CN107414791B - Plane-symmetric over-constrained hybrid robot - Google Patents
Plane-symmetric over-constrained hybrid robot Download PDFInfo
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- CN107414791B CN107414791B CN201710615224.7A CN201710615224A CN107414791B CN 107414791 B CN107414791 B CN 107414791B CN 201710615224 A CN201710615224 A CN 201710615224A CN 107414791 B CN107414791 B CN 107414791B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The utility model provides a plane symmetry is crossed restraint series-parallel connection robot, is including moving the platform and connecting move the terminal two degrees of freedom of platform and turn round to and the mount, move the end of the first branch chain of platform head end center fixed connection, the head end of first branch chain runs through the center of mount, the body of first branch chain with the center of mount articulated connect, the both sides edge of moving the platform is gone up the articulated second branch chain and third branch chain that have of symmetry, it has the fourth branch chain just to be located to articulate between second branch chain and the third branch chain on the side of moving the platform, under initial position shape, the robot that constitutes is space plane symmetrical structure. The plane-symmetric over-constrained hybrid robot has the advantages of simple kinematics, compact and integrated structure, good manufacturing and mounting manufacturability, large volume ratio of a working space frame and the like.
Description
Technical Field
The present invention relates to a robot. In particular to a plane-symmetric over-constrained hybrid robot.
Background
A space hybrid robot with a positioning head of the type disclosed in patents SE8502327 (or US4732525) and EP0674969 (or US6336375) comprises three active adjustment devices that can be extended or shortened in the axial direction and one driven adjustment device; one end of the active adjusting device is fastened on the fixed frame through a hinge, and the other end of the active adjusting device is connected with the movable platform through a hinge; one end of the driven adjusting device is fixedly connected with the positioning head, and the other end of the driven adjusting device is connected with the fixing frame through a hinge so as to limit a certain degree of freedom of the positioning head. It should be noted that the hinge connecting the positioning head and the active length adjusting device of the robot is a three-degree-of-freedom hinge, and the number of degrees of freedom of the hinge is too large; and the kinematics positive solution is complex and has no analytic solution.
An overconstrained high-rigidity robot with three-symmetric kinematic performance disclosed in patent ZL 201510506108.2 also comprises three driving adjusting devices capable of extending or shortening along the axial direction and a driven adjusting device; one of the active adjusting devices is connected with the movable platform through a two-degree-of-freedom hinge, and one degree of freedom of the hinge is reduced. The three driving adjusting devices are arranged on the periphery of the driven adjusting device in a space trisymmetrical mode. Although the robot is an overconstrained mechanism, the kinematics positive solution is also complex and does not have an analytic solution. Patent ZL201210185261.6 discloses a high rigidity multi-coordinate series-parallel connection robot of overconstrained, the structure is similar, but wherein two initiative adjusting device are connected with moving the platform through single degree of freedom hinge, set up in driven adjusting device's left and right sides symmetrically, and two initiative adjusting device and driven adjusting device's motion plane be the coplanar, and another initiative adjusting device is connected with moving the platform through three degree of freedom ball hinge, sets up in driven adjusting device's below. The robot greatly reduces the number of degrees of freedom of hinges in the mechanism, the kinematics is simple, and the positive solution has an analytic solution. However, the super-constraint relationship makes the manufacturing and installation process of the robot poor. In addition, part of hooke hinges in the robot adopt a cantilever structure, and the mechanical property is poor.
Disclosure of Invention
The invention aims to solve the technical problem of providing a plane-symmetric over-constrained hybrid robot which has simple kinematics, compact and integral structure, good manufacturing and installation manufacturability and large volume ratio of a working space frame.
