CN102357880B - Nine-motion-degree robot mechanism - Google Patents
Nine-motion-degree robot mechanism Download PDFInfo
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- CN102357880B CN102357880B CN201110283347.8A CN201110283347A CN102357880B CN 102357880 B CN102357880 B CN 102357880B CN 201110283347 A CN201110283347 A CN 201110283347A CN 102357880 B CN102357880 B CN 102357880B
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Abstract
一种九活动度机器人机构，包括三维转动大臂机构、三维转动小臂机构和三维转动平台机构，上述三个部分串联连接，连接处各由三个直线驱动器并联驱动，实现机构大工作空间、灵活的轨迹输出，且整体结构简单紧凑、误差补偿好。通过在三维转动平台上安装各种不同用途的末端执行器，本发明可应用到搬运、码垛、装配、切割等工业生产当中，也可应用于挖掘机等工程机械和仿生手臂、仿生腿等仿生机构等领域。
A robot mechanism with nine degrees of activity, including a three-dimensional rotating arm mechanism, a three-dimensional rotating forearm mechanism and a three-dimensional rotating platform mechanism. The above three parts are connected in series, and the joints are each driven in parallel by three linear drivers to realize a large working space of the mechanism. Flexible trajectory output, and the overall structure is simple and compact, and the error compensation is good. By installing various end effectors for different purposes on the three-dimensional rotating platform, the present invention can be applied to industrial production such as handling, palletizing, assembling, cutting, etc., and can also be applied to construction machinery such as excavators, bionic arms, bionic legs, etc. Bionic institutions and other fields.
Description
Technical field
The present invention relates to 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 has wherein obtained better application all belongs to articulated robot substantially, mostly is 6 axles, by the teamwork of 1,2,3 axles, end-of-arm tooling is delivered to different locus, and the interlock that is aided with 4,5,6 axles is to meet the different requirements of instrument attitude.This robot body frame for movement mainly contains parallelogram sturcutre and two kinds of forms of side located structure, because it has larger working space and moves and be widely applied comparatively flexibly.But this quasi-tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure, drive motors all needs to be arranged on junction, thereby cause the problems such as mechanism's heaviness, poor rigidity, inertia are large, joint error accumulation, dynamic performance is poor, is difficult to meet the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism be a kind of moving platform with fixed platform by least two independently kinematic chain be connected, mechanism has two or more frees degree, and the close loop mechanism driving with parallel way, the advantage such as there is compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also there is the 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 large, poor rigidity, inertia are large, joint error accumulation, and parallel robot mechanism working space is less, the problem separately of action underaction etc.
The present invention achieves the above object by the following technical programs: a kind of nine mobility robot mechanisms, comprise the large arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism.
The large arm mechanism of described Three dimensional rotation is comprised of the large arm of Three dimensional rotation, the first linear actuator, the second linear actuator and the 3rd linear actuator, the large arm of Three dimensional rotation is connected in frame by the first spherical pair, first linear actuator one end is connected in frame by the second spherical pair, and the other end is connected on the large arm of Three dimensional rotation by the 3rd spherical pair; Second linear actuator one end is connected in frame by the 4th spherical pair, and the other end is connected on the large arm of Three dimensional rotation by the 5th spherical pair; The 3rd linear actuator one end is connected in frame by the 6th spherical pair, and the other end is connected on the large arm of Three dimensional rotation by the 7th spherical pair.The first linear actuator, the second linear actuator, the 3rd linear actuator can drive separately the large arm of Three dimensional rotation to realize one-dimensional rotation output separately, also can parallel way drive the large arm of Three dimensional rotation to realize the Three dimensional rotation output of relative frame.
The little arm mechanism of described Three dimensional rotation is comprised of Three dimensional rotation forearm, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator, Three dimensional rotation forearm is connected on the large arm of Three dimensional rotation by the 8th spherical pair, the 4th linear actuator one end is connected on the large arm of Three dimensional rotation by the 9th spherical pair, and the other end is connected on Three dimensional rotation forearm by the tenth spherical pair; The 5th linear actuator one end is connected on the large arm of Three dimensional rotation by the 11 spherical pair, and the other end is connected on Three dimensional rotation forearm by the 12 spherical pair; The 6th linear actuator one end is connected on the large arm of Three dimensional rotation by the 13 spherical pair, and the other end is connected on Three dimensional rotation forearm by the 14 spherical pair.The 4th linear actuator, the 5th linear actuator, the 6th linear actuator can drive separately Three dimensional rotation forearm to realize one-dimensional rotation output separately, also can parallel way drive Three dimensional rotation forearm to realize the Three dimensional rotation output of the large arm of relative Three dimensional rotation.
