A dynamic platform mechanism of ball screw series rack and pinion type

A technology of rack and pinion and ball screw, which is applied in the field of robotics, can solve the problems of limited application range and inflexible movement of the movable platform, and achieve the effect of small deflection angle and large deflection angle

CN106737603BInactive Publication Date: 2019-03-22BEIJING UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2019-03-22
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a movable platform mechanism with a ball screw connected with a gear and a rack in series, and belongs to the technical field of robots. A motor support is arranged in the center of an upper movable platform. A driving device is installed on the motor support. One synchronous pulley is installed at the end of a motor shaft, and the other synchronous pulley is connected with the inner circle of a screw nut. The two synchronous pulleys are matched with a synchronous belt. The screw nut is fixed to the upper movable platform and matched with a screw. The lower end of the screw is fixedly connected with an end-effector. The lower end of the end-effector is connected with a screw connection rod through a first hooke joint. The lower end of the screw connection rod is connected with a gear and rack mechanism. The upper end of the rack is connected with the screw connection rod. The lower end of the rack is matched with the gear. According to the movable platform mechanism, a traditional single movable platform of a parallel robot is improved, accordingly, the deflection angle of the end-effector is increased, the problem that the deflection angle of the end-effector is small due to the fact that the parallel robot is limited in the actual moving process is solved, thus, the application range of the robot is widened, and the requirements of plants are better met.
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Description

technical field

[0001] The invention belongs to the technical field of robots, and specifically designs a dynamic platform mechanism of a rack and pinion type in series with ball screws. Background technique

[0002] In the automated production lines of light industry, medicine, food and electronics industries, such as sorting, packaging and packaging, especially in repetitive, boring and dangerous tasks such as material handling and machine tool loading and unloading, in order to reduce human labor Strength, improve work efficiency, often need to place repetitive work robots in the space in the work process. However, the movement of the active platform of many mainstream parallel robots is not flexible enough, and the rotation range of the end piece is generally only about 40 degrees or less, and its application range is limited. Contents of the invention

[0003] The present invention aims at the deficiencies in the above-mentioned prior art, and provides a ball screw t...

Examples

Embodiment Construction

[0016] The present invention will be further described below in conjunction with accompanying drawing:

[0017] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, a ball screw type moving platform mechanism includes a synchronous belt mechanism, a ball screw mechanism, a rack and pinion mechanism, an upper moving platform, a lower moving platform, a moving platform connecting rod, etc., and the upper and lower moving platforms, the screw and the gear The bar connecting rod and the moving platform connecting rod form a closed-loop mechanism, and the lengths of the two moving platform connecting rods are the same.

[0018] Such as figure 1 , figure 2 , image 3 As shown, the synchronous belt pulley 5 is connected to the inner ring of the lead screw nut 7, the axes of the synchronous belt pulley 3 and the synchronous belt pulley 5 are parallel and the end faces are on the same plane parallel to the upper moving platform 8, and the synchronous belt mechanism is d...