The technical scheme adopted by the invention is as follows: the utility model provides a plane symmetry is crossed restraint series-parallel connection robot, is including moving the platform and connecting move the terminal two degrees of freedom of platform and turn round to and the mount, move the end of the first branch chain of platform head end center fixed connection, the head end of first branch chain runs through the center of mount, the body of first branch chain with the center of mount articulated connect, the both sides edge of moving the platform is gone up the articulated second branch chain and third branch chain that have of symmetry, it has the fourth branch chain just to be located to articulate between second branch chain and the third branch chain on the side of moving the platform, under initial position shape, the robot that constitutes is space plane symmetrical structure.
The first branch chain comprises: telescopic link, third outer lane and inner circle, the lateral wall of telescopic link on be provided with the guide rail along axial fixity, be provided with the slider along axial fixity on the medial surface of inner circle, the inner circle is through the hinged joint that has a rotational degree of freedom the inboard of third outer lane, the telescopic link runs through the inner circle, just slider on the inner circle medial surface with guide rail sliding connection on the telescopic link lateral surface makes the telescopic link with the inner circle constitutes driven movement pair, the third outer lane through the hinged joint that has a rotational degree of freedom at the center of mount, the end of telescopic link with move platform fixed connection.
And the rotating axis connecting the third outer ring and the fixing frame is vertically intersected with the rotating axis connecting the inner ring and the third outer ring.
The second branched chain and the third branched chain have the same structure and both comprise: first length adjustment device, first outer lane and T shape hinge, the rotatory the articulating of first length adjustment device in the first outer lane, the rotatory connection of one end of T shape hinge be in first length adjustment device's end, the other both ends coaxial line of T shape hinge and rotatory articulating simultaneously move the platform on, first length adjustment device's top is connected with and is used for driving the flexible first drive arrangement of first length adjustment device, makes first length adjustment device becomes the initiative pair of removal, first outer lane through the hinge that has a rotation degree of freedom with the mount hinge.
The rotating axis connecting the first outer ring and the fixing frame is vertically intersected with the rotating axis connecting the first length adjusting device and the first outer ring; the rotating axis connecting the T-shaped hinge and the first length adjusting device is parallel to the moving direction of the active moving pair, and passes through the intersection point of the rotating axis connecting the first outer ring and the fixing frame and the rotating axis connecting the first length adjusting device and the first outer ring.
The first length adjusting device comprises a first outer tube, one end of the first outer tube is fixedly connected to the output side of the first driving device, a first guide key extending into the outer tube along the radial direction is fixedly arranged on the side wall of the rear end of the first outer tube, a first telescopic rod is further arranged, one end of the first telescopic rod is inserted into the rear end of the first outer tube, a first key groove is integrally formed in the outer side of the tube wall of the first telescopic rod, the first guide key is embedded into the first key groove after the first telescopic rod is inserted into the first outer tube, a lead screw nut is fixedly connected to the end, inserted into the first telescopic rod, of one end of the lead screw is in threaded connection with the lead screw nut, one end of the lead screw is connected with the output shaft of the first driving device, and the other end of the first telescopic rod is connected with a T-shaped hinge.
The fourth branch chain comprises: second length adjustment device, second outer lane and ball pivot, the rotatory articulated in the second outer lane of second length adjustment device, the second outer lane articulate with the mount through the hinge that has a rotational degree of freedom and link to each other, wherein, connect the axis of rotation of second outer lane and mount with connect the axis of rotation of second length adjustment device and second outer lane is crossing perpendicularly, the ball pivot is the hinge that has three rotational degree of freedom, and three axis of rotation is collineation not but intersects in a bit, second length adjustment device passes through the ball pivot and links to each other with the movable platform is articulated, second length adjustment device's top is connected with and is used for driving the flexible second drive arrangement of second length adjustment device, makes second length adjustment device becomes initiative pair of removal.
