CN101200069A - Seriesparallel mechanical arm - Google Patents
Seriesparallel mechanical arm Download PDFInfo
- Publication number
- CN101200069A CN101200069A CNA2007101918472A CN200710191847A CN101200069A CN 101200069 A CN101200069 A CN 101200069A CN A2007101918472 A CNA2007101918472 A CN A2007101918472A CN 200710191847 A CN200710191847 A CN 200710191847A CN 101200069 A CN101200069 A CN 101200069A
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- conical gear
- tie
- rod
- parallel
- cone gear
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Abstract
Disclosed is a hybrid connected machinery arm, belonging to the robot technical field, which is characterized in being provided with an upper, a middle and a lower three parallel connected rotary joints with double degree of freedom, two supporting bars and a gripper. The three parallel connected rotary joints with double degree of freedom are connected with each other through the two supporting bars; the gripper is arranged on the upper parallel connected rotary joint with double degree of freedom. The parallel connected rotary joint with double degree of freedom is provided with a left and a right cone gear, a left and a right motor, an upper cone gear and a tie bar. The left cone gear and the tie bar are arranged on a frame; the left cone gear and the right cone gear are respectively meshed with the upper cone gear; the tie supports the upper cone gear; the left motor drives and is connected with the left cone gear; the right motor drives and is connected with the tie bar. The structure of the invention is novel and scientific; the invention is characterized in high strength, compact structure and easy manufacture through the three parallel connected rotary joints with double degree of freedom being used to form novel rotary joints to put up a novel hybrid connected PUMA robot arm.
Description
Technical field
The present invention relates to a kind of structure of novel six-DOF robot series-parallel connection arm, belong to the Robotics field.
Background technology
The speed of the research and development of robot is very fast, and the structure of robot arm and the sensitivity of motion, accuracy are related to the robot overall performance.The PUMA robot is made of six series connection cradle heads at present, a little less than its rigidity, in high-precision occasion, has influenced the performance of its performance.
Summary of the invention
Purpose of the present invention is exactly the deficiency that exists at existing robot arm configuration, and a kind of compact conformation, Seriesparallel mechanical arm that rigidity is high are provided.
Technical scheme of the present invention is: a kind of Seriesparallel mechanical arm, it is characterized in that being provided with three the double freedom cradle heads in parallel in upper, middle and lower, two support rod members and a paw, three double freedom cradle heads in parallel support that by two rod member is connected, and go up double freedom cradle head in parallel and go up the installation paw.
Described double freedom cradle head in parallel is provided with left conical gear, left and right motor, goes up conical gear and tie-rod, left side conical gear, tie-rod are installed on the frame, left side conical gear and the engagement of last conical gear, tie-rod supports goes up conical gear, left side Motor Drive connects left conical gear, and right Motor Drive connects tie-rod.
Described double freedom cradle head in parallel is provided with left and right conical gear, left and right motor, goes up conical gear and tie-rod, left side conical gear, tie-rod are installed on the frame, left side conical gear, right conical gear mesh with last conical gear respectively, tie-rod supports goes up conical gear, left side Motor Drive connects left conical gear, and right Motor Drive connects tie-rod.
Be provided with decelerator between described left and right motor and the left and right conical gear.
Novel structure science of the present invention, the novel cradle head of using three double freedom cradle heads in parallel to constitute is built novel series-parallel connection PUMA robot arm, has rigidity height, compact conformation, characteristics easy to manufacture.Help improving the rigidity of robot arm configuration and sensitivity, accuracy and the robot mass motion performance of motion.
Description of drawings
Fig. 1 is a PUMA Seriesparallel mechanical arm structural representation of the present invention;
Fig. 2 is novel cradle head structural representation in parallel;
Fig. 3 is novel cradle head movement relation schematic diagram in parallel;
Fig. 4 is novel cradle head movement relation schematic vector diagram in parallel;
Among the figure: cradle head in parallel, 15 paws on cradle head in parallel, 13 upper lever, 14 in cradle head in parallel on conical gear, 6 tie-rods, 7 right conical gears, 8 right decelerators, the 9 right motors, 10 on 1 frame, 2 left decelerators, 3 left motor, the 4 left conical gears, 5, the 11 times rod members, 12.
