CN209506753U - A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system - Google Patents
A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system Download PDFInfo
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- CN209506753U CN209506753U CN201822144203.4U CN201822144203U CN209506753U CN 209506753 U CN209506753 U CN 209506753U CN 201822144203 U CN201822144203 U CN 201822144203U CN 209506753 U CN209506753 U CN 209506753U
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- large space
- warehousing system
- parallel kinematic
- flexible cable
- driven parallel
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Abstract
The utility model discloses a kind of large space rope driven Parallel Kinematic Manipulators for warehousing system, including tiered warehouse facility, there are two stretching beams for installation on tiered warehouse facility, while also installing on ground there are two beam is stretched out, and four stretching beams are symmetrically distributed in the quadrangle on tiered warehouse facility；Two sets of triple reduction gearings are installed on each stretching beam；Eight sets of deceleration devices are connect by roller with eight flexible cables, and flexible cable guarantees the constant of rope point out by directive wheel；The other end of eight flexible cables is connected with movable part, realizes positioning of the movable part on tiered warehouse facility by controlling the length variation of flexible cable；One transfer bar mechanism is installed to realize the storage of material on movable part.The mechanical efficiency of this novel mechanism is higher than traditional link mechanism, payload can be distributed between multiple drivers, there is significant effect on promoting very heavy load, and this mechanism structure is simple, and the inertia of movement is smaller, and the traditional mechanism of weight ratio is light, response speed is faster, the performance of high-speed cruising is more preferable, and working space is very big, and precision is especially high.
Description
Technical field
The utility model relates to substitute traditional link mechanism with flexible cable more easily to realize the skill of multifreedom motion
A kind of art field, and in particular to large space rope driven Parallel Kinematic Manipulator for warehousing system.
Background technique
It is increasingly stringenter with the development of industry, it is some to there are the experts and scholars for developing eye and scientist to propose
Bar in conventional parallel mechanism is replaced with into rope, if choosing the lighter rope of material, can more easily realize multivariant fortune
It is dynamic so that the conversion work place of Wire driven robot parallel manipulator device is more convenient, can different workplaces into
It exercises and uses.Rope driven Parallel Kinematic Manipulator structure is very simple, it is usually required mainly for rope and driving mechanism are just；This mechanism response speed compared with
Fastly, there is good high speed performance, precision is also high, therefore mechanical efficiency is very high；And it is able to bear for opposite traditional mechanism
Heavier load.This rope driving parallel manipulator device is applied in warehousing system, advantage is to occupy little space, noise is low,
Fastly without lubrication, easy to maintain, high-efficient, response etc..
Utility model content
The utility model is intended to provide a kind of large space rope driven Parallel Kinematic Manipulator for warehousing system, it is therefore intended that existing
There is the shortcomings that warehousing system to improve.
This programme is a kind of large space rope driven Parallel Kinematic Manipulator for warehousing system, including tiered warehouse facility, tiered warehouse facility
There are two stretching beams for upper installation, while also there are two stretch out beam for installation on ground, it is characterised in that: four stretching beams are symmetrical
Quadrangle on tiered warehouse facility；Two sets of triple reduction gearings are installed, triple reduction gearing includes an electricity on each stretching beam
Motivation, motor drive a pair of of spur gear, then drive bevel-gear sett, followed by and drive a pair of of worm and gear to realize and slow down,
And realize that deceleration direction is consistent with motor axial direction；Eight sets of deceleration devices are connect by roller with eight flexible cables, flexible cable
Guarantee the constant of rope point out by directive wheel；The other end of eight flexible cables is connected with movable part, by the length for controlling flexible cable
Variation is to realize positioning of the movable part on tiered warehouse facility；One transfer bar mechanism is installed to realize depositing for material on movable part
It puts, transfer bar mechanism drives a pair of of spur gear by a motor, the rotation of lead screw is then driven, to realize axial feeding.
The working principle of this programme are as follows: driven using eight flexible cables, flexible cable is around on roller, and roller passes through with motor
Triple reduction gear connection, the other end of flexible cable is connected on movable part by connecting elements, to the length and drawing of eight flexible cables
Power is controlled simultaneously just can control movable part and carries out specified movement.
