CN103170965A - Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod - Google Patents
Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod Download PDFInfo
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- CN103170965A CN103170965A CN201310079690XA CN201310079690A CN103170965A CN 103170965 A CN103170965 A CN 103170965A CN 201310079690X A CN201310079690X A CN 201310079690XA CN 201310079690 A CN201310079690 A CN 201310079690A CN 103170965 A CN103170965 A CN 103170965A
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Abstract
The invention discloses a three translational degree of freedom robot mechanism comprising a near plane parallelogram-far plane parallel rod, and belongs to the technical field of robots. The robot mechanism comprises a rack, a robotic mobility platform, and three branch chains with the same structure and form. The three branch chains connect the rack and the robotic mobility platform. Each branch chain consists of a drive arm, a vice-drive chain, double lining frame joints, a first hook ball hinge, a far plane parallel rod, and a second hook ball hinge. The three branch chains are arranged evenly, each branch chain is provided with a drive device which is fixed on the rack and connected with the drive arm. Turning freedom degree of the robotic mobility platform is limited by a branch chain structure of the near plane parallelogram and the far plane parallel rod, and the great overall rigidity is ensured through the structure of the near plane parallelogram and the far plane parallel rod, posture error caused by elasticity of steel wires is effectively avoided, and the three translational degree of freedom robot mechanism comprising the near plane parallelogram-far plane parallel rod is easy to produce, convenient to assemble and adjust, and low in production cost.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away.
Background technology
US Patent No. 4976572 discloses a kind of space symmetr three-translational parallel connection mechanism, comprises three active branched chain, and every side chain comprises master arm and slave arm two parts.The form of this type of mechanism's side chain is divided into two kinds, and is a kind of for master arm and slave arm are the single pole form, and the two ends of slave arm are connected with moving platform with master arm respectively by Hooke's hinge; A kind of for master arm be single pole, and slave arm is two bars, two bar slave arms consist of parallelogram, every bar two ends are connected with moving platform with master arm respectively by spherical hinge, wherein master arm one end only has a movement or rotational freedom with respect to silent flatform, the other end is connected with an end of slave arm by ball pivot, thereby the restriction moving platform is with respect to three revolution frees degree of fixed frame.There is not standard component in the hinge of this type of mechanism, and the manufacturing cycle is long, installs complicated.Chinese patent 200510015750 discloses a kind of a kind of space three-translational parallel connection mechanism that contains steel wire parallelogram branched structure that contains.This mechanism by fixed mount, moving platform and respectively the uniform described fixed mount side chain identical with three structures between moving platform that be arranged on of axial symmetry consist of; Described side chain, connect the output other end of described drive unit and the affixed nearly hack lever of contiguous block and the hack lever far away of an end and the described contiguous block ball-joint other end and described moving platform ball-joint and consist of by being fixedly installed on drive unit on described fixed mount, an end, the bilateral symmetry of described hack lever far away is provided with two parallel with it steel wires, the two ends of described steel wire respectively with described contiguous block and moving platform ball-joint.The shortcoming of this type of mechanism be due to steel wire be flexible unit work as tightness not simultaneously its length also change, thereby cause the moving platform attitude to change, make the moving platform attitude accuracy be difficult to guarantee.
Summary of the invention
Purpose of the present invention in order to overcome above-mentioned deficiency of the prior art, provides a kind of manufacturing cycle short, easy for installation just, and the moving platform attitude accuracy is high, and integral rigidity is large, contains the three-translational freedom robot mechanism of nearly frame parallelogram-frame parallel rod far away.
For solving the problems of the technologies described above, basic conception of the present invention is: guaranteed the accuracy of robot mechanism poses by identical three the uniform side chains of structure, guarantee the whole larger rigidity that has by the version of the nearly frame parallelogram in side chain and frame parallel rod far away.
A kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away provided by the present invention comprises frame, moving platform, three side chains that version is identical, common described frame and the moving platform of connecting of described three side chains; One of side chain that described three versions are identical is comprised of master arm, secondary master arm, two lining framves joints, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described two lining framves joint comprises the first lining frame, the second lining frame, rotary middle spindle, and described the first lining frame, the second lining frame are hinged with rotary middle spindle respectively; Described two lining framves joint connects described master arm, secondary master arm and the first Hooke ball pivot; Described master arm one end serves as a contrast frame joint connection by plane rotation is secondary with being connected, and the other end is connected with the output axle key of the drive unit that is fixed on described frame; Described secondary master arm one end serves as a contrast frame joint connection by ball pivot with being connected, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining framves joint forms nearly frame parallelogram sturcutre by the connection of kinematic pair; Described Hooke ball pivot is comprised of central cross axle, the first plane rotation pair, the second plane rotation pair, the first spherical hinge, the second spherical hinge; Described frame parallel rod far away is comprised of two slave arms equal in length; Described frame parallel rod one end far away and described the first Hooke ball pivot are affixed, and the other end and described the second Hooke ball pivot are affixed; Described the first Hooke ball pivot be connected lining frame joint and connect by Plane Rotation is secondary; Described the second Hooke ball pivot be connected moving platform and connect by Plane Rotation is secondary; Described three side chains are evenly arranged, and all have the drive unit that is fixed on described frame to be connected with master arm.
Described drive unit adopts servomotor-reducer structure.
The common effect of contraction of uniform three side chains in space that the present invention is made of nearly frame parallelogram and frame parallel rod far away, three revolution frees degree of moving platform have been limited, make the relative frame of moving platform only have three translational degree of freedom, guaranteed the robot mechanism attitude stabilization.Three groups of motion drivings that drive unit provides make this three-translational freedom robot mechanism have definite motion, have guaranteed that this mechanism position is accurate.This robot mechanism list Branch Stiffness is high, and further, three side chain parallel-connection structures have guaranteed that mechanism's integral body has larger rigidity.
The present invention has following characteristics:
1, adopt the version of nearly frame parallelogram and frame parallel rod far away as the constraint of restriction rotational freedom;
2, the design feature of Hooke ball pivot makes center excursD small, and the angle scope of activities is large, coordinates the structure in two lining framves joint, guarantees that robot mechanism has larger working space;
3, this robot mechanism pose is accurate, and rigidity is large;
4, the version of Hooke ball pivot and with the connected mode of frame parallel rod far away, can guarantee that these robot mechanism two slave arms are stressed evenly, reduced the wearing and tearing of kinematic pair, thereby can improve the life-span of mechanism;
5, adopt the Hooke ball pivot of universal standard part ball pivot formation, can be completely achieved the function of traditional Hooke's hinge, in addition, the standard component ball pivot is adopted in the mechanism many places, the parts quick-replaceable after being convenient to shorten the manufacturing cycle and using inefficacy.
The present invention adopts the rotational freedom of the branched structure restriction moving platform of nearly frame parallelogram and frame parallel rod far away, and the version of nearly frame parallelogram and frame parallel rod far away guarantees the whole larger rigidity that has.The beneficial effect of this mechanism is: effectively avoided the attitude error that causes due to steel wire elasticity, and make simple, installation and debugging are convenient, mechanism's manufacturing cost is lower.
Description of drawings:
Fig. 1 is structural representation of the present invention;
Fig. 2 is one of the side chain of same structure form of the present invention structural representation;
Fig. 3 is the I section enlarged drawing of Fig. 2;
Fig. 4 is the II section enlarged drawing of Fig. 2;
Fig. 5 is the structural representation in two lining framves joint;
Fig. 6 is the structural representation of Hooke ball pivot;
Fig. 7 is the connection diagram of Hooke ball pivot and moving platform.
In figure: 1: frame, 2: master arm, 3: secondary master arm, 4: two lining framves joints, 5: slave arm, 6: moving platform, 7: drive unit, 8: the first Hooke ball pivots, 9: the second Hooke ball pivots, 4-1: the first lining frame, 4-2: the second lining frame, 4-3: master arm rotary middle spindle, 4-4: the slave arm rotary middle spindle, 8-1: the central cross axle, 8-2: the first plane rotation is secondary, 8-3: the second plane rotation is secondary, 8-4: the first spherical hinge, 8-5: the second spherical hinge.
