CN102441891B - 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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- CN102441891B CN102441891B CN 201110307330 CN201110307330A CN102441891B CN 102441891 B CN102441891 B CN 102441891B CN 201110307330 CN201110307330 CN 201110307330 CN 201110307330 A CN201110307330 A CN 201110307330A CN 102441891 B CN102441891 B CN 102441891B
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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 with two-dimensional movement and one-dimensional rotation.
Background technology
The robot of parallel-connection structure is the novel robot occurred nearly decades, this robot usually by pedestal, motion platform and with parallel way, be connected both many motion branches form, its driver part can be arranged on pedestal or near pedestal, it is compared with the robot of cascaded structure and there are some unique performances, as large as rigidity, symmetry is good, compact conformation and dynamic performance good etc.Stewart (Stewart) platform is most typical six-degree-of-freedom parallel robot, this robot is comprised of six scalable movement branched chain of motion platform and pedestal and connection, stretching motion by six movement branched chain makes motion platform realize the sextuple space motion of optional position and attitude, this kind of robot that is have six-freedom degree.But the many practical operations robot in modern production only need to have the part free degree, the relative six-degree-of-freedom parallel robot of this class parallel robot is called Limited-DOF Parallel Robot, as had respectively two, three, four and the parallel robot of five degree of freedom.In Limited-DOF Parallel Robot, there is Three Degree Of Freedom two-dimensional movement and one-dimensional rotation and that there is practicality robot actually rare.
Summary of the invention
The object of the present invention is to provide and a kind ofly can realize the two-dimensional movement in vertical plane and around the Three Degree Of Freedom industrial robot of the rotation of a trunnion axis.
The technical solution adopted in the present invention is: between pedestal and motion platform, by three movement branched chain, with parallel way, linked.In described three movement branched chain, the lower end of first pair of H shape connecting rod in the first movement branched chain links by two turning cylinders and pedestal respectively, described first pair of H shape bar linkage structure is identical, the upper end of described first pair of H shape connecting rod links by the two ends of two turning cylinders and first connecting rod respectively, simultaneously, the upper end of described first pair of H shape connecting rod links by the lower end of described two turning cylinders and second pair of H shape connecting rod, and the upper end of described second pair of H shape connecting rod links by two turning cylinders and Connection Block respectively; Described second pair of H shape bar linkage structure is identical, the installation parallel to each other of described turning cylinder, distance between the lower end of first pair of H shape connecting rod of described connection and two turning cylinders of pedestal equates with the distance between two turning cylinders of the lower end of the upper end of first pair of H shape connecting rod of described connection and second pair of H shape connecting rod, the distance between the upper end of second pair of H shape connecting rod of described connection and two turning cylinders of Connection Block and connect the lower end of first pair of H shape connecting rod and two turning cylinders of pedestal between apart from equating; Turning cylinder and sports platform that described Connection Block is installed by a level link, and two turning cylinders that described turning cylinder is corresponding with the upper end of second pair of H shape connecting rod are vertical; The two ends of the first expansion link in described the first movement branched chain link with two turning cylinders at the middle part that is arranged on two H shape connecting rods respectively, the turning cylinder installation parallel to each other that described two turning cylinders are corresponding with the lower end of second pair of H shape connecting rod.In described three movement branched chain, lower connecting base in the second movement branched chain, second connecting rod, third connecting rod, upper connecting base link by three turning cylinders that are parallel to each other respectively, described lower connecting base links by turning cylinder and pedestal, described turning cylinder and the orthogonal installation of turning cylinder that connects lower connecting base and second connecting rod; Described upper connecting base links by another turning cylinder and sports platform, connect the turning cylinder installation parallel to each other of Connection Block and sports platform in described turning cylinder and the 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 the second expansion link link by the middle part of pair of rotary axes and second connecting rod and third connecting rod respectively, described pair of rotary axes and the turning cylinder installation parallel to each other that connects second connecting rod and third connecting rod.In described three movement branched chain, the 3rd movement branched chain is identical with the second movement branched chain structure.Workpiece or fixture are arranged on motion platform, and the driving of three expansion links by three movement branched chain can realize the two-dimensional movement of motion platform in vertical plane 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, and and the two-dimensional movement in vertical plane 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 the advantage such as good manufacturability.
3, the present invention needs the two-dimensional movement in vertical plane and has wide practical use in the operation of a trunnion axis rotation in the modern industry field.
The accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the three-dimensional simplified schematic diagram of the first movement branched chain in Fig. 1.
Fig. 3 is the three-dimensional simplified schematic diagram of the second movement branched chain in Fig. 1.
