CN102490177B - Four-freedom-degree parallel-connection robot - Google Patents
Four-freedom-degree parallel-connection robot Download PDFInfo
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- CN102490177B CN102490177B CN201110413603.0A CN201110413603A CN102490177B CN 102490177 B CN102490177 B CN 102490177B CN 201110413603 A CN201110413603 A CN 201110413603A CN 102490177 B CN102490177 B CN 102490177B
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Abstract
The invention discloses a four-freedom-degree parallel-connection robot, which comprises a fixed frame. A first initiative branched chain and a third initiative branched chain can be connected and matched with the inner wall of an opening of a correspondingly-arranged first inner ring through a first guide rail slide block structure. A moving platform is disposed below the fixed frame. The lower ends of the first initiative branched chain, a second initiative branched chain, the third initiative branched chain and a fourth initiative branched chain are connected with the moving platform respectively through a fifth hinge, a sixth hinge, a seventh hinge and an eighth hinge. Hinge seats of the fifth hinge, the sixth hinge, the seventh hinge and the eighth hinge are respectively connected with one end of a slide rod. The lateral wall of each slide rod is connected with the inner wall of an opening on the moving platform in sliding mode through a second guide rail slide block. The bottom of each slide rod is connected with a lead screw nut pair. The robot is capable of performing modular construction design, has superior feed direction, is good in dynamic property, high in location accuracy and repeated location accuracy, and has a high rigidity to mass ratio. The weight of a locating head is small.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel robot of realizing four-degree-of-freedom operation function.
Background technology
Known according to patent US4732525, ZL200510015095.5, the existing multi-coordinate robot with positioning head, its way of realization is generally lower-mobility parallel institution and is aided with the initiatively hybrid connected structure form of yaw.Wherein, lower-mobility parallel institution is arranged on servomotor in active branched chain by adjusting and realizes the position of mechanism's moving platform and locate, initiatively yaw is arranged on servomotor on yaw by adjusting and realizes the attitude of end effector and locate, thereby realizes the multi-axis machining ability of mechanism.
This type of manipulator, because servomotor and decelerator etc. is arranged in active yaw, its deficiency is: the weight of end effector is excessive, affects fast forward capability and the dynamic property of mechanism.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, provide that a kind of dynamic property is good, rigidity/mass ratio is large, only depend on active branched chain driven by servomotor can realize the four-freedom parallel device people of moving platform pose location.
Four-freedom parallel device people of the present invention, it comprises fixed mount, on described fixed mount, along same circumferencial direction, every 90 °, have a perforate, in four perforates, pass through first respectively, second, the 3rd, the 4th hinge and first, second, the 3rd, the 4th active branched chain is rotatedly connected, wherein the first and the 3rd active branched chain is oppositely arranged, the second and the 4th active branched chain is oppositely arranged, first, the 3rd hinge comprises respectively by having the first outer ring that the hinge of a rotational freedom is connected with described fixed mount and the first inner ring being connected with the first outer ring by having the hinge of a rotational freedom, the pivot center that connects the hinge of described the first outer ring and fixed mount is nearly frame axis, the pivot center that connects the hinge of described the first inner ring and the first outer ring is frame axis far away, described nearly frame axis and frame axis far away be conllinear not, the first hinge and triple hinged nearly frame axis are parallel to each other, second, the 4th hinge comprises respectively the second outer ring that hinge by having a rotational freedom is connected with described fixed mount, by thering is the second inner ring that the hinge of a rotational freedom is connected with the second outer ring and the hinge being connected with described the second inner ring by thering is the hinge of a rotational freedom, described hinge can rotate around self axis under the driving of the second active branched chain or the 4th active branched chain, the pivot center that connects described the second outer ring and the hinge of fixed mount and the pivot center conllinear and meeting at a bit with the pivot center of hinge not that is connected the hinge of described the second inner ring and the second outer ring, first with the 3rd active branched chain can be with the perforate inwall of the first inner ring of relative set