The specific embodiment:
The invention will be further described below in conjunction with accompanying drawing:
As Fig. 1-shown in Figure 7, a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away, comprise frame 1, moving platform 6, be evenly arranged in the frame 1 side chain connection frame identical with three versions between moving platform 61 and moving platform 6, described side chain comprises nearly frame parallelogram and frame parallel rod modular construction far away, can limit three rotational freedoms of moving platform 6.
As shown in Figure 1 and Figure 2, one of side chain that described three versions are identical is comprised of master arm 2, secondary master arm 3, two lining framves joint 4, the first Hooke ball pivot 8, frame parallel rod 5 far away, the second Hooke ball pivot 9.
As shown in Figure 5, described two lining framves joint 4, be comprised of the first lining frame 4-1, the second lining frame 4-2 and master arm rotary middle spindle 4-3, slave arm rotary middle spindle 4-4, described the first lining frame 4-1, second serves as a contrast frame 4-2, and 4-4 is hinged with master arm rotary middle spindle 4-3, slave arm rotary middle spindle respectively.As shown in Figure 3, described master arm 2 one ends are connected by the master arm rotary middle spindle 4-3 of plane rotation pair and described biserial lining frame 4, its centre of gyration is a B, and the output axle key of the drive unit 7 on the other end and described frame 1 is connected, and its centre of gyration is an A; Described secondary master arm 3 one ends are connected by the secondary master arm rotary middle spindle 4-4 of spherical hinge with described two lining framves joint 4, and its centre of gyration is a C, and the other end is connected with described frame 1 by spherical hinge, and its centre of gyration is a D; Structure and design are upper guarantees that the distance of A, B equates with the distance of C, D, the distance of A, D equates with the distance of B, C, like this, described master arm 2, secondary master arm 3, two lining framves joint 4 is by the connection of kinematic pair, form pro forma parallelogram sturcutre, can make mechanism keep the attitude in two lining framves joint 4 constant in motion process.
The first Hooke ball pivot 8 and the second Hooke ball pivot 9 structures are identical, for the present invention, are only because its difference of residing position in side chain is named difference.As shown in Figure 6, described the first Hooke ball pivot 8 is comprised of central cross axle 8-1, the first secondary 8-2 of plane rotation, the second secondary 8-3 of plane rotation, the first spherical hinge 8-4, the second spherical hinge 8-5.Described frame parallel rod 5 far away is comprised of two slave arms equal in length 5.Described the first Hooke ball pivot 8, the second Hooke ball pivot 9, the connected mode of frame parallel rod 5 in side chain far away are: as Fig. 4, shown in Figure 7, described frame parallel rod 5 one ends far away and described the first Hooke ball pivot 8 are affixed, and the other end and described the second Hooke ball pivot 9 are affixed; Described the first Hooke ball pivot 8 be connected lining frame joint 4 and connect by Plane Rotation is secondary; Described the second Hooke ball pivot 9 be connected moving platform 6 and connect by Plane Rotation is secondary.By this connected mode, Hooke ball pivot 8, Hooke ball pivot 9, frame parallel rod 5 far away are combined to form parallelogram sturcutre, and make the Hooke ball pivot only can rotate around the both direction of cross axle axis.
Described three side chains are evenly arranged, and are connected with master arm 2 by drive unit 7.
Described drive unit 7 is fixedly connected with frame 1, can make its output provide a movement or rotational freedom for connected moving platform 6; Drive unit 7 has adopted the version of servomotor-decelerator, for connected master arm 2 provides a rotational freedom, in order to reach same purpose, can also adopt torque motor to drive, for connected master arm 2 provides a rotational freedom.Under certain application feature, also can adopt the type of drive of linear electric motors, for connected master arm 2 provides an one-movement-freedom-degree.Certainly, in the specific implementation, adopt other any one can realize that the version of same movement function all is fine as type of drive.