Described Three dimensional rotation platform mechanism is comprised of Three dimensional rotation platform, the 7th linear actuator, the 8th linear actuator and the 9th linear actuator, Three dimensional rotation platform is connected on Three dimensional rotation forearm by the 15 spherical pair, the 7th linear actuator one end is connected on Three dimensional rotation forearm by the 16 spherical pair, and the other end is connected on Three dimensional rotation platform by the 17 spherical pair; The 8th linear actuator one end is connected on Three dimensional rotation forearm by the 18 spherical pair, and the other end is connected on Three dimensional rotation platform by the 19 spherical pair; The 9th linear actuator one end is connected on Three dimensional rotation forearm by the 20 spherical pair, and the other end is connected on Three dimensional rotation platform by the 21 spherical pair.The 7th linear actuator, the 8th linear actuator and the 9th linear actuator can drive separately Three dimensional rotation platform to realize one-dimensional rotation output separately, also can parallel way drive Three dimensional rotation platform to realize the Three dimensional rotation output of relative Three dimensional rotation forearm.
Outstanding advantages of the present invention is:
1, the large arm of Three dimensional rotation, Three dimensional rotation forearm, Three dimensional rotation platform are connected in series, and the large working space of mechanism, track output flexibly, respectively by three linear actuator parallel drives, are realized in junction, and overall structure is simply compact, error compensation is good.
2, by the end effector of various different purposes is installed on Three dimensional rotation platform, the present invention may be used on, in the middle of the industrial production such as carrying, piling, assembling, cutting, also can be applicable to the fields such as bio-mechanism such as the engineering machinery such as excavator and bionic arm, bionic leg.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of nine mobility robot mechanisms of the present invention.
Fig. 2 is the large arm mechanism schematic diagram of the Three dimensional rotation of a kind of nine mobility robot mechanisms of the present invention.
Fig. 3 is the Three dimensional rotation forearm structural scheme of mechanism of a kind of nine mobility robot mechanisms of the present invention.
Fig. 4 is the Three dimensional rotation platform mechanism schematic diagram of a kind of nine mobility robot mechanisms of the present invention.
Fig. 5 is the first working state schematic representation of a kind of nine mobility robot mechanisms of the present invention.
Fig. 6 is the second working state schematic representation of a kind of nine mobility robot mechanisms of the present invention.
Fig. 7 is the third working state schematic representation of a kind of nine mobility robot mechanisms of the present invention.
Fig. 8 is the 4th kind of working state schematic representation of a kind of nine mobility robot mechanisms of the present invention.
Fig. 9 is the 5th kind of working state schematic representation of a kind of nine mobility robot mechanisms of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1,2,3 and 4, described a kind of nine mobility robot mechanisms are comprised of the large arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism.
Contrast Fig. 1,2, the large arm mechanism of described Three dimensional rotation is comprised of the large arm 7 of Three dimensional rotation, the first linear actuator 5, the second linear actuator 25 and the 3rd linear actuator 26, the large arm 7 of Three dimensional rotation is connected in frame 1 by the first spherical pair 4, first linear actuator 5 one end are connected in frame 1 by the second spherical pair 3, and the other end is connected on the large arm 7 of Three dimensional rotation by the 3rd spherical pair 6; Second linear actuator 25 one end are connected in frame 1 by the 4th spherical pair 2, and the other end is connected on the large arm 7 of Three dimensional rotation by the 5th spherical pair 24; The 3rd linear actuator 26 one end are connected in frame 1 by the 6th spherical pair 27, and the other end is connected on the large arm 7 of Three dimensional rotation by the 7th spherical pair 28.The first linear actuator 5, the second linear actuator 25, the 3rd linear actuator 26 can drive separately the large arm 7 of Three dimensional rotation to realize one-dimensional rotation output separately, also can parallel way drive the large arm 7 of Three dimensional rotation to realize the Three dimensional rotation output of relative frame 1.
Contrast Fig. 1,3, the little arm mechanism of described Three dimensional rotation is comprised 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 large arm 7 of Three dimensional rotation by the 8th spherical pair 20, the 4th linear actuator 9 one end are connected on the large arm 7 of Three dimensional rotation by the 9th spherical pair 8, and the other end is connected on Three dimensional rotation forearm 19 by the tenth spherical pair 10; The 5th linear actuator 22 one end are connected on the large arm 7 of Three dimensional rotation by the 11 spherical pair 23, and the other end is connected on Three dimensional rotation forearm 19 by the 12 spherical pair 21; The 6th linear actuator 29 one end are connected on the large arm 7 of Three dimensional rotation by the 13 spherical pair 30, and the other end is connected on Three dimensional rotation forearm 19 by the 14 spherical pair 31.The 4th linear actuator 9, the 5th linear actuator 22, the 6th linear actuator 29 can drive separately Three dimensional rotation forearm 19 to realize one-dimensional rotation output separately, also can parallel way drive Three dimensional rotation forearm 19 to realize the Three dimensional rotation output of the large arm 7 of relative Three dimensional rotation.