The second length adjusting device comprises a second outer tube with one end fixedly connected with the output side of the second driving device, a second guide key extending into the second outer tube along the radial direction is fixedly arranged on the side wall at the rear end of the second outer tube, a second telescopic rod with one end inserted into the rear end of the second outer tube is also arranged, a second key groove is integrally formed on the outer side of the tube wall of the second telescopic rod, after the second telescopic rod is inserted into the second outer tube, the second guide key is embedded into the second key slot, the end part of the end of the second telescopic rod inserted into the second outer tube is fixedly connected with a screw nut, the second telescopic rod is internally inserted with a lead screw in threaded connection with the lead screw nut, one end of the lead screw is connected with an output shaft of the first driving device, and the other end of the first telescopic rod is hinged with the movable platform through a spherical hinge.
The rotating axis of the third outer ring in the first branched chain and the fixed frame passes through the intersection point of the rotating axis of the first outer ring in the second branched chain and the fixed frame and the rotating axis of the first length adjusting device in the second branched chain and the third branched chain and the rotating axis of the first outer ring; the rotating axis connecting the inner ring and the third outer ring of the first branched chain, the T-shaped hinge connecting the second branched chain and the third branched chain and the rotating axis of the movable platform are parallel to each other.
And the rotation axis of the third outer ring in the first branched chain and the rotation axis of the fixed frame are parallel to the rotation axis of the second outer ring in the fourth branched chain and the rotation axis of the fixed frame, and are perpendicular to the rotation axes of the first outer ring in the second branched chain and the fixed frame.
The plane-symmetric over-constrained hybrid robot has the advantages of simple kinematics, compact and integrated structure, good manufacturing and mounting manufacturability, large volume ratio of a working space frame and the like. The invention has the advantages and positive effects that:
1. the robot has the advantages of modularization and reconfiguration, and can be connected to a long-stroke guide rail, a large-angle slewing mechanism and the like according to engineering requirements, so that a single-machine manufacturing unit or a multi-machine manufacturing system with various forms is built.
2. The axes of the rotating pairs connected with the fixed frame and each branched chain are in parallel or vertical relation, so that the manufacturing and assembling manufacturability are good.
3. The motion planes of the first, second and third branched chains of the robot are coplanar, so that the kinematics is simple, and the positive solution has an analytic solution.
Drawings
FIG. 1 is a schematic structural diagram of a front view of a plane-symmetric overconstrained hybrid robot according to the present invention;
FIG. 2 is a schematic structural diagram of a front view of a plane-symmetric overconstrained hybrid robot according to the present invention;
FIG. 3 is a schematic diagram of the structure of a first branch chain according to the present invention;
FIG. 4 is a schematic diagram of the structures of a second branch and a third branch of the present invention;
FIG. 5 is a schematic diagram of the structure of the first length adjustment mechanism in the second and third branches of the present invention;
FIG. 6 is a schematic view of the T-shaped hinge of the present invention;
FIG. 7 is a schematic diagram of the structure of a fourth branch chain according to the present invention;
FIG. 8 is a schematic view of a second length adjustment device in a fourth branch chain according to the present invention;
FIG. 9 is a schematic structural view of embodiment 1 of the present invention;
fig. 10 is a schematic structural view of embodiment 2 of the present invention.
In the drawings
1: first branch 2: second branch chain
3: third branch 4: fourth branch chain
5: a fixing frame 6: movable platform
7: positioning the head 8: mounting flange
9: column 10: vertical direction moving unit
11: third outer ring 12: inner ring
13: the slide block 14: the guide rail is provided with a guide rail,
15: telescopic rod 21/31: first driving device
22/32: first outer race 23/33: first length adjusting device
24/34: t-shaped hinge 41: second driving device
42: second outer race 43: second length adjusting device
44: the spherical hinge 101: first outer tube
102: first guide key 103: first telescopic rod
104: first key groove 201: second outer tube
202: second guide key 203: second telescopic rod
204: second key groove
Detailed Description
The following describes a plane-symmetric overconstrained hybrid robot according to the present invention in detail with reference to the following embodiments and accompanying drawings.