by the cooperation that is connected of the first guide rail slide block structure, slide block in the first described guide rail slide block structure can first and the driving of the 3rd active branched chain under move up and down in guide-track groove in the first guide rail slide block structure, below described fixed mount, be provided with a moving platform, described first, second, the 3rd, the lower end of the 4th active branched chain and moving platform are respectively by the 5th, the 6th, the 7th, the 8th hinge is connected, the described the 5th, the 6th, the 7th hinge is pin shaft structure, described the 8th hinge adopts Hooke's hinge structure, the described the 5th, the 7th hinge revolute pair axis is parallel to each other and is arranged vertically with the 6th hinge pivot center, the 5th, the 6th, the 7th, the hinge seat of the 8th hinge is connected with one end of a sliding bar separately, sliding bar described in each is vertical with moving platform to be arranged, the sidewall of the sliding bar described in each is slided and is connected by the second guide rail slide block structure with the perforate inwall on moving platform, the bottom of the sliding bar described in each is fixedly connected with a nut, each nut is threaded mutually with one end of a leading screw, the other end of the described leading screw vertically arranging with described moving platform is arranged in the bearing being arranged on moving platform, wherein the first leading screw is consistent with the hand of spiral of the 3rd leading screw, the second leading screw is consistent with the hand of spiral of the 4th leading screw, the first described leading screw and the hand of spiral of the 3rd leading screw are contrary with the hand of spiral of the second leading screw and the 4th leading screw, on each described leading screw, be connected with a gear, in the centre of four gears, be provided with one and can distinguish the central gear of engagement fit with four described gears, the gear shaft of described central gear is arranged in the bearing being arranged on moving platform, lower end at the gear shaft of described central gear is fixedly connected with an end effector.
Four-freedom parallel device people beneficial effect of the present invention is: moving platform adopts the version of screw pair and gear engagement, and the variable movement of screw pair is for rotating, for gear provides power.Gear engagement adopts the form of four pinions and a gear wheel engagement, only have four pinions to turn to and unanimously just can make gear wheel rotate, thereby location, active branched chain position is independent of each other with end effector pose location.Moving platform does not need to settle servomotor and decelerator, can effectively alleviate its quality, is conducive to manipulator and promotes fast forward capability and dynamic property.This manipulator can carry out Modular Structure Design, has advantage direction of feed, and positioning head quality is little, rigidity/mass ratio is large, dynamic property good, positioning precision and repetitive positioning accuracy high.
Accompanying drawing explanation
Fig. 1 is four-freedom parallel device people's of the present invention structural representation;
Fig. 2 is the structural representation of first in the mechanism shown in Fig. 1, the 3rd active branched chain;
Fig. 3 is the structural representation of second in the mechanism shown in Fig. 1, the 4th active branched chain;
Fig. 4 is the moving platform cutaway view in the mechanism shown in Fig. 1;
Fig. 5 is the top view of the moving platform internal structure shown in Fig. 4;
Fig. 6 is the structural representation of the mechanism's Application Example shown in Fig. 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Four-freedom parallel device people of the present invention, it comprises fixed mount, on described fixed mount, along same circumferencial direction, every 90 °, have a perforate, in four perforates, pass through first respectively, second, the 3rd, the 4th hinge and first, second, the 3rd, the 4th active branched chain is rotatedly connected, the first and the 3rd active branched chain 5 wherein, 18 are oppositely arranged, the second and the 4th active branched chain 1, 16 are oppositely arranged, first, the 3rd hinge 4, 17 comprise respectively by having the first outer ring 35-1 that the hinge of a rotational freedom is connected with described fixed mount and the first inner ring 36-1 being connected with the first outer ring by having the hinge of a rotational freedom, the pivot center that connects the hinge of described the first outer ring and fixed mount is nearly frame axis, the pivot center that connects the hinge of described the first inner ring and the first outer ring is frame axis far away, described nearly frame axis and frame axis far away be conllinear not, the nearly frame axis of the first hinge 4 and the 3rd hinge 17 is parallel to each other, second, the 4th hinge 2, 15 comprise respectively the second