CN102357880A - Nine-motion-degree robot mechanism - Google Patents

Nine-motion-degree robot mechanism Download PDF

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Publication number
CN102357880A
CN102357880A CN2011102833478A CN201110283347A CN102357880A CN 102357880 A CN102357880 A CN 102357880A CN 2011102833478 A CN2011102833478 A CN 2011102833478A CN 201110283347 A CN201110283347 A CN 201110283347A CN 102357880 A CN102357880 A CN 102357880A
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China
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dimensional rotation
linear actuator
spherical pair
big arm
forearm
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CN2011102833478A
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CN102357880B (en
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蔡敢为
潘宇晨
王红州
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Guangxi University
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Guangxi University
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Abstract

The invention relates to a nine-motion-degree robot mechanism. The nine-motion-degree robot comprises a big three-dimensional rotating arm mechanism, a small three-dimensional rotating arm mechanism and a three-dimensional rotating platform mechanism, which are serially connected to each other, wherein three linear drivers are in parallel connection and are used for driving each joint, thereby realizing a big operating space and a flexible track output of the mechanism. The nine-motion-degree robot mechanism is simple and compact in structure and is excellent in error compensation. By mounting end effectors with various different functions on a three-dimensional rotating platform, the nine-motion-degree robot mechanism can be applied to the production of industries, such as carrying, stacking, assembling, cutting, and the like, and also can be applied to the fields of engineering machinery, such as excavators, and bionic mechanisms, such as bionic arms, bionic legs and the like.