As shown in fig. 1 and 2, the plane-symmetric over-constrained hybrid robot of the present invention includes a movable platform 6, a two-degree-of-freedom swivel 7 connected to the end of the movable platform 6, and a fixed frame 5, wherein the center of the head end of the movable platform 6 is fixedly connected to the end of a first branched chain 1, the head end of the first branched chain 1 penetrates through the center of the fixed frame 5, the body of the first branched chain 1 is hinged to the center of the fixed frame 5, two side edges of the movable platform 6 are symmetrically hinged to a second branched chain 2 and a third branched chain 3, a fourth branched chain 4 is hinged to the side edge of the movable platform 6 and between the second branched chain 2 and the third branched chain 3, and the robot formed under an initial configuration is a spatial plane-symmetric structure.
As shown in fig. 3, the first branch 1 includes: telescopic link 15, third outer lane 11 and inner circle 12, telescopic link 15's lateral wall on be provided with guide rail 14 along axial fixity, be provided with slider 13 along axial fixity on the medial surface of inner circle 12, inner circle 12 is in through the hinged joint that has a rotational degree of freedom the inboard of third outer lane 11, telescopic link 15 runs through inner circle 12, just slider 13 on the medial surface of inner circle 12 with guide rail 14 sliding connection on the 15 lateral surfaces of telescopic link makes telescopic link 15 with inner circle 12 constitutes driven moving pair, third outer lane 11 through the hinged joint that has a rotational degree of freedom at the center of mount 5, the end and the movable platform 6 fixed connection of telescopic link 15.
The rotation axis 1a connecting the third outer ring 11 and the fixed frame 5 is perpendicularly intersected with the rotation axis 1b connecting the inner ring 12 and the third outer ring 11.
As shown in fig. 4, the second branch 2 and the third branch 3 have the same structure, and both include: first length adjustment device 23/33, first outer lane 22/32 and T shape hinge 24/34, the rotatory articulated of first length adjustment device 23/33 in first outer lane 22/32, the rotatory connection of one end of T shape hinge 24/34 be in the end of first length adjustment device 23/33, the other both ends of T shape hinge 24/34 coaxial line and rotatory articulated on moving platform 6 simultaneously, the top of first length adjustment device 23/33 is connected with and is used for driving the flexible first drive arrangement 21/31 of first length adjustment device 23/33, makes first length adjustment device 23/33 become the initiative pair of removal, first outer lane 22/32 hinge with mount 5 through the hinge that has a degree of freedom of rotation.
The rotation axis 2a/3a connecting the first outer ring 22/32 and the fixed frame 5 perpendicularly intersects the rotation axis 2b/3b connecting the first length adjustment device 23/33 and the first outer ring 22/32; the rotation axis 2c/3c connecting the T-shaped hinge 24/34 and the first length adjustment device 23/33 is parallel to the moving direction of the active moving pair, passing through the intersection of the rotation axis 2a/3a connecting the first outer ring 22/32 with the fixed frame 5 and the rotation axis (2b/3b) connecting the first length adjustment device 23/33 with the first outer ring 22/32.
As shown in fig. 5, the first length adjustment device 23/33 includes a first outer tube 101 having one end fixedly connected to the output side of the first driving device 21/31, a first guide key 102 extending radially into the outer tube is fixedly disposed on the sidewall of the rear end of the first outer tube 101, a first telescopic rod 103 having one end inserted into the rear end of the first outer tube 101 is further provided, a first key groove 104 is integrally formed on the outer side of the tube wall of the first telescopic rod 103, the first guide key 102 is embedded in the first key groove 104 after the first telescopic rod 103 is inserted into the first outer tube 101, a lead screw nut (not shown) is fixedly connected to the end of the first telescopic rod 103 inserted into the first outer tube 101, a lead screw (not shown) screwed to the lead screw nut is inserted into the first telescopic rod 103, and one end of the lead screw is connected to the output shaft of the first driving device 21/31, the other end of the first telescopic rod 103 is connected with a T-shaped hinge 24/34.
