CN102441891A - Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation - Google Patents
Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation Download PDFInfo
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- CN102441891A CN102441891A CN2011103073301A CN201110307330A CN102441891A CN 102441891 A CN102441891 A CN 102441891A CN 2011103073301 A CN2011103073301 A CN 2011103073301A CN 201110307330 A CN201110307330 A CN 201110307330A CN 102441891 A CN102441891 A CN 102441891A
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Abstract
The invention discloses a three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation. The three-freedom degree industrial robot capable of realizing the two-dimensional movement and the one-dimensional rotation mainly comprises a pedestal, a motion platform, and a first motional branched chain, a second motional branched chain and a third motional branched chain which are linked between the pedestal and motion platform in parallel, wherein in the three motional branched chains, the third motional branched chain and the second motional branched chain have the same structure; the three-freedom degree industrial robot capable of realizing the two-dimensional movement and the one-dimensional rotation is characterized in that a first connecting base is linked with the motion platform through a horizontally installed third rotating shaft; and the third rotating shaft is vertical to the second rotating shaft. Through the driving of three telescopic rods of the three motional branched chains, the two-dimensional movement of the motion platform in a vertical plane and the rotation of the motion platform around a horizontal shaft can be realized; and the industrial robot has the advantages of simple structure, high precision, high bearing capability, good processing property and the like and is applicable to automobile, electron, nuclear industry, aeronautics and astronautics and other modern industrial fields.
Description
Technical field
The invention belongs to the industrial robot field, particularly relate to a kind of Three Degree Of Freedom robot that two dimension moves and one dimension rotates that has.
Background technology
[0002] robot of parallel-connection structure is the novel robot that occurs nearly decades; This robot usually by pedestal, motion platform and be connected with parallel way both many motion branches form; Its driver part can be installed on the pedestal or near the pedestal; It is compared with the robot of cascaded structure have some particular performances, big like rigidity, symmetry good, compact conformation and dynamic performance are good etc.Stewart (Stewart) platform is most typical six-degree-of-freedom parallel robot; This robot is made up of with six scalable movement branched chain that are connected both with pedestal motion platform; Stretching motion through six movement branched chain makes motion platform realize that the sextuple space of optional position and attitude moves, this kind robot that is have six-freedom degree.But the many practical operations robot in the modern production only need have the part free degree, and the relative six-degree-of-freedom parallel robot of this type parallel robot is called the lower-mobility parallel robot, as having two, three, four and the parallel robot of five degree of freedom respectively.At lower-mobility parallel manipulator philtrum, have two dimension and move that rotate and Three Degree Of Freedom robot that have practicality is actually rare with one dimension.
Summary of the invention
The object of the present invention is to provide a kind of two dimension that can be implemented in the vertical plane to move and around the Three Degree Of Freedom industrial robot of the rotation of a trunnion axis.
The technical scheme that the present invention adopted is: between pedestal and motion platform, linked with parallel way by three movement branched chain.In said three movement branched chain; The lower end of first pair of H shape connecting rod in first movement branched chain links through two turning cylinders and pedestal respectively; Said first pair of H shape bar linkage structure is identical; The upper end of said first pair of H shape connecting rod links through the two ends of two turning cylinders and first connecting rod respectively; Simultaneously, the upper end of said first pair of H shape connecting rod links through the lower end of said two turning cylinders and second pair of H shape connecting rod, and the upper end of said second pair of H shape connecting rod links through two turning cylinders and Connection Block respectively; Said second pair of H shape bar linkage structure is identical; The installation parallel to each other of said turning cylinder; Distance between two turning cylinders of the upper end of first pair of H shape of distance and the said connection connecting rod between the lower end of first pair of H shape of said connection connecting rod and two turning cylinders of pedestal and the lower end of second pair of H shape connecting rod equates that the distance between the lower end of first pair of H shape connecting rod of distance between the upper end of second pair of H shape of said connection connecting rod and two turning cylinders of Connection Block and connection and two turning cylinders of pedestal equates; Turning cylinder and motion stage that said Connection Block is installed through a level link, and two turning cylinders that said turning cylinder is corresponding with the upper end of second pair of H shape connecting rod are vertical; The two ends of first expansion link in said first movement branched chain link the turning cylinder installation parallel to each other that said two turning cylinders are corresponding with the lower end of second pair of H shape connecting rod with two turning cylinders at the middle part that is installed in two H shape connecting rods respectively.In said three movement branched chain; Lower connecting base in second movement branched chain, second connecting rod, third connecting rod, upper connecting base link through three turning cylinders that are parallel to each other respectively; Said lower connecting base links through turning cylinder and pedestal, said turning cylinder and the orthogonal installation of turning cylinder that connects lower connecting base and second connecting rod; Said upper connecting base links through another turning cylinder and motion stage; Connect the turning cylinder installation parallel to each other of Connection Block and motion stage in the said turning cylinder and first movement branched chain; Orthogonal with the turning cylinder that connects upper connecting base and third connecting rod, parallel to each other with the turning cylinder that connects lower connecting base and pedestal; The two ends of second expansion link link through the middle part of pair of rotary axes and second connecting rod and third connecting rod respectively, said pair of rotary axes and the turning cylinder installation parallel to each other that connects second connecting rod and third connecting rod.In said three movement branched chain, the 3rd movement branched chain is identical with the second movement branched chain structure.Workpiece or anchor clamps are installed on the motion platform, and the driving of three expansion links through three movement branched chain can realize that the two dimension of motion platform in vertical plane moves and around the rotation of a trunnion axis.
