，自支架10之邊緣沿朝向其中心部之方向開設有三安裝口11，該三安裝口11等間距形成於支架10之台面上。支架10對應於每一安裝口11下方設有一連接部13，每一連接部13中安裝有支撐軸承131。支架10之中心還貫通開設有安裝孔15。當然，支架10亦可為三角形等其他形狀。 The bracket 10 has a substantially circular shape. Three mounting ports 11 are formed from the edge of the bracket 10 in the direction toward the center thereof. The three mounting ports 11 are equally spaced on the table surface of the bracket 10. The bracket 10 is provided with a connecting portion 13 corresponding to each of the mounting ports 11, and a supporting bearing 131 is mounted in each connecting portion 13. The center of the bracket 10 is also provided with a mounting hole 15 through. Of course, the bracket 10 can also have other shapes such as a triangle.
請同時參閱圖2及圖4，可動平台20大致呈圓柱形，其週緣上凸出形成有三連接部21，每一連接部21上開設有連接孔211。 Referring to FIG. 2 and FIG. 4 simultaneously, the movable platform 20 is substantially cylindrical, and three connecting portions 21 are formed on the periphery thereof, and each connecting portion 21 is provided with a connecting hole 211.
每一第一動力裝置30分別安裝於支架10上方靠近三安裝口11處，以提供三平移支鏈40之動力。第一動力裝置30包括馬達31及與馬達31固定連接之主動輪33。 Each of the first power units 30 is mounted above the bracket 10 near the three mounting ports 11 to provide power for the three translational branches 40. The first power unit 30 includes a motor 31 and a driving wheel 33 fixedly coupled to the motor 31.
每一平移支鏈40包括一第一傳動件41、一第二傳動件43、複數傳動繩45及二固定組件47。該第二傳動件43與該第一傳動件41可轉動連接。該複數傳動繩45之中部纏繞於第一動力裝置30之主動輪33上，且其餘部分纏繞於第一傳動件41上。二固定組件47將傳動繩45之兩端固定於第一傳動件41上。 Each of the translational branches 40 includes a first transmission member 41, a second transmission member 43, a plurality of transmission cables 45, and two fixing members 47. The second transmission member 43 is rotatably coupled to the first transmission member 41. The middle portion of the plurality of transmission cables 45 is wound around the driving wheel 33 of the first power unit 30, and the remaining portion is wound around the first transmission member 41. The two fixing members 47 fix the two ends of the drive rope 45 to the first transmission member 41.
第一傳動件41包括扇形傳動部411、傳動桿413及轉軸415。扇形傳動部411之弧形邊緣形成有複數相互平行之導向槽4112。導向槽4112沿扇形傳動部411之周向延伸。傳動桿413自扇形之圓心遠離扇形傳動部411延伸形成，其遠離扇形傳動部411之一端開設有 連接孔4131。轉軸415基本垂直穿過傳動桿413。扇形傳動部411之扇形角度根據並聯機器人100所需要之平移角度設置。 The first transmission member 41 includes a sector transmission portion 411, a transmission rod 413, and a rotating shaft 415. The arcuate edge of the sector drive portion 411 is formed with a plurality of guide grooves 4112 that are parallel to each other. The guide groove 4112 extends in the circumferential direction of the sector transmission portion 411. The transmission rod 413 is formed from the center of the fan shape away from the fan-shaped transmission portion 411, and is disposed away from one end of the fan-shaped transmission portion 411. The hole 4131 is connected. The rotating shaft 415 passes through the transmission rod 413 substantially vertically. The fan angle of the sector drive portion 411 is set according to the translation angle required by the parallel robot 100.