It advanced optimizes, the deceleration device is three-level deceleration, can preferably control the length variation of flexible cable.
It advanced optimizes, the helicla flute designed on the roller is in order to when flexible cable is wound on roller, due to friction
Effect, can make flexible cable along the axial close-packed arrays of roller.
It advanced optimizes, the flexible cable enables to out the direction of rope to remain one in this device by directive wheel
Fixed, this is advantageous the control of movable part.
It advanced optimizes, the transfer bar mechanism is the principle mobile for push rod with reference to the rotation of the power transformation machine in pneumatic device
Come what is designed, the feeding of material is realized with simple device.
Beneficial effect brought by the utility model is:
For traditional piler, mechanical efficiency is higher, and payload can be distributed between multiple drivers,
Being promoted in very heavy load has significant effect, and this mechanism structure is simple, and the inertia of movement is smaller, and weight ratio passes
The mechanism of system is light, and faster, the performance of high-speed cruising is more preferable, and working space is very big, and precision is especially high for response speed.
Detailed description of the invention
The utility model is described in further detail below in conjunction with attached drawing.
Fig. 1 is the integrated machine composition of the utility model.
Fig. 2 is the deceleration device figure of the utility model.
Label in attached drawing include: deceleration device 1, stretch out beam 2, support plate 3, flexible cable 4, tiered warehouse facility 5, transfer bar mechanism 6,
Movable part 7, motor 8, shaft coupling 9, bearing 10, spur gear 11, shaft coupling 12, bevel gear 13, worm screw 14, frame 15, roller
16, worm gear 17.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and embodiments:
As the embodiment of the large space rope driven Parallel Kinematic Manipulator described in the utility model for warehousing system, such as Fig. 1 and
Shown in Fig. 2, including tiered warehouse facility 5, installation is there are two stretching out beam 2 on tiered warehouse facility 5, while also there are two stretch out for installation on ground
Beam 2, it is characterised in that: four stretching beams 2 are symmetrically distributed in the quadrangle on tiered warehouse facility 5；Two sets are equipped on each stretching beam 2
Triple reduction gearing 1, triple reduction gearing 1 include a motor 8, and motor 8 drives a pair of of spur gear 11, then drives
Bevel-gear sett 13, followed by and drive a pair of of 17 worm screw 14 of worm gear to realize and slow down, and realize deceleration direction and 8 axis of motor
It is consistent to direction；Eight sets of deceleration devices 1 are connect by roller 16 with eight flexible cables 4, and flexible cable 4 guarantees rope out by directive wheel
That puts is constant；The other end of eight flexible cables 4 is connected with movable part 7, realizes movable part 7 by controlling the length variation of flexible cable 4
Positioning on tiered warehouse facility 5；One transfer bar mechanism 6 is installed to realize the storage of material on movable part 7, transfer bar mechanism 6 is real
Now axial feeding, the i.e. access of material.
The well-behaved performance of specific of the utility model is as follows: the deceleration device 1 of mechanism mainly utilizes worm gear 17
Worm screw 14 is slowed down, but since conventional 17 worm screw of worm gear 14 mechanism can change the side of main shaft in moderating process
To, therefore joined a pair of identical straight-tooth in 17 worm screw of worm gear, 14 mechanism to keep the direction of main shaft constant in design
Wheel 11 and a pair of identical bevel gear 13.The principle of deceleration: motor 8 drives a spur gear 11 to rotate, and the spur gear 11 is again
Drive another spur gear 11 to rotate, due to the main shaft of bevel gear 13 that a pair is worked in coordination be it is vertical, our the
Two spur gears 11 and a bevel gear 13 are on the same axis, so that bevel gear 13 has been driven to rotate again, another bevel gear
13 are installed on the axis at 14 place of worm screw, then drive worm gear 17 to carry out gear reduction by worm screw 4, at this time the axis where worm gear 17
Direction and the direction of the axis of motor 8 be consistent, worm shaft drives roller 16 to rotate again, to realize deceleration.