outer ring 35-2 that hinge by having a rotational freedom is connected with described fixed mount, by thering is the second inner ring 36-2 that the hinge of a rotational freedom is connected with the second outer ring and the hinge 37 being connected with described the second inner ring by thering is the hinge of a rotational freedom, described hinge can rotate around the axis of self under the driving of the second active branched chain or the 4th active branched chain, the pivot center that connects described the second outer ring and the hinge of fixed mount and the pivot center conllinear and meeting at a bit with the pivot center of hinge 37 not that is connected the hinge of described the second inner ring and the second outer ring, the first and the 3rd active branched chain 5, 18 can be with the perforate inwall of the first inner ring of relative set by the cooperation that is connected of the first guide rail slide block structure, and the slide block in the first described guide rail slide block structure can be in the first and the 3rd active branched chain 5, in guide-track groove under 18 driving in the first guide rail slide block structure, move up and down, below described fixed mount, be provided with a moving platform 10, described first, second, the 3rd, the lower end of the 4th active branched chain and moving platform are respectively by the 5th, the 6th, the 7th, the 8th hinge 7, 6, 14, 12 are connected, and the described the 5th, the 6th, the 7th hinge is pin shaft structure, and described the 8th hinge adopts Hooke's hinge structure, the described the 5th, the 7th hinge revolute pair axis is parallel to each other and is arranged vertically the 5th with the 6th hinge 6 pivot centers, the 6th, the 7th, the hinge seat of the 8th hinge is connected with one end of a sliding bar separately, sliding bar described in each is vertical with moving platform to be arranged, the sidewall of the sliding bar described in each is slided and is connected by the second guide rail slide block structure with the perforate inwall on moving platform, the bottom of the sliding bar described in each is fixedly connected with a nut 24, each nut is threaded mutually with one end of a leading screw, the other end of the described leading screw vertically arranging with described moving platform is arranged in the bearing being arranged on moving platform, wherein the first leading screw and the 3rd leading screw 23, 29 hand of spiral is consistent, the second leading screw and the 4th leading screw 25, 31 hand of spiral is consistent, the first described leading screw and the hand of spiral of the 3rd leading screw are contrary with the hand of spiral of the second leading screw and the 4th leading screw, on each described leading screw, be connected with a gear, in the centre of four gears, be provided with one and can distinguish the central gear 33 of engagement fit with four described gears, the gear shaft of described central gear is arranged in the bearing being arranged on moving platform, and gear shaft lower end is fixedly connected with an end effector 27.
In conjunction with each width figure, the present invention is further described more below:
Four-freedom parallel device people of the present invention as shown in Figure 1, it comprises fixed mount 3, moving platform 10 and is arranged on the first active branched chain 5, the second active branched chain 1, the 3rd active branched chain 18, the 4th active branched chain 16 in the perforate of described fixed mount 3.
As depicted in figs. 1 and 2, described the first active branched chain 5, the 3rd active branched chain 18 are connected by the first hinge 4, the 3rd hinge 17 respectively with described fixed mount 3.Described the first hinge 4 and the 3rd hinge 17 have two rotational freedoms, and it consists of the first outer ring 35-1 and the first inner ring 36-1; The first described outer ring 35-1 is by having fixed mount 3 described in the chain connection of a rotational freedom, and the hinge with a rotational freedom described herein is realized with adopting the revolute pair that described the first outer ring 35-1 is consisted of bearing pin and bearing to be connected to be fixedly installed in the form of the bearing block on described fixed mount 3 being connected of described fixed mount 3; Described the first inner ring 36-1 is by having the first outer ring 35-1 described in the chain connection of a rotational freedom, revolute pair or other forms of equivalent construction that the hinge with a rotational freedom described herein can adopt bearing pin and bearing to form; Its pivot center of the hinge 1b that connects described the first outer ring 35-1 and fixed mount 3 is nearly frame axis, the pivot center 1a that connects the hinge of described the first inner ring 36-1 and the first outer ring 35-1 is frame axis far away, described nearly frame axis 1b and described frame axis 1a far away be conllinear not, and the nearly frame axis of the first hinge 4, the 3rd hinge 17 is parallel to each other.