As shown in fig. 6, the T-shaped hinge 24/34 includes a longitudinal axis 241/341 and a transverse axis 242/342, and an axis a of the longitudinal axis 241/341 perpendicularly intersects an axis b of the transverse axis 242/342, wherein the transverse axis 242/342 is rotatably hinged to one end of the first length-adjusting device 23/33, and both ends of the longitudinal axis 241/341 are rotatably hinged to the movable platform 6.
As shown in fig. 7, the fourth branch 4 includes: a second length adjusting device 43, a second outer ring 42 and a ball hinge 44, wherein the second length adjusting device 43 is rotatably hinged in the second outer ring 42, the second outer ring 42 is hinged with the fixed frame 5 through a hinge with one degree of freedom of rotation, wherein, the rotation axis 4a connecting the second outer ring 42 and the fixed frame 5 is vertically crossed with the rotation axis 4b connecting the second length adjusting device 43 and the second outer ring 42, the spherical hinge 44 is a hinge with three rotation degrees of freedom, and the three rotation axes are not collinear but intersect at a point, the second length adjusting device 43 is hinged with the movable platform 6 through a spherical hinge 44, the second length adjustment device 43 has a second driving device 41 connected to the top end thereof for driving the second length adjustment device 43 to extend and retract, so that the second length adjustment device 43 becomes a primary moving pair.
As shown in fig. 8, the second length adjustment device 43 includes a second outer tube 201 having one end fixedly connected to the output side of the second driving device 41, a second guide key 202 extending radially into the second outer tube 201 is fixedly disposed on a sidewall of the rear end of the second outer tube 201, a second telescopic rod 203 having one end inserted into the rear end of the second outer tube 201, a second key groove 204 is integrally formed on an outer side of a tube wall of the second telescopic rod 203, the second guide key 202 is embedded into the second key groove 204 after the second telescopic rod 203 is inserted into the second outer tube 201, a lead screw nut (not shown) is fixedly connected to an end of the second telescopic rod 203 inserted into the second outer tube 201, a lead screw (not shown) threadedly connected to the lead screw nut is inserted into the second telescopic rod 203, and one end of the lead screw is connected to an output shaft of the first driving device 21/31, the other end of the first telescopic rod 103 is hinged with the movable platform 6 through a spherical hinge 44.
As shown in fig. 2, 3, 4 and 7, the rotation axis 1a of the third outer ring 11 and the fixed frame 5 in the first branch chain 1 passes through the intersection point of the rotation axis 2a/3a connecting the first outer ring 22/32 of the second branch chain 2 and the third branch chain 3 and the fixed frame 5 and the rotation axis 2b connecting the first length adjusting device 23/33 of the second branch chain 2 and the third branch chain 3 and the first outer ring 22/32; the rotation axis 1b connecting the inner ring 12 of the first branch chain 1 and the third outer ring 11, the T-shaped hinge 24/34 connecting the second branch chain 2 and the third branch chain 3 and the rotation axis 2d/3d of the movable platform 6 are parallel to each other.
In order to ensure the processing and assembling manufacturability, the rotation axis 1a of the third outer ring 11 and the fixed frame 5 in the first branch chain 1 is parallel to the rotation axis 4a connecting the second outer ring 42 in the fourth branch chain 4 and the fixed frame 5, and is perpendicular to the rotation axis 2a/3a of the first outer ring 22/32 in the second branch chain 2 and the third branch chain 3 and the fixed frame 5.
Example 1: the mounting flange 8 of the fixing frame 5 is mounted on the upright post 9, and a working platform is matched, so that the processing robot working station shown in fig. 9 can be built.