When flexible cable 4 is wound on the roller 16 with the spiral tank circuit, due to the effect of friction, flexible cable 4 can be made along roller
16 axial close-packed arrays.Because being just able to achieve in this way when being wrapped on roller 16 by flexible cable 4 and carry out the arrangement of certain sequence
Normal alignment between flexible cable 4, to prevent influencing each other between flexible cable 4, such as friction and extruding.
The transfer bar mechanism 6 designed in the utility model is that the rotation for the power transformation machine in pneumatic device that refers to is that push rod is mobile
Principle designs.Motor drives a pair of spur gear with certain reduction ratio to realize deceleration, the spur gear connection being driven
On a lead screw, lead screw is connected to an internal thread push rod, due to the position of lead screw be it is fixed, then straight-tooth
The rotation of wheel will drive lead screw and carry out axial rotation, the external screw thread of lead screw and the screw-internal thread fit of push rod, therefore lead screw rotates
While push rod have and being moved along lead screw is axial, to realize the feeding of material in overall mechanism, i.e. the storage of material.
The basic principles and main features and advantage of the utility model have been shown and described above.For the technology of this field
For personnel, under the premise of not departing from technical solutions of the utility model, various modifications and improvements can be made, but these are
In the protection scope for still belonging to technical solutions of the utility model.
Claims (8)
1. a kind of large space rope driven Parallel Kinematic Manipulator for warehousing system, including tiered warehouse facility, installed on the tiered warehouse facility
There are two stretching beams, while also there are two the stretching beams for installation on ground, it is characterised in that: four stretchings beam symmetrically divides
Quadrangle of the cloth on the tiered warehouse facility, two sets of triple reduction gearings are equipped on each stretching beam, and the three-level is slowed down
Device includes a motor, and the motor drives a pair of of spur gear rotation, then drives bevel-gear sett rotation, followed by and
It drives a pair of of worm and gear to realize to slow down, and realizes that deceleration direction is consistent with motor axial direction；Eight sets of three-levels subtract
Speed variator is connect by roller with eight flexible cables, and the flexible cable guarantees the constant of rope point out by directive wheel；Described eight soft
The other end of rope is connected with movable part, realizes the movable part in the three-dimensional storehouse by controlling the length variation of the flexible cable
Positioning on library is equipped with a transfer bar mechanism to realize the storage of material on the movable part, and the transfer bar mechanism is by one
Motor drives a pair of of spur gear rotation, the rotation of lead screw is then driven, to realize axial feeding.
2. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as described in claim 1, it is characterised in that the stretching
Beam is mounted on the quadrangle of the tiered warehouse facility, and is equipped with two sets of triple reduction gearings on each stretching beam.
3. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as described in claim 1, it is characterised in that the three-level
Deceleration device realizes deceleration direction and motor axial direction one by the rational design being distributed to deceleration mechanism components
It causes.
4. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as described in claim 1, it is characterised in that the flexible cable
One end is connected on the roller by motor drive, and the other end passes through the fixed Suo Fangxiang out of directive wheel.
5. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as claimed in claim 4, it is characterised in that the roller
Outer surface design have helicla flute.
6. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as claimed in claim 4, it is characterised in that the flexible cable
Material is cable wire.
7. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as claimed in claim 5, it is characterised in that the spiral
Slot is in order to enable flexible cable is wrapped in the arrangement on roller and carrying out certain sequence.
8. being used for the large space rope driven Parallel Kinematic Manipulator of warehousing system as described in claim 1, it is characterised in that the flexible cable
Pass through flexural pivot chain link between the movable part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822144203.4U CN209506753U (en) | 2018-12-20 | 2018-12-20 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822144203.4U CN209506753U (en) | 2018-12-20 | 2018-12-20 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209506753U true CN209506753U (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822144203.4U Active CN209506753U (en) | 2018-12-20 | 2018-12-20 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625732A (en) * | 2018-12-20 | 2019-04-16 | 西安赛尔电子材料科技有限公司 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
-
2018
- 2018-12-20 CN CN201822144203.4U patent/CN209506753U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625732A (en) * | 2018-12-20 | 2019-04-16 | 西安赛尔电子材料科技有限公司 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
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