As shown in figures 1 and 3, described the second active branched chain 1, the 4th active branched chain 16 are connected by the second hinge 2, the 4th hinge 15 with described fixed mount 3.Described the second hinge 2, the 4th hinge 15 have three rotational freedoms, and it consists of the second outer ring 35-2, the second inner ring 36-2 and hinge 37, described the second outer ring 35-2 is by having fixed mount 3 described in the chain connection of a rotational freedom, described the second inner ring 36-2 is by having the second outer ring 35-2 described in the chain connection of a rotational freedom, revolute pair or other forms of equivalent construction that the hinge with a rotational freedom described herein can adopt bearing pin and bearing to form, described hinge 37 is by having the second inner ring 36-2 described in the chain connection of a rotational freedom, the hinge with a rotational freedom described herein can adopt revolute pair or the other forms of equivalent construction that axle sleeve and bearing form to make it to realize, its pivot center of the hinge 2a that connects described the second outer ring 35-2 and fixed mount 3 and the pivot center 2b that is connected described the second inner ring 36-2 and the hinge of the second outer ring 35-2 be conllinear and meeting at a bit with the turning cylinder 2c line that is connected the hinge of described the second inner ring 36-2 and hinge 37 not.
As shown in Figure 2 and Figure 3, as of the present invention preferred embodiment a kind of, the first and the 3rd described active branched chain comprises respectively the first connecting plate 22-1, the first servomotor 19-1 and first is installed on the first described connecting plate and moves leading screw 21-1, the first described servomotor moves leading screw by the first decelerator 20-1 and first and is connected, on described the first inner ring, be fixedly connected with the first rotating nut, described first moves leading screw is threaded mutually with the first rotating nut of corresponding setting, the first described hinge, on the 3rd hinge inner ring, be provided with the guide-track groove in the first guide rail slide block structure, slide block in the first guide rail slide block structure being slidingly fitted with described guide-track groove is arranged on the first active branched chain, on the first connecting plate of the 3rd active branched chain.The first and the 3rd described active branched chain can also adopt hydraulic push rod, pneumatic etc. other any one can realize the version of same movement function.
As of the present invention preferred embodiment a kind of, the second and the 4th described active branched chain comprises respectively the second connecting plate 22-2, the second servomotor 19-2 and second is installed on the second described connecting plate and moves leading screw 21-2, the second described servomotor moves leading screw by the second decelerator 20-2 and second and is connected, described hinge 37 is connected on the second described inner ring by bearing, the second rotating nut and hinge are fixedly linked, and described second moves leading screw is threaded mutually with the second rotating nut of corresponding setting.The second and the 4th described active branched chain can also adopt other any one can realize same movement function version as type of drive.
As shown in Figure 4, described the first active branched chain 5, the second active branched chain 1, the 3rd active branched chain 18, the 4th active branched chain 16 are connected by the 5th hinge 7, the 6th hinge 6, the 7th hinge 14, the 8th hinge 12 with described moving platform 10.Described the 5th hinge 7, the 6th hinge 6, the 7th hinge 14 have a rotational freedom, comprise bearing pin and form the bearing of revolute pair with described bearing pin, also can adopt other forms of equivalent construction, described the 8th hinge 12 has two rotational freedoms, can adopt Hooke's hinge form or other forms of equivalent construction, the revolute pair axis of described the 5th hinge 7, the 7th hinge 14 is parallel to each other and is arranged vertically with the pivot center of the 6th hinge 6.