請同時參閱圖3至圖5，第二傳動件43為四連桿結構，包括第一連桿431、第二連桿432及連接於第一連桿431和第二連桿432之第一樞轉組件433、第二樞轉組件434、第三樞轉組件435、第四樞轉組件436及加強桿437。四樞轉組件433、434、435、436均包括轉動連接之第一轉動件4331和第二轉動件4333。第一、第二樞轉組件433、434藉由第一轉動件4331分別連接於第一連桿431之兩端，第三、第四樞轉組件435、436藉由第一轉動件4331分別連接於第二連桿432之兩端。加強桿437可增加第一連桿431和第二連桿432之連接強度及整個四連桿結構穩定性。本實施例中，第一、第二、第三、第四樞轉組件433、434、435、436為球鉸鏈結構。 Referring to FIG. 3 to FIG. 5 simultaneously, the second transmission member 43 is a four-link structure, including a first link 431, a second link 432, and a first pivot connected to the first link 431 and the second link 432. The rotating assembly 433, the second pivoting assembly 434, the third pivoting assembly 435, the fourth pivoting assembly 436, and the reinforcing rod 437. The four pivoting assemblies 433, 434, 435, 436 each include a first rotating member 4331 and a second rotating member 4333 that are rotationally coupled. The first and second pivoting members 433 and 434 are respectively connected to the two ends of the first connecting rod 431 by the first rotating member 4331, and the third and fourth pivoting members 435 and 436 are respectively connected by the first rotating member 4331. At both ends of the second link 432. The reinforcing rod 437 can increase the joint strength of the first link 431 and the second link 432 and the stability of the entire four-bar linkage structure. In this embodiment, the first, second, third, and fourth pivoting components 433, 434, 435, and 436 are ball hinge structures.
傳動繩45之中部纏繞於第一動力裝置30之主動輪33上，位於主動輪33兩側之部分分別纏繞於第一傳動件41之扇形傳動部411之二相鄰之導向槽4112內，且兩端分別固定於第一傳動件41之扇形傳動部411之兩側。每根傳動繩45自第一傳動件41之一導向槽4112繞入，於第一動力裝置30之主動輪33上環繞後，自另一相鄰導向槽4112繞出。傳動繩45纏繞於第一動力裝置30之主動輪33之圈數為n。第一傳動件41之扇形傳動部之相鄰二導向槽4112之間之間距等於傳動繩45之直徑與n值之乘積，且導向槽4112始末端之高度差等於第一傳動件41之直徑與傳動比之乘積。於本實施例中，n值取2。傳動繩45可採用韌性高、彈性小之材質製成，於本實施例中，傳動繩45為鋼絲繩。 The middle portion of the driving rope 45 is wound around the driving wheel 33 of the first power unit 30, and the portions of the two sides of the driving wheel 33 are respectively wound around two adjacent guiding grooves 4112 of the sector driving portion 411 of the first transmission member 41, and The two ends are respectively fixed to both sides of the sector transmission portion 411 of the first transmission member 41. Each of the drive cables 45 is wound from one of the guide grooves 4112 of the first transmission member 41, and is wound around the drive wheel 33 of the first power unit 30, and is bypassed from another adjacent guide groove 4112. The number of turns of the drive pulley 45 wound around the driving wheel 33 of the first power unit 30 is n. The distance between the adjacent two guiding grooves 4112 of the sector transmission portion of the first transmission member 41 is equal to the product of the diameter of the driving rope 45 and the value of n, and the difference in height between the beginning ends of the guiding grooves 4112 is equal to the diameter of the first transmission member 41 and The product of the gear ratio. In this embodiment, the value of n takes 2. The transmission rope 45 can be made of a material having high toughness and small elasticity. In the embodiment, the transmission rope 45 is a steel wire rope.
固定組件47包括定位件471、緊固件473及彈性件475。定位件471 藉由螺釘(圖未標)與扇形傳動部411固定連接，二定位件471分別固定於扇形傳動部411兩側。緊固件473包括固定塊4731和穿過定位件471與固定塊4731螺合之螺釘4733。傳動繩45之兩端分別固定於二固定塊4731中，螺釘4733具有頭部4735。彈性件475由複數碟形彈片疊加而成，套設於螺釘4733上，並分別與螺釘4733之頭部4735及定位件471相抵。該彈性件475可提供一彈性拉力於傳動繩45，使傳動繩45於傳動過程中不鬆懈。另，該彈性件475可調整傳動繩45相對於第一動力裝置30之主動輪33之作用力，使每根傳動繩45之作用力基本均等。 The fixing assembly 47 includes a positioning member 471, a fastener 473, and an elastic member 475. Positioning member 471 The two positioning members 471 are respectively fixed to the two sides of the sector transmission portion 411 by being fixedly connected to the fan-shaped transmission portion 411 by screws (not shown). The fastener 473 includes a fixing block 4731 and a screw 4733 screwed into the fixing block 4731 through the positioning member 471. Both ends of the drive rope 45 are respectively fixed in the two fixing blocks 4731, and the screw 4733 has a head 4735. The elastic member 475 is formed by stacking a plurality of disc-shaped elastic pieces, and is sleeved on the screw 4733 and respectively abuts against the head 4735 of the screw 4733 and the positioning member 471. The elastic member 475 can provide an elastic pulling force to the driving rope 45, so that the driving rope 45 does not relax during the driving process. In addition, the elastic member 475 can adjust the force of the driving rope 45 relative to the driving wheel 33 of the first power unit 30, so that the force of each of the driving ropes 45 is substantially equal.