Example 2: the manufacturing equipment shown in fig. 10 can be built by mounting the mounting flange 8 of the fixing frame 5 on the vertical direction moving unit 10 of the coordinate boring machine structure.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (5)
1. A plane-symmetric over-constrained hybrid robot comprises a movable platform (6), a two-degree-of-freedom rotary head (7) connected to the tail end of the movable platform (6) and a fixed frame (5), and is characterized in that the center of the head end of the movable platform (6) is fixedly connected with the tail end of a first branched chain (1), the head end of the first branched chain (1) penetrates through the center of the fixed frame (5), the body of the first branched chain (1) is hinged with the center of the fixed frame (5), a second branched chain (2) and a third branched chain (3) are symmetrically hinged on two side edges of the movable platform (6), a fourth branched chain (4) is hinged on the side edge of the movable platform (6) and between the second branched chain (2) and the third branched chain (3), and under an initial configuration, the formed robot is of a spatial plane-symmetric structure;
the first branch chain (1) comprises: a telescopic rod (15), a third outer ring (11) and an inner ring (12), wherein a guide rail (14) is fixedly arranged on the side wall of the telescopic rod (15) along the axial direction, a sliding block (13) is fixedly arranged on the inner side surface of the inner ring (12) along the axial direction, the inner ring (12) is connected to the inner side of the third outer ring (11) through a hinge with a rotational degree of freedom, the telescopic rod (15) penetrates through the inner ring (12), and the slide block (13) on the inner side surface of the inner ring (12) is in sliding connection with the guide rail (14) on the outer side surface of the telescopic rod (15), so that the telescopic rod (15) and the inner ring (12) form a driven moving pair, the third outer ring (11) is connected to the center of the fixed frame (5) through a hinge with a rotational degree of freedom, and the tail end of the telescopic rod (15) is fixedly connected with the movable platform (6);
the second branched chain (2) and the third branched chain (3) have the same structure and both comprise: a first length adjustment device (23/33), a first outer race (22/32), and a T-shaped hinge (24/34), the first length adjustment device (23/33) is rotatably hinged in the first outer ring (22/32), one end of the T-shaped hinge (24/34) is rotatably connected with the tail end of the first length adjusting device (23/33), the other two ends of the T-shaped hinge (24/34) are coaxially and simultaneously rotatably hinged on the movable platform (6), a first driving device (21/31) for driving the first length adjusting device (23/33) to extend and retract is connected to the top end of the first length adjusting device (23/33), so that the first length adjusting device (23/33) is an active moving pair, the first outer ring (22/32) is hinged with the fixed frame (5) through a hinge with one degree of freedom of rotation;
the fourth branch chain (4) comprises: a second length adjusting device (43), a second outer ring (42) and a spherical hinge (44), wherein the second length adjusting device (43) is rotatably hinged in the second outer ring (42), the second outer ring (42) is hinged with the fixed frame (5) through a hinge with one degree of freedom of rotation, a rotation axis (4 a) connecting the second outer ring (42) and the fixed frame (5) is vertically crossed with a rotation axis (4 b) connecting the second length adjusting device (43) and the second outer ring (42), the spherical hinge (44) is a hinge with three degrees of freedom of rotation, the three rotation axes are not collinear but crossed at one point, the second length adjusting device (43) is hinged with the movable platform (6) through the spherical hinge (44), and the top end of the second length adjusting device (43) is connected with a second driving device (41) for driving the second length adjusting device (43) to stretch and retract, -making the second length adjustment means (43) an active sliding pair;
the rotation axis (1 a) of the third outer ring (11) in the first branched chain (1) and the fixed frame (5) passes through the intersection point of the rotation axis (2 a/3 a) connecting the first outer ring (22/32) in the second branched chain (2) and the third branched chain (3) and the fixed frame (5) and the rotation axis (2 b) connecting the first length adjusting device (23/33) in the second branched chain (2) and the third branched chain (3) and the first outer ring (22/32); a rotating axis (1 b) connecting the inner ring (12) of the first branched chain (1) and the third outer ring (11), a T-shaped hinge (24/34) connecting the second branched chain (2) and the third branched chain (3) and a rotating axis (2 d/3 d) of the movable platform (6) are parallel to each other;
and the rotation axis (1 a) of the third outer ring (11) and the fixed frame (5) in the first branched chain (1) is parallel to the rotation axis (4 a) for connecting the second outer ring (42) and the fixed frame (5) in the fourth branched chain (4), and is vertical to the rotation axis (2 a/3 a) of the first outer ring (22/32) and the fixed frame (5) in the second branched chain (2) and the third branched chain (3).