The present invention compared with prior art has following advantage:
1, Three Degree Of Freedom industrial robot motion platform of the present invention has clear and definite kinetic characteristic, that is, the two dimension in vertical plane moves and around the rotation of a trunnion axis.
2, the present invention has that robot kinematics's algorithm is simple, precision is high, bearing capacity is strong and advantage such as good manufacturability.
3, the present invention in modern times industrial circle need two dimension in the vertical plane to move and in the operation that a trunnion axis rotates, have wide practical use.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the three-dimensional simplified schematic diagram of first movement branched chain among Fig. 1.
Fig. 3 is the three-dimensional simplified schematic diagram of second movement branched chain among Fig. 1.
In Fig. 1, Fig. 2 and Fig. 3,1. pedestal, 2,4,5. movement branched chain, 3. motion platform, 6,6 '. the first H shape connecting rod; 7,7 '. first turning cylinder, 8,8 '. the second H shape connecting rod, 9,9 '. second turning cylinder, 10. the 3rd turning cylinder, 11. Connection Blocks; 12,12 '. the 4th turning cylinder, 13. first expansion links, 14. first connecting rods, 15,15 '. the 5th turning cylinder, 16. second expansion links; 17. the 6th turning cylinder, 18. upper connecting bases, 19. the 7th turning cylinders, 20,20 '. the 8th turning cylinder, 21. third connecting rods; 22. the 9th turning cylinder, 23. second connecting rods, 24. lower connecting bases, 25. the tenth turning cylinders, 26. the 11 turning cylinders.
The specific embodiment
Fig. 1 is an embodiment disclosed by the invention, and this have two dimension moves and one dimension rotates Three Degree Of Freedom industrial robot and mainly comprise pedestal 1, motion platform 3 and be coupled to the parts such as first movement branched chain 2, second movement branched chain 4 and the 3rd movement branched chain 5 between pedestal and the motion platform with parallel way.In said first movement branched chain; An a pair of H shape connecting rod 6,6 ' the lower end respectively through a pair of the 5th turning cylinder 15,15 ' link with pedestal; A said a pair of H shape bar linkage structure is identical; Its upper end is respectively through a pair of first turning cylinder 7,7 ' link with the two ends of first connecting rod 14, simultaneously, the upper end of a said a pair of H shape connecting rod through said a pair of first turning cylinder and a pair of the 2nd H shape connecting rod 8,8 ' the lower end link; The upper end of said a pair of the 2nd H shape connecting rod is respectively through a pair of second turning cylinder 9,9 ' link with Connection Block 11; Said a pair of the 2nd H shape bar linkage structure is identical, and the distance between said a pair of the 5th turning cylinder equates with distance between said a pair of first turning cylinder, and the distance between said a pair of first turning cylinder equates with distance between a pair of second turning cylinder; The 3rd turning cylinder 10 that said Connection Block is installed through a level links with motion stage, and said the 3rd turning cylinder and second turning cylinder are orthogonal; The two ends of first expansion link 13 in said first movement branched chain respectively with a pair of the 4th turning cylinder 12,12 that is installed in two H shape connecting rods middle part ' link said first turning cylinder (7,7 '), second turning cylinder (9,9 ') the 4th turning cylinder (12,12 ') and the 5th turning cylinder (15,15 ') installation parallel to each other.
In said second movement branched chain; The lower end of second connecting rod 23 links with lower connecting base 24 through the tenth turning cylinder 25; The upper end of second connecting rod links through the lower end of the 9th turning cylinder 22 with third connecting rod 21; The upper end of third connecting rod links with upper connecting base 18 through the 7th turning cylinder 19; The two ends of second expansion link 16 in second movement branched chain link said a pair of the 8th turning cylinder, the tenth turning cylinder, the 9th turning cylinder and the installation parallel to each other of the 7th turning cylinder through the middle part of a pair of the 8th turning cylinder (20,20 ') and third connecting rod 21 and second connecting rod 23 respectively; Said lower connecting base links with pedestal through the 11 turning cylinder 26; Said upper connecting base links with motion stage through the 6th turning cylinder 17; Said the 6th turning cylinder and the installation parallel to each other of the 3rd turning cylinder; The 11 turning cylinder and the installation parallel to each other of the 6th turning cylinder, the tenth turning cylinder and the orthogonal installation of the 11 turning cylinder.