At Fig. 1, in 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 '. the first turning cylinder, 8, 8 '. the second H shape connecting rod, 9, 9 '. the second turning cylinder, 10. the 3rd turning cylinder, 11. Connection Block, 12, 12 '. the 4th turning cylinder, 13. the first expansion link, 14. first connecting rod, 15, 15 '. the 5th turning cylinder, 16. the second expansion link, 17. the 6th turning cylinder, 18. upper connecting base, 19. the 7th turning cylinder, 20, 20 '. the 8th turning cylinder, 21. third connecting rod, 22. the 9th turning cylinder, 23. second connecting rod, 24. lower connecting base, 25. the tenth turning cylinder, 26. the 11 turning cylinder.
The specific embodiment
Fig. 1 is an embodiment disclosed by the invention, and this Three Degree Of Freedom industrial robot with two-dimensional movement and one-dimensional rotation mainly comprises pedestal 1, motion platform 3 and is coupled to the parts such as the first movement branched chain 2, the second movement branched chain 4 and the 3rd movement branched chain 5 between pedestal and motion platform with parallel way.In described the first movement branched chain, an a pair of H shape connecting rod 6, 6 ' lower end respectively by a pair of the 5th turning cylinder 15, 15 ' with pedestal, link, a described a pair of H shape bar linkage structure is identical, its upper end is respectively by a pair of the first turning cylinder 7, 7 ' with the two ends of first connecting rod 14, link, simultaneously, the upper end of a described a pair of H shape connecting rod is by described a pair of the first turning cylinder and a pair of the 2nd H shape connecting rod 8, 8 ' lower end link, the upper end of described a pair of the 2nd H shape connecting rod is respectively by a pair of the second turning cylinder 9, 9 ' with Connection Block 11, link, described a pair of the 2nd H shape bar linkage structure is identical, distance between described a pair of the 5th turning cylinder equates with the distance between described a pair of the first turning cylinder, distance between described a pair of the first turning cylinder equates with the distance between a pair of the second turning cylinder, the 3rd turning cylinder 10 that described Connection Block is installed by a level links with sports platform, and described the 3rd turning cylinder and the second turning cylinder are orthogonal, the two ends of the first expansion link 13 in described the first movement branched chain respectively with a pair of the 4th turning cylinder 12,12 that is arranged on two H shape connecting rods middle part ' link, described the first turning cylinder (7,7 '), the second turning cylinder (9,9 ') the 4th turning cylinder (12,12 ') and the 5th turning cylinder (15,15 ') installation parallel to each other.
In described the second movement branched chain, the lower end of second connecting rod 23 links with lower connecting base 24 by the tenth turning cylinder 25, the upper end of second connecting rod links by the 9th turning cylinder 22 and the lower end of third connecting rod 21, the upper end of third connecting rod links with upper connecting base 18 by the 7th turning cylinder 19, the two ends of the second expansion link 16 in the second movement branched chain link by a pair of the 8th turning cylinder (20,20 ') and the middle part of third connecting rod 21 and second connecting rod 23 respectively, described 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; Described lower connecting base links with pedestal by the 11 turning cylinder 26, described upper connecting base links with sports platform by the 6th turning cylinder 17, described 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 described three movement branched chain, the 3rd movement branched chain is identical with the second movement branched chain structure, the turning cylinder installation parallel to each other of the turning cylinder of corresponding connection upper connecting base and sports platform and connection upper connecting base and sports platform corresponding in described the second movement branched chain in described the 3rd movement branched chain; Workpiece or fixture are arranged on motion platform.