As shown in Figure 4, the first active branched chain 5 lower ends are connected with the first sliding bar 9 by the 5th hinge 7, the second active branched chain 1 is connected with the second sliding bar 8 by the 6th hinge 6, the 3rd active branched chain 18 is connected with the 3rd sliding bar 13 by the 7th hinge 14, and the 4th active branched chain 16 is connected with the 4th sliding bar 11 by the 8th hinge 12.Below described fixed mount, be provided with a moving platform 10, in the lower end of each active branched chain, be connected with respectively a hinge 7, 6, 14, 12, the hinge seat of the hinge described in each and one and the vertically disposed sliding bar 9 of moving platform, 8, 13, one end of 11 is connected, the sidewall of described sliding bar is slided and is connected by guide rail slide block structure with the perforate inwall on moving platform, the bottom of the sliding bar described in each is fixedly connected with a nut 24, each nut and a leading screw 23, 31, 29, one end of 25 is threaded mutually, the other end of the described leading screw vertically arranging with described moving platform 10 is arranged in the bearing being arranged on moving platform, wherein the first leading screw 23 is consistent with the hand of spiral of the 3rd leading screw 29, the second leading screw 31 is consistent with the hand of spiral of the 4th leading screw 25, the first described leading screw 23 is contrary with the hand of spiral of the second leading screw 31 and the 4th leading screw 25 with the hand of spiral of the 3rd leading screw 29, on each described leading screw, be connected with respectively a gear 32, 30, 28, 26, in the centre of four gears, be provided with one and can distinguish the central gear 33 of engagement fit with four described gears, the gear shaft 34 of described central gear 33 is arranged in the bearing being arranged on moving platform, the affixed end effector 27 in lower end of gear shaft 34.
Described the first sliding bar 9 upper mounting rails, moving platform arranges corresponding guide-track groove, and under the drive of the first active branched chain 5, the first sliding bar 9 can be along the translation of C direction of principal axis.The nut 24 and the first leading screw 23 that are arranged on the first sliding bar 9 form screw pair simultaneously.The first sliding bar 9 drives nut 24 to move along C direction of principal axis along the translation of C axle, and the first leading screw 23 can rotate around C axle, thereby is arranged on the rotation that the first gear 32 on the first leading screw 23 produces around C axle.Described the second sliding bar 8, the 3rd sliding bar 13, the 4th sliding bar 11 are all identical with the first sliding bar 9 with the connection of moving platform 10.That is, the second gear 30, the 3rd gear 28, the 4th gear 26 can be realized the rotation around C axle by screw pair respectively under the drive of the second active branched chain 1, the 3rd active branched chain 18, the 4th active branched chain 16.
In technical scheme of the present invention: because described the 4th hinge 15 has three rotational freedoms, described the 4th active branched chain 16 can say that its axis direction does stretching motion, described the 8th hinge 12 has two rotational freedoms, so described the 4th active branched chain does not provide constraint to described moving platform 10; Described the first hinge 4, the 3rd hinge 17 have two rotational freedoms, so the first active branched chain 5, the 3rd active branched chain 18 can with respect to described fixed mount 3 around A direction of principal axis with around B direction of principal axis, rotate, described the second hinge 2 has three rotational freedoms, so the second active branched chain 1 can be rotated around A direction of principal axis and around B direction of principal axis and himself axis direction with respect to described fixed mount 3; Because each active branched chain and first, second, third and fourth hinge form an one-movement-freedom-degree by feed screw nut, so each active branched chain can axially be done stretching motion along it; Because described the 5th, the 6th, the 7th hinge only has a rotational freedom, so can make first, second, third active branched chain rotate with respect to described moving platform 10.When each main motion chain is under the driving of described servomotor 19 during self-movement, there is space displacement in described moving platform 10, and the spatial attitude of mechanism also changes simultaneously, the end effector 27 capable of regulating attitudes that are arranged on described moving platform 10 bottoms realize the rotation around C axle, thereby have formed four-freedom parallel device people.
End effector is shown in Fig. 4 and Fig. 5 around the rotation of C axle.The screw thread of the first leading screw 23, the 3rd leading screw 29 is right-handed thread, and the screw thread of the second leading screw 31, the 4th leading screw 25 is left hand thread.When the first sliding bar 9, the 3rd sliding bar 13 move downward with identical speed simultaneously, the first gear 32, the 3rd gear 28 produce clockwise rotation; When the second sliding bar 8, the 4th sliding bar 11 move upward with same speed simultaneously, the second gear 30, the 4th gear 26 also produce clockwise rotation.Simultaneously and four gears engagements, when four gears produce same clockwise rotating, central gear 33 produces and rotates counterclockwise for central gear 33; Gear wheel 33 is connected by key with gear shaft 34, the affixed end effector 27 of gear shaft 34 end, and the rotation of gear wheel 33 drives end effector 27 to produce and rotates counterclockwise around C axle.The movement velocitys of the motion of the first sliding bar 9, the 3rd sliding bar 13 and the second sliding bar 8, the 4th sliding bar 11 etc. are oppositely large, can guarantee that the pose of moving platform does not change, and only have rotating counterclockwise of end effector 27.