Description

A kind of nine mobility robot mechanisms
Technical field
The present invention relates to the industrial robot field, particularly a kind of nine mobility robot mechanisms.
Background technology
Robot is widely used in the middle of the operations such as industrial welding, carrying, piling, assembling, cutting.The robot that is wherein better used all belongs to articulated robot basically, is mostly 6 axles, through 1,2,3 teamwork end-of-arm tooling is delivered to different spatial positions, and is aided with 4,5,6 interlock to satisfy the demands of different of instrument attitude.This robot body frame for movement mainly contains parallelogram sturcutre and two kinds of forms of side located structure, has obtained extensive use because of it has big working space and moves comparatively flexibly.But this quasi-tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure; Drive motors all need be installed in the junction; Thereby cause problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation; Dynamic performance is relatively poor, is difficult to satisfy the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Mechanism has two or more frees degree; And closed loop mechanism with the parallel way driving; Advantage such as have compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also have shortcomings such as working space is less, action underaction.
Summary of the invention
The object of the present invention is to provide a kind of nine mobility robot mechanisms; The weight that can effectively solve traditional fisher's formula serial machine robot mechanism is big, poor rigidity, big, the joint error accumulation of inertia, and the parallel robot mechanism working space is less, the problem separately of action underaction etc.
The present invention achieves the above object through following technical scheme: a kind of nine mobility robot mechanisms comprise the big arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism.
The big arm mechanism of said Three dimensional rotation is made up of the big arm of Three dimensional rotation, first linear actuator, second linear actuator and the 3rd linear actuator; The big arm of Three dimensional rotation is connected on the frame through first spherical pair; First linear actuator, one end is connected on the frame through second spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 3rd spherical pair; Second linear actuator, one end is connected on the frame through the 4th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 5th spherical pair; The 3rd linear actuator one end is connected on the frame through the 6th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 7th spherical pair.First linear actuator, second linear actuator, the 3rd the linear actuator big arm of single driving Three dimensional rotation separately realize that one dimension rotates output, also can parallel way drive the Three dimensional rotation output that the big arm of Three dimensional rotation is realized relative frame.
The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator; The Three dimensional rotation forearm is connected on the big arm of Three dimensional rotation through the 8th spherical pair; The 4th linear actuator one end is connected on the big arm of Three dimensional rotation through the 9th spherical pair, and the other end is connected on the Three dimensional rotation forearm through the tenth spherical pair; The 5th linear actuator one end is connected on the big arm of Three dimensional rotation through the 11 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 12 spherical pair; The 6th linear actuator one end is connected on the big arm of Three dimensional rotation through the 13 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 14 spherical pair.The 4th linear actuator, the 5th linear actuator, the 6th linear actuator single driving Three dimensional rotation forearm separately realize that one dimension rotates output, also can parallel way drive the Three dimensional rotation output that the Three dimensional rotation forearm is realized the big arm of relative Three dimensional rotation.
Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform, the 7th linear actuator, the 8th linear actuator and the 9th linear actuator; The Three dimensional rotation platform is connected on the Three dimensional rotation forearm through the 15 spherical pair; The 7th linear actuator one end is connected on the Three dimensional rotation forearm through the 16 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 17 spherical pair; The 8th linear actuator one end is connected on the Three dimensional rotation forearm through the 18 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 19 spherical pair; The 9th linear actuator one end is connected on the Three dimensional rotation forearm through the 20 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 21 spherical pair.The 7th linear actuator, the 8th linear actuator and the 9th linear actuator single driving Three dimensional rotation Platform Implementation one dimension separately rotate output, also can parallel way drive the Three dimensional rotation output of the relative Three dimensional rotation forearm of Three dimensional rotation Platform Implementation.
Outstanding advantage of the present invention is:
1, the big arm of Three dimensional rotation, Three dimensional rotation forearm, Three dimensional rotation platform are connected in series, and each is driven the junction by the parallel connection of three linear actuators, realize the big working space of mechanism, track output flexibly, and overall structure compact, error compensation are good.
2, through the end effector of various different purposes is installed on the Three dimensional rotation platform; The present invention may be used on also can be applicable to engineering machinery and fields such as bio-mechanism such as bionic arm, bionic leg such as excavator in the middle of the commercial production such as carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the structural representation of a kind of nine mobility robot mechanisms according to the invention.
Fig. 2 is the big arm mechanism sketch map of the Three dimensional rotation of a kind of nine mobility robot mechanisms according to the invention.
Fig. 3 is the Three dimensional rotation forearm structural scheme of mechanism of a kind of nine mobility robot mechanisms according to the invention.
Fig. 4 is the Three dimensional rotation platform mechanism sketch map of a kind of nine mobility robot mechanisms according to the invention.
Fig. 5 is first kind of working state schematic representation of a kind of nine mobility robot mechanisms according to the invention.
Fig. 6 is second kind of working state schematic representation of a kind of nine mobility robot mechanisms according to the invention.
Fig. 7 is the third working state schematic representation of a kind of nine mobility robot mechanisms according to the invention.
Fig. 8 is the 4th a kind of working state schematic representation of a kind of nine mobility robot mechanisms according to the invention.
Fig. 9 is the 5th a kind of working state schematic representation of a kind of nine mobility robot mechanisms according to the invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 1,2,3 and 4, said a kind of nine mobility robot mechanisms are made up of the big arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism.
Map 1,2; The big arm mechanism of said Three dimensional rotation is made up of the big arm of Three dimensional rotation 7, first linear actuator 5, second linear actuator 25 and the 3rd linear actuator 26; The big arm 7 of Three dimensional rotation is connected on the frame 1 through first spherical pair 4; First linear actuator, 5 one ends are connected on the frame 1 through second spherical pair 3, and the other end is connected on the big arm 7 of Three dimensional rotation through the 3rd spherical pair 6; Second linear actuator, 25 1 ends are connected on the frame 1 through the 4th spherical pair 2, and the other end is connected on the big arm 7 of Three dimensional rotation through the 5th spherical pair 24; The 3rd linear actuator 26 1 ends are connected on the frame 1 through the 6th spherical pair 27, and the other end is connected on the big arm 7 of Three dimensional rotation through the 7th spherical pair 28.First linear actuator 5, second linear actuator 25, the 3rd the linear actuator 26 big arm 7 of single driving Three dimensional rotation separately realize that one dimensions rotate output, also can parallel way drive the Three dimensional rotation output that the big arm 7 of Three dimensional rotation is realized relative frame 1.
Map 1,3; The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm 19, the 4th linear actuator 9, the 5th linear actuator 22 and the 6th linear actuator 29; Three dimensional rotation forearm 19 is connected on the big arm 7 of Three dimensional rotation through the 8th spherical pair 20; The 4th linear actuator 9 one ends are connected on the big arm 7 of Three dimensional rotation through the 9th spherical pair 8, and the other end is connected on the Three dimensional rotation forearm 19 through the tenth spherical pair 10; The 5th linear actuator 22 1 ends are connected on the big arm 7 of Three dimensional rotation through the 11 spherical pair 23, and the other end is connected on the Three dimensional rotation forearm 19 through the 12 spherical pair 21; The 6th linear actuator 29 1 ends are connected on the big arm 7 of Three dimensional rotation through the 13 spherical pair 30, and the other end is connected on the Three dimensional rotation forearm 19 through the 14 spherical pair 31.The 4th linear actuator 9, the 5th linear actuator 22, the 6th linear actuator 29 single driving Three dimensional rotation forearm 19 separately realize that one dimensions rotate output, also can parallel way drive the Three dimensional rotation output that Three dimensional rotation forearm 19 is realized the big arm 7 of relative Three dimensional rotation.
Map 1,4; Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform 15, the 7th linear actuator 12, the 8th linear actuator 17 and the 9th linear actuator 32; Three dimensional rotation platform 15 is connected on the Three dimensional rotation forearm 19 through the 15 spherical pair 13; The 7th linear actuator 12 1 ends are connected on the Three dimensional rotation forearm 19 through the 16 spherical pair 11, and the other end is connected on the Three dimensional rotation platform 15 through the 17 spherical pair 14; The 8th linear actuator 17 1 ends are connected on the Three dimensional rotation forearm 19 through the 18 spherical pair 18, and the other end is connected on the Three dimensional rotation platform 15 through the 19 spherical pair 16; The 9th linear actuator 32 1 ends are connected on the Three dimensional rotation forearm 19 through the 20 spherical pair 33; The other end is connected on the Three dimensional rotation platform 15 through the 21 spherical pair 34; The 7th linear actuator 12, the 8th linear actuator 17 and the 9th linear actuator 32 single driving Three dimensional rotation platform 15 separately realize that one dimensions rotate output, also can parallel way drive the Three dimensional rotation output that Three dimensional rotation platform 15 is realized relative Three dimensional rotation forearm 19.
Map 5,6,7,8 and 9, said a kind of nine mobility robot mechanisms are through three of each joints, and totally nine linear actuator parallel connections drive, and realize the sketch map of terminal various flexible and changeable positions of mechanism and attitude output.