第二動力裝置50安裝於支架10之安裝孔15中，以提供轉動支鏈60之動力。第二動力裝置50包括馬達51、與馬達51連接之主動齒輪(圖未示)及與主動齒輪嚙合之傳動齒輪53。傳動齒輪53與轉動支鏈60活動連接，從而驅動轉動支鏈60轉動。 The second power unit 50 is mounted in the mounting hole 15 of the bracket 10 to provide power to rotate the branch 60. The second power unit 50 includes a motor 51, a driving gear (not shown) coupled to the motor 51, and a transmission gear 53 meshing with the driving gear. The drive gear 53 is movably coupled to the rotating branch 60 to drive the rotating branch 60 to rotate.
轉動支鏈60包括轉動連桿61及套設於轉動連桿61上之軸承63。轉動連桿61與可動平台20活動連接。軸承63與傳動齒輪53活動連接。 The rotating branch 60 includes a rotating link 61 and a bearing 63 sleeved on the rotating link 61. The rotating link 61 is movably coupled to the movable platform 20. The bearing 63 is movably coupled to the transmission gear 53.
請同時參閱圖1至圖5，組裝該並聯機器人100時，第一動力裝置30及第二動力裝置50固定於支架10上。平移支鏈40之第一傳動件41之轉軸415之兩端分別收容於支架10之支撐軸承131內，以實現轉動連接。第一傳動件41之扇形傳動部411自支架10之安裝口11處伸出，傳動繩45纏繞第一動力裝置之主動輪33後，其位於主動輪33兩側之部分分別纏繞於輪殼扇形傳動部411之二相鄰之導向槽4112內，且兩端分別固定於第一傳動件41之扇形傳動部411之兩側。第二傳動件43藉由第二、第四樞轉組件434、436之第二轉 動件4333穿過第一傳動件41之連接孔4131與第一傳動件41轉動連接。第一、第三樞轉組件433、435之第二轉動件4333穿過可動平台20之連接部21之連接孔211與可動平台20轉動連接。轉動支鏈60之轉動連桿61之一端穿過支架10之安裝孔15與支架10轉動連接，軸承63與第二動力裝置50之傳動齒輪53固定連接。 Referring to FIG. 1 to FIG. 5 simultaneously, when the parallel robot 100 is assembled, the first power unit 30 and the second power unit 50 are fixed to the bracket 10. Both ends of the rotating shaft 415 of the first transmission member 41 of the translational branch 40 are respectively received in the support bearing 131 of the bracket 10 to realize a rotational connection. The fan-shaped transmission portion 411 of the first transmission member 41 protrudes from the mounting opening 11 of the bracket 10. After the driving rope 45 is wound around the driving wheel 33 of the first power unit, the portions on both sides of the driving wheel 33 are respectively wound around the wheel housing. The two portions of the transmission portion 411 are adjacent to the guide groove 4112, and the two ends are respectively fixed to the two sides of the sector transmission portion 411 of the first transmission member 41. The second transmission member 43 is rotated by the second rotation of the second and fourth pivoting components 434, 436 The moving member 4333 is rotatably connected to the first transmission member 41 through the connecting hole 4131 of the first transmission member 41. The second rotating member 4333 of the first and third pivoting members 433, 435 is rotatably coupled to the movable platform 20 through the connecting hole 211 of the connecting portion 21 of the movable platform 20. One end of the rotating link 61 of the rotating branch 60 is rotatably coupled to the bracket 10 through the mounting hole 15 of the bracket 10, and the bearing 63 is fixedly coupled to the transmission gear 53 of the second power unit 50.