Similarly, when the first sliding bar 9, the 3rd sliding bar 13 move upward with identical speed simultaneously, when the second sliding bar 8, the 4th sliding bar 11 move downward with same speed simultaneously, four gears produce same rotating counterclockwise, thereby gear wheel 33 produces and clockwise rotates, drive end effector 27 to produce clockwise rotating around C axle.The movement velocitys of the motion of the first sliding bar 9, the 3rd sliding bar 13 and the second sliding bar 8, the 4th sliding bar 11 etc. are oppositely large, can guarantee that the pose of moving platform does not change, and only have rotating counterclockwise of end effector.
Only have the movement velocity etc. of the motion of the first sliding bar 9, the 3rd sliding bar 13 and the second sliding bar 8, the 4th sliding bar 11 oppositely large, four gears rotate turns to when consistent, just can make central gear 33 rotate.The movement velocity of the motion of the first sliding bar 9, the 3rd sliding bar 13 and the second sliding bar 8, the 4th sliding bar 11 is not etc. in large reverse situation, and it is inconsistent that four gears turn to, and the rotation of central gear 33 is restrained.
Four-freedom parallel device people service condition general introduction of the present invention: as shown in Fig. 5 embodiment 1, using four-freedom parallel mechanical hand of the present invention as a module, integrated with the long stroke guide rail unit of three directions, realize the working ability in larger working space.
The above description of this invention is only schematically, rather than restrictive, so embodiments of the present invention are not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, in the situation that not departing from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (3)
1. four-freedom parallel device people, it is characterized in that: it comprises fixed mount, on described fixed mount, along same circumferencial direction, every 90 °, have a perforate, in four perforates, pass through first respectively, second, the 3rd, the 4th hinge and first, second, the 3rd, the 4th active branched chain is rotatedly connected, wherein the first and the 3rd active branched chain is oppositely arranged, the second and the 4th active branched chain is oppositely arranged, first, the 3rd hinge comprises respectively by having the first outer ring that the hinge of a rotational freedom is connected with described fixed mount and the first inner ring being connected with the first outer ring by having the hinge of a rotational freedom, the pivot center that connects the hinge of described the first outer ring and fixed mount is nearly frame axis, the pivot center that connects the hinge of described the first inner ring and the first outer ring is frame axis far away, described nearly frame axis and frame axis far away be conllinear not, the first hinge and triple hinged nearly frame axis are parallel to each other, second, the 4th hinge comprises respectively the second outer ring that hinge by having a rotational freedom is connected with described fixed mount, by thering is the second inner ring that the hinge of a rotational freedom is connected with the second outer ring and the hinge being connected with described the second inner ring by thering is the hinge of a rotational freedom, described hinge can rotate around self axis under the driving of the second active branched chain or the 4th active branched chain, the pivot center that connects described the second outer ring and the hinge of fixed mount and the pivot center conllinear and meeting at a bit with the pivot center of hinge not that is connected the hinge of described the second inner ring and the second outer ring, first with the 3rd active branched chain can be with the perforate inwall of the first inner ring of relative set by the cooperation that is connected of the first guide rail slide block structure, slide block in the first described guide rail slide block structure can first and the driving of the 3rd active branched chain under move up and down in guide-track groove in the first guide rail slide block structure, below described fixed mount, be provided with a moving platform, described first, second, the 3rd, the lower end of the 4th active branched chain and moving platform are respectively by the 5th, the 6th, the 7th, the 8th hinge is connected, the described the 5th, the 6th, the 7th hinge is pin shaft structure, described the 8th hinge adopts Hooke's hinge structure, the described the 5th, the 7th hinge revolute pair axis is parallel to each other and is arranged vertically with the 6th hinge pivot center, the 5th, the 6th, the 7th, the hinge seat of the 8th hinge is connected with one end of a sliding bar separately, sliding bar described in each is vertical with moving platform to be arranged, the sidewall of the sliding bar described in each is slided and is connected by the second guide rail slide block structure with the perforate inwall on moving platform, the bottom of the sliding bar described in each is fixedly connected with a nut, each nut is threaded mutually with one end of a leading screw, the other end of the described leading screw vertically arranging with described moving platform is arranged in the bearing being arranged on moving platform, wherein the first leading screw is consistent with the hand of spiral of the 3rd leading screw, the second leading screw is consistent with the hand of spiral of the 4th leading screw, the first described leading screw and the hand of spiral of the 3rd leading screw are contrary with the hand of spiral of the second leading screw and the 4th leading screw, on each described leading screw, be connected with a gear, in the centre of four gears, be provided with one and can distinguish the central gear of engagement fit with four described gears, the gear shaft of described central gear is arranged in the bearing being arranged on moving platform, lower end at the gear shaft of described central gear is fixedly connected with an end effector.