Claims (2)
1. the Three Degree Of Freedom industrial robot with two-dimensional movement and one-dimensional rotation, mainly comprise pedestal (1), motion platform (3) reaches and is coupled to three movement branched chain (2 between the two with parallel way, 4, 5), wherein: in the first movement branched chain, an a pair of H shape connecting rod (6, 6 ') lower end respectively by a pair of the 5th turning cylinder (15, 15 ') with pedestal (1), link, a described a pair of H shape connecting rod (6, 6 ') structure is identical, a described a pair of H shape connecting rod (6, 6 ') upper end respectively by a pair of the first turning cylinder (7, 7 ') with the two ends of first connecting rod (14), link, simultaneously, a described a pair of H shape connecting rod (6, 6 ') upper end respectively by a pair of the first turning cylinder (7, 7 ') and a pair of the 2nd H shape connecting rod (8, 8 ') lower end link, described a pair of the 2nd H shape connecting rod (8, 8 ') upper end respectively by a pair of the second turning cylinder (9, 9 ') with Connection Block (11), link, described a pair of the 2nd H shape connecting rod (8, 8 ') structure is identical, described a pair of the 5th turning cylinder (15, 15 ') between the distance and described a pair of the first turning cylinder (7, 7 ') between distance equate, described a pair of the first turning cylinder (7, 7 ') between the distance and a pair of the second turning cylinder (9, 9 ') between distance equate, the 3rd movement branched chain (5) is identical with the second movement branched chain (4) structure, in the second and the 3rd movement branched chain, the lower end of second connecting rod (23) links by the tenth turning cylinder (25) and lower connecting base (24), the upper end of above-mentioned second connecting rod (23) links by the 9th turning cylinder (22) and the lower end of third connecting rod (21), and the upper end of this third connecting rod (21) links by the 7th turning cylinder (19) and upper connecting base (18), it is characterized in that: the two ends of the first expansion link (13) link with a pair of the 4th turning cylinder (12,12 ') that is arranged on two H shape connecting rod middle parts respectively, the first turning cylinder (7,7 '), the second turning cylinder (9,9 '), the 4th turning cylinder (12,12 ') and the 5th turning cylinder (15,15 ') installation parallel to each other, the 3rd turning cylinder (10) that Connection Block (11) is installed by a level links with motion platform (3), described the 3rd turning cylinder (10) is orthogonal with the second turning cylinder (9,9 '), the two ends of the second expansion link (16) in the second (4) and the 3rd movement branched chain (5) link by a pair of the 8th turning cylinder (20,20 ') and the middle part of third connecting rod (21) and second connecting rod (23) respectively, the 8th turning cylinder (20,20 '), the tenth turning cylinder (25), the 9th turning cylinder (22) and the installation parallel to each other of the 7th turning cylinder (19), lower connecting base (24) links by the 11 turning cylinder (26) and pedestal (1), upper connecting base (18) links by the 6th turning cylinder (17) and motion platform (3), the 6th turning cylinder (17) is parallel to each other with the 3rd turning cylinder (10), the 11 turning cylinder (26) is parallel to each other with the 6th turning cylinder (17), and the tenth turning cylinder (25) is orthogonal with the 11 turning cylinder (26).
2. the Three Degree Of Freedom industrial robot with two-dimensional movement and one-dimensional rotation according to claim 1 is characterized in that: in the 3rd movement branched chain (5), the turning cylinder (17) of the middle corresponding connection upper connecting base (18) of the turning cylinder (17) of corresponding connection upper connecting base (18) and motion platform (3) and described the second movement branched chain (4) and motion platform (3) is parallel to each other.
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Families Citing this family (6)
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CN104390755B (en) * | 2014-09-26 | 2017-03-29 | 燕山大学 | Low-and high-frequency composite flooding parallel 3-DOF sports platform |
CN104718831B (en) * | 2015-03-18 | 2017-03-01 | 重庆理工大学 | Mountain farming machinery horizontal mechanism |
CN105835034B (en) * | 2016-04-14 | 2017-11-24 | 燕山大学 | The mobile roll-over table of Three Degree Of Freedom industry |
CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
CN108772825B (en) * | 2018-07-09 | 2020-04-24 | 燕山大学 | Two-branch four-degree-of-freedom mechanical arm |
CN114313130B (en) * | 2021-11-30 | 2023-04-25 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
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CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
WO2006106165A1 (en) * | 2005-04-04 | 2006-10-12 | Fundacion Fatronik | Unlimited-rotation parallel robot with four degrees of freedom |
CN101036986A (en) * | 2007-03-30 | 2007-09-19 | 北京交通大学 | Novel 3-DOF parallel manipulator having two-rotating and one-moving |
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JP2007111822A (en) * | 2005-10-20 | 2007-05-10 | Ishikawajima Harima Heavy Ind Co Ltd | Parallel linkage mechanism and workpiece transfer device |
US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
JP5212797B2 (en) * | 2008-05-19 | 2013-06-19 | 国立大学法人 名古屋工業大学 | Haptic manipulator |
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CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
WO2006106165A1 (en) * | 2005-04-04 | 2006-10-12 | Fundacion Fatronik | Unlimited-rotation parallel robot with four degrees of freedom |
CN101036986A (en) * | 2007-03-30 | 2007-09-19 | 北京交通大学 | Novel 3-DOF parallel manipulator having two-rotating and one-moving |
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CN102145487A (en) * | 2011-02-11 | 2011-08-10 | 中国电力科学研究院 | Rotary input robot for testing oscillating performance of overhead power transmission line |
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