2. A plane-symmetric overconstrained hybrid robot according to claim 1, wherein the axis of rotation (1 a) connecting said third outer ring (11) to said fixed frame (5) perpendicularly intersects the axis of rotation (1 b) connecting said inner ring (12) to said third outer ring (11).
3. A plane-symmetric overconstrained hybrid robot according to claim 1, wherein the axis of rotation (2 a/3 a) connecting said first outer race (22/32) and said fixed frame (5) perpendicularly intersects the axis of rotation (2b/3b) connecting said first length adjustment device (23/33) and said first outer race (22/32); the rotation axis (2 c/3 c) connecting the T-shaped hinge (24/34) and the first length adjustment device (23/33) is parallel to the moving direction of the active sliding pair and passes through the intersection of the rotation axis (2 a/3 a) connecting the first outer ring (22/32) and the fixed frame (5) and the rotation axis (2b/3b) connecting the first length adjustment device (23/33) and the first outer ring (22/32).
4. The plane-symmetric over-constrained hybrid robot according to claim 1, wherein the first length adjusting device (23/33) comprises a first outer tube (101) having one end fixedly connected to the output side of the first driving device (21/31), a first guiding key (102) extending radially into the outer tube is fixedly arranged on the sidewall of the rear end of the first outer tube (101), a first telescopic rod (103) having one end inserted into the rear end of the first outer tube (101) is further arranged, a first key slot (104) is integrally formed on the outer side of the tube wall of the first telescopic rod (103), the first guiding key (102) is embedded in the first key slot (104) after the first telescopic rod (103) is inserted into the first outer tube (101), and a lead screw nut is fixedly connected to the end of the first telescopic rod (103) inserted into the first outer tube (101), a lead screw in threaded connection with the lead screw nut is inserted into the first telescopic rod (103), one end of the lead screw is connected with an output shaft of the first driving device (21/31), and the other end of the first telescopic rod (103) is connected with a T-shaped hinge (24/34).
5. The plane-symmetric over-constrained hybrid robot according to claim 4, wherein the second length adjusting device (43) comprises a second outer tube (201) having one end fixedly connected to the output side of the second driving device (41), a second guiding key (202) extending radially into the outer tube is fixedly arranged on the sidewall of the rear end of the second outer tube (201), a second telescopic rod (203) having one end inserted into the rear end of the second outer tube (201) is further arranged, a second key slot (204) is integrally formed on the outer side of the tube wall of the second telescopic rod (203), the second guiding key (202) is embedded into the second key slot (204) after the second telescopic rod (203) is inserted into the second outer tube (201), and a lead screw nut is fixedly connected to the end of the second telescopic rod (203) inserted into the second outer tube (201), a lead screw in threaded connection with the lead screw nut is inserted into the second telescopic rod (203), one end of the lead screw is connected with an output shaft of the first driving device (21/31), and the other end of the first telescopic rod (103) is hinged with the movable platform (6) through a spherical hinge (44).
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| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN109129559A (en) * | 2018-08-24 | 2019-01-04 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN110919508B (en) * | 2019-11-21 | 2021-08-10 | 武汉理工大学 | Polishing robot end effector |
| CN113664812A (en) * | 2021-08-12 | 2021-11-19 | 上海工程技术大学 | Novel modular series-parallel robot of front-driving type |
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| CN102699899A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Highly over-constrained high-rigidity multi-coordinate hybrid robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102699899A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Highly over-constrained high-rigidity multi-coordinate hybrid robot |
| CN204913901U (en) * | 2015-07-09 | 2015-12-30 | 天津大学 | It changes movable support's five degree of freedom series -parallel connection robots to contain multiaxis |
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