2. four-freedom parallel device people according to claim 1, it is characterized in that: the first and the 3rd described active branched chain comprises respectively the first connecting plate, the first servomotor and first is installed on the first described connecting plate and moves leading screw, the first described servomotor moves leading screw by the first decelerator and first and is connected, on described the first inner ring, be fixedly connected with the first rotating nut, described first moves leading screw is threaded mutually with the first rotating nut of corresponding setting, the first described hinge, on the 3rd hinge inner ring, be provided with the guide-track groove in the first guide rail slide block structure, slide block in the first guide rail slide block structure being slidingly fitted with described guide-track groove is arranged on the first active branched chain, on the 3rd active branched chain connecting plate.
3. four-freedom parallel device people according to claim 1, it is characterized in that: the second and the 4th described active branched chain comprises respectively the second connecting plate, the second servomotor and second is installed on the second described connecting plate and moves leading screw, the second described servomotor moves leading screw by the second decelerator and second and is connected, described hinge is connected on the second described inner ring by bearing, described hinge and the second rotating nut are fixedly linked, and described second moves leading screw is threaded mutually with the second rotating nut of corresponding setting.
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| CN201110413603.0A CN102490177B (en) | 2011-12-13 | 2011-12-13 | Four-freedom-degree parallel-connection robot |
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| CN201110413603.0A CN102490177B (en) | 2011-12-13 | 2011-12-13 | Four-freedom-degree parallel-connection robot |
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| CN102490177B true CN102490177B (en) | 2014-04-30 |
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| CN103394957B (en) * | 2013-08-16 | 2015-10-28 | 孟秋华 | A kind of robot manipulator structure |
| CN103753235B (en) * | 2014-01-03 | 2016-09-21 | 清华大学 | A kind of multi-axis linkages based on parallel module |
| CN105690361B (en) * | 2016-02-03 | 2017-05-10 | 中北大学 | Five-axis linkage type hybrid machine tool |
| CN106181973B (en) * | 2016-09-30 | 2019-01-08 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN107214025B (en) * | 2017-07-25 | 2019-11-05 | 芜湖超源力工业设计有限公司 | A kind of adjustable paint-spray robot of angle of gun |
| CN109128872B (en) * | 2018-09-26 | 2019-09-17 | 燕山大学 | A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A |
| CN111604883A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Multi-degree-of-freedom high-performance hybrid robot |
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| EP0200369A1 (en) * | 1985-03-30 | 1986-11-05 | The English Electric Company P.L.C. | A manipulator |
| EP1129829A1 (en) * | 2000-03-01 | 2001-09-05 | SIG Pack Systems AG | Robot for handling products in a three-dimensional space |
| EP1854591A1 (en) * | 2006-05-11 | 2007-11-14 | Jean-Marie Chenu | Parallel robot |
| CN101100066A (en) * | 2007-07-26 | 2008-01-09 | 北京交通大学 | Gear joint and rackpin joint non-overconstraint four-freedom parallel robot mechanism |
| CN101708611A (en) * | 2009-11-09 | 2010-05-19 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102152306A (en) * | 2011-04-27 | 2011-08-17 | 天津大学 | Bar-wheel combined type three-translation one-rotation parallel mechanism |
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| CN102490177A (en) | 2012-06-13 |
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