工作時，平移支鏈40之第一傳動件41於第一動力裝置30之驅動下繞支架10之連接部13轉動，並帶動第二傳動件43實現平移、轉動等運動，從而實現平移支鏈40之相對支架10於空間內移動，並帶動可動平台20相對支架10於空間內作三維移動。轉動支鏈60於第二動力裝置50之驅動下相對支架10轉動，並帶動可動平台20內部轉動。從而實現可動平台20相對支架10之平移及可動平台20內部之轉動。 In operation, the first transmission member 41 of the translational branch 40 rotates around the connecting portion 13 of the bracket 10 under the driving of the first power unit 30, and drives the second transmission member 43 to perform translation, rotation, and the like, thereby implementing translational branching. The relative bracket 10 of the 40 moves in the space and drives the movable platform 20 to move in three dimensions with respect to the bracket 10 in the space. The rotating branch 60 rotates relative to the bracket 10 under the driving of the second power unit 50, and drives the internal rotation of the movable platform 20. Thereby, the translation of the movable platform 20 relative to the bracket 10 and the rotation of the interior of the movable platform 20 are achieved.
本發明之並聯機器人100藉由纏繞於第一動力裝置30之主動輪33和平移支鏈40之第一傳動件41之扇形傳動部411之傳動繩45來實現減速傳動，省去齒輪等結構複雜之裝置，結構簡單，且生產成本較低。並且“”型之纏繞方式可增大傳動繩45與主動輪33及第一傳動件41之扇形傳動部411之接觸之長度，從而增大傳動繩45與主動輪33及第一傳動件41之扇形傳動部411之摩擦力，以實現高精度之傳動。 The parallel robot 100 of the present invention realizes the reduction transmission by the drive pulley 45 wound around the driving wheel 33 of the first power unit 30 and the sector transmission portion 411 of the first transmission member 41 of the translational branch 40, eliminating the complicated structure of the gears and the like. The device has a simple structure and a low production cost. and" The winding mode of the type can increase the length of contact between the driving rope 45 and the driving wheel 33 of the driving gear 33 and the first transmission member 41, thereby increasing the fan-shaped transmission of the transmission rope 45 and the driving wheel 33 and the first transmission member 41. The friction of the part 411 to achieve high precision transmission.
並且，由於第一傳動件41之扇形傳動部411採用扇形結構，扇形之角度可根據並聯機器人100所需要之移動角度來設置，而無需採用圓形齒輪，可節省空間，使結構簡單。扇形傳動部411所需要之驅動力亦較圓形齒輪小，故轉動過程中之轉動慣量亦較小，可提高傳動精度。 Moreover, since the fan-shaped transmission portion 411 of the first transmission member 41 adopts a fan-shaped structure, the angle of the fan shape can be set according to the movement angle required by the parallel robot 100, without using a circular gear, which can save space and simplify the structure. The driving force required for the sector-shaped transmission portion 411 is also smaller than that of the circular gear, so the moment of inertia during the rotation is also small, and the transmission accuracy can be improved.
此外，藉由將第一動力裝置30之主動輪33上收容傳動繩45之導向槽4112，且導向槽4112相互平行，使傳動繩45於交叉處不會重疊接觸，可避免於轉動過程中，傳動繩45由於自身接觸而出現之磨損，可延長傳動繩45之壽命。 In addition, by accommodating the guiding groove 4112 of the driving rope 45 on the driving wheel 33 of the first power unit 30, and the guiding grooves 4112 are parallel to each other, the driving ropes 45 are not overlapped at the intersection, and can be avoided during the rotation. The wear of the drive cord 45 due to its own contact can extend the life of the drive cord 45.
進一步地，當傳動繩45長時間使用後，出現鬆動等情況，可藉由螺釘4733壓縮彈性件475，使傳動繩45再次被拉緊，從而避免打滑等情況出現。 Further, when the driving rope 45 is used for a long time, looseness or the like occurs, and the elastic member 475 can be compressed by the screw 4733, so that the driving rope 45 is tightened again, thereby preventing the occurrence of slipping or the like.
綜上所述，本發明確已符合發明專利之要件，遂依法提出專利申請。惟，以上所述者僅為本發明之較佳實施方式，自不能以此限制本案之申請專利範圍。舉凡熟悉本案技藝之人士援依本發明之精神所作之等效修飾或變化，皆應涵蓋於以下申請專利範圍內。 In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.