In said three movement branched chain; The 3rd movement branched chain is identical with the second movement branched chain structure, the corresponding turning cylinder that is connected upper connecting base and motion stage installation parallel to each other in the turning cylinder of corresponding connection upper connecting base and motion stage and said second movement branched chain in said the 3rd movement branched chain; Workpiece or anchor clamps are installed on the motion platform.
Claims (2)
1. one kind has the Three Degree Of Freedom industrial robot that two dimension moves and one dimension rotates; Mainly comprise pedestal (1), motion platform (3) and be coupled to three movement branched chain (2 between the two with parallel way; 4,5), wherein: in first movement branched chain; An a pair of H shape connecting rod (6; 6 ') the lower end link through a pair of the 5th turning cylinder (15,15 ') and pedestal respectively, a said a pair of H shape bar linkage structure is identical, the upper end of a H shape connecting rod links through the two ends of a pair of first turning cylinder (7,7 ') and first connecting rod (14) respectively; Simultaneously; The upper end of the one H shape connecting rod links through the lower end of a pair of first turning cylinder and a pair of the 2nd H shape connecting rod (8,8 '), and the upper end of the 2nd H shape connecting rod links through a pair of second turning cylinder (9,9 ') and Connection Block (11) respectively, and said a pair of the 2nd H shape bar linkage structure is identical; Distance between said a pair of the 5th turning cylinder equates with distance between said a pair of first turning cylinder, and the distance between said a pair of first turning cylinder equates with distance between a pair of second turning cylinder; The 3rd movement branched chain (5) is identical with second movement branched chain (4) structure; In the second and the 3rd movement branched chain; The lower end of second connecting rod (23) links through the tenth turning cylinder (25) and lower connecting base (24); The upper end of above-mentioned second connecting rod links through the lower end of the 9th turning cylinder (22) with third connecting rod (21), and the upper end of this third connecting rod links through the 7th turning cylinder (19) and upper connecting base (18); It is characterized in that: the two ends of first expansion link (13) link first turning cylinder (7,7 '), second turning cylinder (9,9 ') the 4th turning cylinder (12,12 ') and the 5th turning cylinder (15,15 ') installation parallel to each other with a pair of the 4th turning cylinder (12,12 ') that is installed in two H shape connecting rod middle parts respectively; The 3rd turning cylinder (10) that Connection Block is installed through a level links with motion stage; Said the 3rd turning cylinder and second turning cylinder are orthogonal; The two ends of second expansion link (16) in the second and the 3rd movement branched chain link the 8th turning cylinder, the tenth turning cylinder, the 9th turning cylinder and the installation parallel to each other of the 7th turning cylinder through the middle part of a pair of the 8th turning cylinder (20,20 ') and third connecting rod and second connecting rod respectively; Lower connecting base links through the 11 turning cylinder (26) and pedestal; Upper connecting base links through the 6th turning cylinder (17) and motion stage; The 6th turning cylinder and the 3rd turning cylinder are parallel to each other; The 11 turning cylinder and the 6th turning cylinder are parallel to each other, and the tenth turning cylinder and the 11 turning cylinder are orthogonal.
2. according to claim 1 have two dimension and move the Three Degree Of Freedom industrial robot that rotates with one dimension, it is characterized in that: in the 3rd movement branched chain in the turning cylinder of corresponding connection upper connecting base and motion stage and said second movement branched chain corresponding turning cylinder that is connected upper connecting base and motion stage parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201110307330 CN102441891B (en) | 2011-10-12 | 2011-10-12 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110307330 CN102441891B (en) | 2011-10-12 | 2011-10-12 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
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| CN102441891A true CN102441891A (en) | 2012-05-09 |
| CN102441891B CN102441891B (en) | 2013-12-18 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104390755A (en) * | 2014-09-26 | 2015-03-04 | 燕山大学 | High-low-frequency composite driving parallel three-freedom motion bench |
| CN104718831A (en) * | 2015-03-18 | 2015-06-24 | 重庆理工大学 | Mountain farming machinery horizontal mechanism |
| CN105835034A (en) * | 2016-04-14 | 2016-08-10 | 燕山大学 | Three-degree-of-freedom industrial motion roll-over table |
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN108772825A (en) * | 2018-07-09 | 2018-11-09 | 燕山大学 | Two branch's four-degree-of-freedom mechanical arms |
| CN114313130A (en) * | 2021-11-30 | 2022-04-12 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
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| CN104390755A (en) * | 2014-09-26 | 2015-03-04 | 燕山大学 | High-low-frequency composite driving parallel three-freedom motion bench |
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| CN114313130A (en) * | 2021-11-30 | 2022-04-12 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
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