The specific embodiment
As shown in Figure 1, the PUMA Seriesparallel mechanical arm is connected with support rod member 11,13 by three double freedoms cradle head 10,12,14 in parallel, and goes up paw 15 is installed on the double freedom cradle head 14 in parallel.
As shown in Figure 2, the formation of double freedom cradle head in parallel: left conical gear 4, right conical gear 7 are installed on the frame 1, left circular cone tooth 4 and 5 engagements of last conical gear, and tie-rod 6 is installed on the frame 1 and supports and go up conical gear 5.Left side motor 3 drives by left decelerator 2 and connects left conical gear 4, and right motor 9 drives by right decelerator 8 and connects right conical gear 7,
According to three double freedom cradle head motion principles in parallel, set up moving coordinate system O
1X
1Y
1Z
1, be Z with the axis of conical gear 5
1Axle, the axis of rotation of conical gear 4 is Y
1Axle, Z
1Axle and Y
1The intersection point of axle is origin of coordinates O
1, determine X with right-hand rule
1Axle.The motion principle of rotating mechanism in parallel is as follows: right motor 9 is motionless, left motor 3 motions, and this structure is equivalent to fixed shaft gear train, and left motor 3 drives and goes up conical gear 5 around its axial line Z by driving left conical gear 4
1Rotate; Left and right motor is with same speed, when rotating in the same way, and conical gear 5 is with same speed, in the same way around Y in the drive
1Swing; When 9 motions of right motor, left motor 3 does not move, its movement relation as shown in Figure 5: ω
5,6Be of the motion of last conical gear 5 with respect to tie-rod 6, direction as shown in Figure 3, at this moment, the motion ω of last conical gear 5
5Synthetic by two motions, promptly around Z
1The ω of axle
5,6With around Y
1The ω of axle
6, direction as shown in Figure 3, wherein | ω
6|=| ω
5,6| tan β
2When right motor 9 and left motor 3 moved together, the motion of last conical gear 6 was around Z
1Axle and Y
1The axle compound motion.
The free degree of each double freedom cradle head in parallel is that 2, three double freedoms parallel connections are connected with following tie-rod 11 by last tie-rod 13, constitutes the series-parallel robot of six-freedom degree.
Claims (4)
1. Seriesparallel mechanical arm, it is characterized in that being provided with three the double freedom cradle heads in parallel in upper, middle and lower, two support rod members and a paw, three double freedom cradle heads in parallel support that by two rod member is connected, and go up double freedom cradle head in parallel and go up the installation paw.
2. Seriesparallel mechanical arm according to claim 1, it is characterized in that described double freedom cradle head in parallel is provided with left conical gear, left and right motor, goes up conical gear and tie-rod, left side conical gear, tie-rod are installed on the frame, left side conical gear and the engagement of last conical gear, tie-rod supports goes up conical gear, left side Motor Drive connects left conical gear, and right Motor Drive connects tie-rod.
3. Seriesparallel mechanical arm according to claim 1, it is characterized in that described double freedom cradle head in parallel is provided with left and right conical gear, left and right motor, goes up conical gear and tie-rod, left side conical gear, tie-rod are installed on the frame, left side conical gear, right conical gear mesh with last conical gear respectively, tie-rod supports goes up conical gear, left side Motor Drive connects left conical gear, and right Motor Drive connects tie-rod.
4. Seriesparallel mechanical arm according to claim 1 is characterized in that being provided with decelerator between described left and right motor and the left and right conical gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101918472A CN101200069B (en) | 2007-12-21 | 2007-12-21 | Seriesparallel mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101918472A CN101200069B (en) | 2007-12-21 | 2007-12-21 | Seriesparallel mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101200069A true CN101200069A (en) | 2008-06-18 |
| CN101200069B CN101200069B (en) | 2010-07-21 |
Family
ID=39515521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101918472A Expired - Fee Related CN101200069B (en) | 2007-12-21 | 2007-12-21 | Seriesparallel mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101200069B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354153A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Multi-functional execution arm for rescue robot |
-
2007
- 2007-12-21 CN CN2007101918472A patent/CN101200069B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354153A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Multi-functional execution arm for rescue robot |
| CN104354153B (en) * | 2014-10-17 | 2016-01-27 | 中国人民解放军军事医学科学院卫生装备研究所 | The multi-functional execution arm of rescue robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101200069B (en) | 2010-07-21 |
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|---|---|---|---|
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100721 Termination date: 20121221 |