100‧‧‧並聯機器人 100‧‧‧ parallel robot
10‧‧‧相對支架 10‧‧‧relative bracket
13、21‧‧‧連接部 13, 21‧‧‧ Connection Department
131‧‧‧支撐軸承 131‧‧‧Support bearings
20‧‧‧可動平台 20‧‧‧ movable platform
211‧‧‧連接孔 211‧‧‧connection hole
30‧‧‧第一動力裝置 30‧‧‧First power unit
31、51‧‧‧馬達 31, 51‧‧‧ motor
33‧‧‧主動輪 33‧‧‧Drive wheel
41‧‧‧第一傳動件 41‧‧‧First transmission parts
43‧‧‧第二傳動件 43‧‧‧Second transmission parts
431‧‧‧第一連桿 431‧‧‧First Link
432‧‧‧第二連桿 432‧‧‧second link
433‧‧‧第一樞轉組件 433‧‧‧First pivoting assembly
4331‧‧‧第一轉動件 4331‧‧‧First rotating part
4333‧‧‧第二轉動件 4333‧‧‧Second rotating parts
434‧‧‧第二樞轉組件 434‧‧‧Second pivoting assembly
435‧‧‧第三樞轉組件 435‧‧‧ Third pivoting assembly
436‧‧‧第四樞轉組件 436‧‧‧4th pivoting assembly
437‧‧‧加強桿 437‧‧‧ Strengthening rod
45‧‧‧傳動繩 45‧‧‧Drive rope
47‧‧‧固定組件 47‧‧‧Fixed components
50‧‧‧第二動力裝置 50‧‧‧second power unit
53‧‧‧傳動齒輪 53‧‧‧Transmission gear
60‧‧‧轉動支鏈 60‧‧‧Rotating branches
61‧‧‧轉動連桿 61‧‧‧Rotary link
63‧‧‧軸承 63‧‧‧ bearing
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW098145216A TWI458611B (en) | 2009-12-28 | 2009-12-28 | Parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW098145216A TWI458611B (en) | 2009-12-28 | 2009-12-28 | Parallel robot |
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| Publication Number | Publication Date |
|---|---|
| TW201121735A TW201121735A (en) | 2011-07-01 |
| TWI458611B true TWI458611B (en) | 2014-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW098145216A TWI458611B (en) | 2009-12-28 | 2009-12-28 | Parallel robot |
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| Country | Link |
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| TW (1) | TWI458611B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI661897B (en) * | 2018-07-10 | 2019-06-11 | 廈門萬久科技股份有限公司 | Parallel mechanism |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102950591B (en) * | 2011-08-17 | 2015-07-01 | 鸿富锦精密工业（深圳）有限公司 | Industrial robot |
| CN103064230B (en) | 2011-10-19 | 2016-03-09 | 鸿富锦精密工业（深圳）有限公司 | Focus control |
| TWI508831B (en) * | 2013-01-28 | 2015-11-21 | Prec Machinery Res & Dev Ct | A joint device for a parallel robot |
| US10994410B2 (en) | 2017-04-25 | 2021-05-04 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | Three-degree-of-freedom parallel mechanism with curved sliding pairs |
| WO2018195769A1 (en) * | 2017-04-25 | 2018-11-01 | 中国科学院深圳先进技术研究院 | Three-degrees-of-freedom parallel mechanism having an arc-shaped movement pair |
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| US4351197A (en) * | 1981-08-19 | 1982-09-28 | Carson Donald G | Precision positioning apparatus having a rotating driving element and a rotating driven element |
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| US20010019692A1 (en) * | 2000-03-01 | 2001-09-06 | Matthias Ehrat | Robot for handling products in a three-dimensional space |
| US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
| US20040250644A1 (en) * | 2001-11-19 | 2004-12-16 | Florian Gosselin | Articulated mechanism comprising a cable reduction gear for use in a robot arm |
| US20050005725A1 (en) * | 2003-07-08 | 2005-01-13 | Korea Advanced Institute Of Science And Technology | Cable-driven wrist mechanism for robot arms |
| US20080141813A1 (en) * | 2005-03-18 | 2008-06-19 | Matthias Ehrat | Device for Moving and Positioning an Object in Space |
| TW200932457A (en) * | 2008-01-18 | 2009-08-01 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
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|---|---|---|---|---|
| US4351197A (en) * | 1981-08-19 | 1982-09-28 | Carson Donald G | Precision positioning apparatus having a rotating driving element and a rotating driven element |
| US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
| US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
| US20010019692A1 (en) * | 2000-03-01 | 2001-09-06 | Matthias Ehrat | Robot for handling products in a three-dimensional space |
| US20040250644A1 (en) * | 2001-11-19 | 2004-12-16 | Florian Gosselin | Articulated mechanism comprising a cable reduction gear for use in a robot arm |
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| TWI661897B (en) * | 2018-07-10 | 2019-06-11 | 廈門萬久科技股份有限公司 | Parallel mechanism |
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| TW201121735A (en) | 2011-07-01 |
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