Claims (2)
1. three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away, it is characterized in that this robot mechanism comprises frame, moving platform, three side chains that version is identical, common described frame and the moving platform of connecting of described three side chains; One of side chain that described three versions are identical is comprised of master arm, secondary master arm, two lining framves joints, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described two lining framves joint comprises the first lining frame, the second lining frame, rotary middle spindle, and described the first lining frame, the second lining frame are hinged with rotary middle spindle respectively; Described two lining framves joint connects described master arm, secondary master arm and the first Hooke ball pivot; Described master arm one end serves as a contrast frame joint connection by plane rotation is secondary with being connected, and the other end is connected with the output axle key of the drive unit that is fixed on described frame; Described secondary master arm one end serves as a contrast frame joint connection by ball pivot with being connected, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining framves joint forms nearly frame parallelogram sturcutre by the connection of kinematic pair; Described Hooke ball pivot is comprised of central cross axle, the first plane rotation pair, the second plane rotation pair, the first spherical hinge, the second spherical hinge; Described frame parallel rod far away is comprised of two slave arms equal in length; Described frame parallel rod one end far away and described the first Hooke ball pivot are affixed, and the other end and described the second Hooke ball pivot are affixed; Described the first Hooke ball pivot be connected lining frame joint and connect by Plane Rotation is secondary; Described the second Hooke ball pivot be connected moving platform and connect by Plane Rotation is secondary; Described three side chains are evenly arranged, and all have the drive unit that is fixed on described frame to be connected with master arm.
2. a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away according to claim 1, is characterized in that: described drive unit employing servomotor-reducer structure.
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| CN201310079690.XA CN103170965B (en) | 2013-03-13 | 2013-03-13 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
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| CN201310079690.XA CN103170965B (en) | 2013-03-13 | 2013-03-13 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895007A (en) * | 2014-04-17 | 2014-07-02 | 安徽工业大学 | Two-translational-motion parallel robot |
| CN103934824A (en) * | 2014-05-07 | 2014-07-23 | 马鞍山方宏自动化科技有限公司 | Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot |
| CN105856207A (en) * | 2016-06-22 | 2016-08-17 | 安徽海思达机器人有限公司 | Transfer robot with symmetrically arranged driven arms and reconstructible degrees of freedom |
| CN112476412A (en) * | 2020-11-17 | 2021-03-12 | 派罗(廊坊)机器人科技有限公司 | Four-degree-of-freedom robot |
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| CN101249652A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational freedom degree parallel connection mechanism with far-rack double lever |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN101961869A (en) * | 2010-10-13 | 2011-02-02 | 天津大学 | Three-translational-degree-of-freedom robot mechanism |
| CN203092550U (en) * | 2013-03-13 | 2013-07-31 | 安徽工业大学 | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod |
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| US4976582A (en) * | 1985-12-16 | 1990-12-11 | Sogeva S.A. | Device for the movement and positioning of an element in space |
| CN1785607A (en) * | 2005-10-28 | 2006-06-14 | 天津大学 | Space tritranslation parallel connection mechanism containing steel wire parallelogram fork chain structure |
| CN101249652A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational freedom degree parallel connection mechanism with far-rack double lever |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895007A (en) * | 2014-04-17 | 2014-07-02 | 安徽工业大学 | Two-translational-motion parallel robot |
| CN103934824A (en) * | 2014-05-07 | 2014-07-23 | 马鞍山方宏自动化科技有限公司 | Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot |
| CN103934824B (en) * | 2014-05-07 | 2016-03-16 | 马鞍山方宏自动化科技有限公司 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
| CN105856207A (en) * | 2016-06-22 | 2016-08-17 | 安徽海思达机器人有限公司 | Transfer robot with symmetrically arranged driven arms and reconstructible degrees of freedom |
| CN105856207B (en) * | 2016-06-22 | 2017-10-13 | 安徽海思达机器人有限公司 | A kind of slave arm is arranged symmetrically the transfer robot that the free degree can be reconstructed |
| CN112476412A (en) * | 2020-11-17 | 2021-03-12 | 派罗(廊坊)机器人科技有限公司 | Four-degree-of-freedom robot |
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