CN103170965B - 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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- CN103170965B CN103170965B CN201310079690.XA CN201310079690A CN103170965B CN 103170965 B CN103170965 B CN 103170965B CN 201310079690 A CN201310079690 A CN 201310079690A CN 103170965 B CN103170965 B CN 103170965B
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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 robotics, be specifically related to a kind of three-translational freedom robot mechanism containing 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 bar 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 one is single pole form for master arm and slave arm, and the two ends of slave arm are connected with master arm and moving platform respectively by Hooke's hinge; A kind of for master arm be single pole, and slave arm is two bars, two bar slave arm forms parallelogram, every root bar two ends are connected with master arm and moving platform respectively by spherical hinge, wherein master arm one end only has a movement or rotational freedom relative to silent flatform, the other end is connected with one end of slave arm by ball pivot, thus restriction moving platform is relative to three revolution frees degree of fixed frame.There is not standard component in the hinge of this type of mechanism, the manufacturing cycle is long, installs complicated.Chinese patent 200510015750 discloses a kind of containing a kind of space three-translational parallel connection mechanism containing steel wire parallelogram branched structure.This mechanism by fixed mount, moving platform and respectively the uniform side chain being arranged on described fixed mount identical with the structure of three between moving platform of axial symmetry form; Described side chain, the hack lever far away being connected the output other end of described drive unit and the affixed nearly hack lever of contiguous block and one end and the described contiguous block ball-joint other end and described moving platform ball-joint by the drive unit be fixedly installed on described fixed mount, one end is formed, 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 different time its length also change, thus cause moving platform attitude to change, make moving platform attitude accuracy be difficult to ensure.
Summary of the invention
Object of the present invention is just in order to overcome above-mentioned deficiency of the prior art, and provide a kind of manufacturing cycle short, easy for installation, moving platform attitude accuracy is high, and integral rigidity is large, the three-translational freedom robot mechanism containing nearly frame parallelogram-frame parallel rod far away.
For solving the problems of the technologies described above, basic conception of the present invention is: the accuracy being ensured robot mechanism pose by identical three the uniform side chains of structure, ensures overallly have larger rigidity 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 containing nearly frame parallelogram-frame parallel rod far away provided by the present invention comprises frame, moving platform, side chain that three version is identical, and three described side chains connect described frame and moving platform jointly; One of side chain that three described versions are identical is made up of master arm, secondary master arm, two lining frame joint, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described two lining frame joints comprise the first lining frame, the second lining frame, rotary middle spindle, and the first described lining frame, the second lining frame are hinged with rotary middle spindle respectively; Master arm, secondary master arm and the first Hooke ball pivot described in described two lining frame joints connect; Described master arm one end is connected by plane rotation pair and two lining frame joint, and the other end is connected with the output axle key of the drive unit being fixed on described frame; Described secondary master arm one end is connected with two lining frame joint by ball pivot, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining frame joint, by the connection of kinematic pair, form nearly frame parallelogram sturcutre; Described Hooke ball pivot is made up 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 made up of the slave arm that two length is equal; Described frame parallel rod one end far away and the first described Hooke ball pivot affixed, the other end and the second described Hooke ball pivot affixed; The first described Hooke ball pivot is connected by Plane Rotation pair with two lining frame joint; The second described Hooke ball pivot is connected by Plane Rotation pair with described moving platform; Three described side chains are evenly arranged, and all have the drive unit be fixed in 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 up of nearly frame parallelogram and frame parallel rod far away, limit three revolution frees degree of moving platform, make the relative frame of moving platform only have three translational degree of freedom, ensure that robot mechanism attitude stabilization.The motion driving that three groups of drive units provide, makes this three-translational freedom robot mechanism have the motion determined, ensure that this mechanism position is accurate.This robot mechanism list Branch Stiffness is high, and further, three side chain parallel-connection structures ensure that whole mechanism has larger rigidity.
The present invention has following characteristics:
1, the constraint of version as restriction rotational freedom of nearly frame parallelogram and frame parallel rod far away is adopted;
2, the design feature of Hooke ball pivot, makes center excursD small, and angular mobility scope is large, coordinates the structure in two lining frame joint, ensures 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 the connected mode with frame parallel rod far away, can ensure this robot mechanism two slave arm uniform force, reduce the wearing and tearing of kinematic pair, thus can improve the life-span of mechanism;
5, the Hooke ball pivot adopting universal standard part ball pivot to form, can be completely achieved the function of traditional Hooke's hinge, and in addition, mechanism many places adopt standard component ball pivot, is convenient to shorten the manufacturing cycle and use the parts quick-replaceable after losing efficacy.
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 ensures overallly have larger rigidity.The beneficial effect of this mechanism is: effectively prevent the attitude error because steel wire elasticity causes, and making is simple, installation and debugging are convenient, and mechanism's manufacturing cost is lower.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention;
Fig. 2 is one of the side chain of identical version of the present invention structural representation;
Fig. 3 is I enlarged drawing of Fig. 2;
Fig. 4 is II enlarged drawing of Fig. 2;
Fig. 5 is the structural representation in two lining frame 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 frame joint, 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, the 4-2: the second lining frame, 4-3: master arm rotary middle spindle, 4-4: slave arm rotary middle spindle, 8-1: central cross axle, the 8-2: the first plane rotation is secondary, 8-3: the second plane rotation is secondary, the 8-4: the first spherical hinge, the 8-5: the second spherical hinge.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Fig. 1-Fig. 7, a kind of three-translational freedom robot mechanism containing nearly frame parallelogram-frame parallel rod far away, comprise frame 1, moving platform 6, be evenly arranged in the identical side chain connection frame of three versions between frame 1 with 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 three described versions are identical is made up of master arm 2, secondary master arm 3, two lining frame joints 4, first Hooke ball pivot 8, frame parallel rod 5, second Hooke ball pivot 9 far away.