Contrast Fig. 1,4, described Three dimensional rotation platform mechanism is comprised 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 Three dimensional rotation forearm 19 by the 15 spherical pair 13, the 7th linear actuator 12 one end are connected on Three dimensional rotation forearm 19 by the 16 spherical pair 11, and the other end is connected on Three dimensional rotation platform 15 by the 17 spherical pair 14; The 8th linear actuator 17 one end are connected on Three dimensional rotation forearm 19 by the 18 spherical pair 18, and the other end is connected on Three dimensional rotation platform 15 by the 19 spherical pair 16; The 9th linear actuator 32 one end are connected on Three dimensional rotation forearm 19 by the 20 spherical pair 33, the other end is connected on Three dimensional rotation platform 15 by the 21 spherical pair 34, the 7th linear actuator 12, the 8th linear actuator 17 and the 9th linear actuator 32 can drive separately Three dimensional rotation platform 15 to realize one-dimensional rotation output separately, also can parallel way drive Three dimensional rotation platform 15 to realize the Three dimensional rotation output of relative Three dimensional rotation forearm 19.
Contrast Fig. 5,6,7,8 and 9, described a kind of nine mobility robot mechanisms are by three of each joints, and totally nine linear actuator parallel drives, realize the schematic diagram that the various flexible and changeable positions of mechanism's end and attitude are exported.
Claims (1)
1. nine mobility robot mechanisms, comprise the large 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 large arm mechanism of described Three dimensional rotation is comprised of the large arm of Three dimensional rotation, the first linear actuator, the second linear actuator and the 3rd linear actuator, the large arm of Three dimensional rotation is connected in frame by the first spherical pair, first linear actuator one end is connected in frame by the second spherical pair, and the other end is connected on the large arm of Three dimensional rotation by the 3rd spherical pair; Second linear actuator one end is connected in frame by the 4th spherical pair, and the other end is connected on the large arm of Three dimensional rotation by the 5th spherical pair; The 3rd linear actuator one end is connected in frame by the 6th spherical pair, and the other end is connected on the large arm of Three dimensional rotation by the 7th spherical pair,
The little arm mechanism of described Three dimensional rotation is comprised of Three dimensional rotation forearm, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator, Three dimensional rotation forearm is connected on the large arm of Three dimensional rotation by the 8th spherical pair, the 4th linear actuator one end is connected on the large arm of Three dimensional rotation by the 9th spherical pair, and the other end is connected on Three dimensional rotation forearm by the tenth spherical pair; The 5th linear actuator one end is connected on the large arm of Three dimensional rotation by the 11 spherical pair, and the other end is connected on Three dimensional rotation forearm by the 12 spherical pair; The 6th linear actuator one end is connected on the large arm of Three dimensional rotation by the 13 spherical pair, and the other end is connected on Three dimensional rotation forearm by the 14 spherical pair,
Described Three dimensional rotation platform mechanism is comprised of Three dimensional rotation platform, the 7th linear actuator, the 8th linear actuator and the 9th linear actuator, Three dimensional rotation platform is connected on Three dimensional rotation forearm by the 15 spherical pair, the 7th linear actuator one end is connected on Three dimensional rotation forearm by the 16 spherical pair, and the other end is connected on Three dimensional rotation platform by the 17 spherical pair; The 8th linear actuator one end is connected on Three dimensional rotation forearm by the 18 spherical pair, and the other end is connected on Three dimensional rotation platform by the 19 spherical pair; The 9th linear actuator one end is connected on Three dimensional rotation forearm by the 20 spherical pair, and the other end is connected on Three dimensional rotation platform by the 21 spherical pair.
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| CN201110283347.8A CN102357880B (en) | 2011-09-22 | 2011-09-22 | Nine-motion-degree robot mechanism |
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| JP2569278B2 (en) * | 1994-06-29 | 1997-01-08 | 川崎重工業株式会社 | Driving device with 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) |
| CN100381248C (en) * | 2005-02-06 | 2008-04-16 | 燕山大学 | Adjustable branch three-degree-of-freedom parallel robot mechanism with passive constraints |
| 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 |
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