Claims (1)

1. a mobility robot mechanism comprises the big arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism, and its structure and connected mode are:
The big arm mechanism of said Three dimensional rotation is made up of the big arm of Three dimensional rotation, first linear actuator, second linear actuator and the 3rd linear actuator; The big arm of Three dimensional rotation is connected on the frame through first spherical pair; First linear actuator, one end is connected on the frame through second spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 3rd spherical pair; Second linear actuator, one end is connected on the frame through the 4th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 5th spherical pair; The 3rd linear actuator one end is connected on the frame through the 6th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 7th spherical pair,
The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator; The Three dimensional rotation forearm is connected on the big arm of Three dimensional rotation through the 8th spherical pair; The 4th linear actuator one end is connected on the big arm of Three dimensional rotation through the 9th spherical pair, and the other end is connected on the Three dimensional rotation forearm through the tenth spherical pair; The 5th linear actuator one end is connected on the big arm of Three dimensional rotation through the 11 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 12 spherical pair; The 6th linear actuator one end is connected on the big arm of Three dimensional rotation through the 13 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 14 spherical pair,
Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform, the 7th linear actuator, the 8th linear actuator and the 9th linear actuator; The Three dimensional rotation platform is connected on the Three dimensional rotation forearm through the 15 spherical pair; The 7th linear actuator one end is connected on the Three dimensional rotation forearm through the 16 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 17 spherical pair; The 8th linear actuator one end is connected on the Three dimensional rotation forearm through the 18 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 19 spherical pair; The 9th linear actuator one end is connected on the Three dimensional rotation forearm through the 20 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 21 spherical pair.
CN201110283347.8A 2011-09-22 2011-09-22 Nine-motion-degree robot mechanism Expired - Fee Related CN102357880B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106505399A (en) * 2015-09-07 2017-03-15 泰科电子(上海)有限公司 Assembly system and assembly method

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JPH0811081A (en) * 1994-06-29 1996-01-16 Kawasaki Heavy Ind Ltd Drive device having 3 and 4 degrees of freedom in space
JPH10180673A (en) * 1996-12-27 1998-07-07 Nissan Motor Co Ltd Positioning device and positioning method with three-dimensional space latitude
JP2003172418A (en) * 2001-12-07 2003-06-20 Koji Kondo Parallel mechanism robot arm (3)
CN1647890A (en) * 2005-02-06 2005-08-03 燕山大学 Adjustable three freedom shunt robot mechanism with passive constrain branch
CN101564840A (en) * 2009-01-21 2009-10-28 上海广茂达伙伴机器人有限公司 Robot component based on parallel mechanism, optimum design method and robot
CN202357162U (en) * 2011-09-22 2012-08-01 广西大学 3-3-3 type nine-range-of-motion robot mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0811081A (en) * 1994-06-29 1996-01-16 Kawasaki Heavy Ind Ltd Drive device having 3 and 4 degrees of freedom in space
JPH10180673A (en) * 1996-12-27 1998-07-07 Nissan Motor Co Ltd Positioning device and positioning method with three-dimensional space latitude
JP2003172418A (en) * 2001-12-07 2003-06-20 Koji Kondo Parallel mechanism robot arm (3)
CN1647890A (en) * 2005-02-06 2005-08-03 燕山大学 Adjustable three freedom shunt robot mechanism with passive constrain branch
CN101564840A (en) * 2009-01-21 2009-10-28 上海广茂达伙伴机器人有限公司 Robot component based on parallel mechanism, optimum design method and robot
CN202357162U (en) * 2011-09-22 2012-08-01 广西大学 3-3-3 type nine-range-of-motion robot mechanism

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106505399A (en) * 2015-09-07 2017-03-15 泰科电子(上海)有限公司 Assembly system and assembly method
CN106505399B (en) * 2015-09-07 2019-06-07 泰科电子(上海)有限公司 Assembly system and assembly method
EP3347170B1 (en) * 2015-09-07 2024-01-10 Tyco Electronics (Shanghai) Co. Ltd. Assembly system and method for inserting a terminal into a housing

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