As shown in Figure 5, described two lining frame joints 4, be made up 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, the master arm rotary middle spindle 4-3 that described master arm 2 one end serves as a contrast frame 4 by plane rotation pair and described biserial is connected, its centre of gyration is a B, and the other end is connected with the output axle key of the drive unit 7 in described frame 1, and its centre of gyration is an A; Described secondary master arm 3 one end is connected with described two secondary master arm rotary middle spindle 4-4 serving as a contrast frame joint 4 by spherical hinge, 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 ensure that the distance of A, B is equal with the distance of C, D, the distance of A, D is equal with the distance of B, C, like this, described master arm 2, secondary master arm 3, two lining frame joint 4 are by the connection of kinematic pair, form pro forma parallelogram sturcutre, can make mechanism in motion process, keep the attitude in two lining frame joint 4 constant.
First Hooke ball pivot 8 is identical with the second Hooke ball pivot 9 structure, for the present invention, is only name difference due to the difference of its position residing in side chain.As shown in Figure 6, the first described Hooke ball pivot 8 is made up of central cross axle 8-1, the first plane rotation secondary 8-2, the second plane rotation secondary 8-3, the first spherical hinge 8-4, the second spherical hinge 8-5.Described frame parallel rod 5 far away is made up of the slave arm 5 that two length is equal.The first described Hooke ball pivot 8, second Hooke ball pivot 9, the connected mode of frame parallel rod 5 far away in side chain for: as shown in Fig. 4, Fig. 7, described frame parallel rod 5 one end far away and the first described Hooke ball pivot 8 affixed, the other end and the second described Hooke ball pivot 9 affixed; The first described Hooke ball pivot 8 is connected by Plane Rotation pair with two lining frame joint 4; The second described Hooke ball pivot 9 is connected by Plane Rotation pair with described moving platform 6.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 Hooke ball pivot only can be rotated around the both direction of cross axle axis.
Three described 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, and its output can be made to provide a movement or rotational freedom for connected moving platform 6; Drive unit 7 have employed the version of servomotor-decelerator, for connected master arm 2 provides a rotational freedom, in order to reach same object, torque motor can also be adopted 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 same movement function version be all fine as type of drive.
Claims (2)
1. the three-translational freedom robot mechanism containing nearly frame parallelogram-frame parallel rod far away, it is characterized in that this robot mechanism comprises frame, moving platform, side chain that three version is identical, three described side chains connect described frame and moving platform jointly; One of side chain that three described versions are identical is made up of master arm, secondary master arm, two lining frame joint, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described two lining frame joints comprise the first lining frame, the second lining frame, rotary middle spindle, and the first described lining frame, the second lining frame are hinged with rotary middle spindle respectively; Master arm, secondary master arm and the first Hooke ball pivot described in described two lining frame joints connect; Described master arm one end is connected by plane rotation pair and two lining frame joint, and the other end is connected with the output axle key of the drive unit being fixed on described frame; Described secondary master arm one end is connected with two lining frame joint by ball pivot, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining frame joint, by the connection of kinematic pair, form nearly frame parallelogram sturcutre; Described Hooke ball pivot is made up 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 made up of the slave arm that two length is equal; Described frame parallel rod one end far away and the first described Hooke ball pivot affixed, the other end and the second described Hooke ball pivot affixed; The first described Hooke ball pivot is connected by Plane Rotation pair with two lining frame joint; The second described Hooke ball pivot is connected by Plane Rotation pair with described moving platform; Three described side chains are evenly arranged, and all have the drive unit be fixed in described frame to be connected with master arm.
2. a kind of three-translational freedom robot mechanism containing nearly frame parallelogram-frame parallel rod far away according to claim 1, is characterized in that: described drive unit adopts 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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| CN103170965B true CN103170965B (en) | 2015-06-03 |
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Families Citing this family (5)
| 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 |
| CN105127988B (en) * | 2014-05-07 | 2017-08-08 | 马鞍山方宏自动化科技有限公司 | A kind of three-axis series-multiple connection mechanism industrial robot |
| 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 |
| CN115446823B (en) * | 2022-10-21 | 2024-09-27 | 天津工业大学 | A three-degree-of-freedom parallel robot with two parallelogram structure branches |
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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 | Parallel Mechanism with Three Translational Degrees of Freedom in Space with Two Rods on Remote Frame |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | A Robotic Mechanism with Three Translational Degrees of Freedom Containing Intersecting Parallelograms |
| 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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2013
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 | Parallel Mechanism with Three Translational Degrees of Freedom in Space with Two Rods on Remote Frame |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | A Robotic Mechanism with Three Translational Degrees of Freedom Containing Intersecting Parallelograms |
| 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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