CN103522282A - Planar two-DOF parallel robot mechanism - Google Patents
Planar two-DOF parallel robot mechanism Download PDFInfo
- Publication number
- CN103522282A CN103522282A CN201310491900.6A CN201310491900A CN103522282A CN 103522282 A CN103522282 A CN 103522282A CN 201310491900 A CN201310491900 A CN 201310491900A CN 103522282 A CN103522282 A CN 103522282A
- Authority
- CN
- China
- Prior art keywords
- robot mechanism
- planar
- parallel robot
- slider
- crank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a planar two-DOF parallel robot mechanism. The planar two-DOF parallel robot mechanism is characterized in that a tail end hinge is connected with a fixed platform through two identical branched chains. Each branched chain comprises a crank-slider mechanism and a connecting rod used for connecting the tail end hinge and a sliding block. The crank-slider mechanisms are used as servo transmission mechanisms of the robot mechanism. The planar two-DOF parallel robot mechanism can be used as an industrial robot to achieve operations such as picking, placing, assembling and metal cutting in a plane. The planar two-DOF parallel robot mechanism has the advantages of being simple in structure, easy to manufacture and assemble and the like.
Description
Technical field:
The invention belongs to industrial robot and mechanical manufacturing field, particularly a kind of plane two degrees of freedom parallel robot mechanism.
Background technology:
Plane two degrees of freedom parallel robot can be realized any track in plane, can be applicable to high speed job task in the planes such as packaging, sorting, encapsulation, therefore on the automatic production line of the industries such as light industry, electronics, food and medicine, has obtained important application.
In existing plane two degrees of freedom parallel robot mechanism, the most classical is plane 5 rods mechanism.Its general revolute pair that adopts drives, or moving sets drives.Adopt revolute pair as drive scheme time, plane two degrees of freedom parallel robot mechanism generally has 5 revolute pairs, wherein 2 are arranged on frame as the revolute pairs that drive.Adopt moving sets to contain 3 revolute pairs and two moving sets as drive scheme Shi， mechanism.Adopting moving sets when driving secondary design, traditional design generally adopts servomotor to drive the type of drive of ball-screw, and rotatablely moving of ball-screw adjutant servomotor is converted into the rectilinear motion that drives slide block (driving moving sets).And the equal more complicated of this body structure of ball-screw and support pattern thereof, for improving its transmission accuracy and rigidity, needs again gap adjustment and pretension, make its design, manufacture difficulty, cost is high.
Traditional, ancient and classical cam and four-bar linkage, generally adopt AC induction motor to drive as it, cam or crank constant speed rotation, and end driven member is by the predetermined regular movement of design.Theory of mechanisms field hot issue was exactly in the last few years, adopt AC servo motor to realize speed change and the ACTIVE CONTROL of cam and four-bar linkage, expectation obtains better mechanism performance (as doctor's Yao Yanan thesis for the doctorate " ACTIVE CONTROL of cam mechanism ", University Of Tianjin, 1999; And post-doctoral research report " become Input-Speed Mechanism Design 》， Shanghai Communications University, 2001).But its research and application are also confined to traditional forcing press design (as patent CN1302913C, CN1546311A, CN102514217A, CN102328448A, CN102205386, CN102172760B).
Summary of the invention:
The present invention is directed to not enough a kind of novel planar two degrees of freedom parallel robot mechanism that proposes of the prior art, it adopts slider-crank mechanism as its servo-operated mechanism, its have simple in structure, be easy to manufacture, low cost and other advantages.
The present invention solves the scheme that its technical problem adopts: plane two degrees of freedom parallel robot mechanism ，Gai mechanism is symmetrical structure, adopts slider-crank mechanism as its servo-operated mechanism, and mechanism is simply easy to realize.Its structure is that mechanism's end is connected with fixed platform by two identical side chains, and two side chains are hinged on the geometric center of fixed platform at the fixed platform place of the hinged ， of mechanism's end mechanism, and integral body is planar closed chain structure.For each side chain, by a connecting rod and a slider-crank mechanism, be composed in series, mechanism's end is connected with the slide block of slider-crank mechanism by this connecting rod, this connecting rod and mechanism's end and slide block are hinged, and slider-crank mechanism is as the servo-operated mechanism of each branch.
By technique scheme, there is following effect in the present invention: adopt slider-crank mechanism to substitute the servo-operated mechanism of ball screw assembly, as planar parallel robot, it has feature simple in structure, that be easy to realization, reduce costs.This planar robot mechanism can be used as industrial robot and realizes the operations such as picking and placeing in plane, assembling and metal cutting.
Accompanying drawing explanation:
Fig. 1 is structural representation of the present invention;
In figure: 1, fixed platform, 2, crank, 3, slide block, 4, connecting rod 1,5, connecting rod 2,6, end hinge, 7, revolute pair
The specific embodiment:
Below in conjunction with the embodiment shown in accompanying drawing 1, be described in further detail:
In the embodiment shown in fig. 1: robot mechanism is symmetrical mechanism about y axle, it comprises fixed platform 1, end hinge 6 and two identical side chains, these two side chains all contain a slider-crank mechanism, wherein member 2 (crank), 3 (slide blocks) and 4 (connecting rod 1) form slider-crank mechanism, member 5 (connecting rod 2) one end and mechanism's end 6 are hinged, and the other end is hinged by revolute pair 7 and slide block 3.The crank of two side chains is hinged on fixed platform geometric center O point by revolute pair 7.
This robot mechanism is to adopt slider-crank mechanism to replace the drive transmission device of ball screw assembly, as robot mechanism.
Claims (3)
1. a plane two degrees of freedom parallel robot mechanism, it is characterized in that: end hinge is connected with fixed platform by two identical side chains, each side chain all contains a slider-crank mechanism and a connecting rod that is connected end hinge and slide block, and this connecting rod and end hinge and slide block are hinged.Slider-crank mechanism is the servo-operated mechanism of this robot mechanism.
2. plane two degrees of freedom parallel robot mechanism according to claim 1, is characterized by described each side chain all containing slider-crank mechanism.
3. according to the plane two degrees of freedom parallel robot mechanism shown in claim 1, it is characterized by the slider-crank mechanism of described each side chain as the servo-operated mechanism of robot mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491900.6A CN103522282A (en) | 2013-10-21 | 2013-10-21 | Planar two-DOF parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491900.6A CN103522282A (en) | 2013-10-21 | 2013-10-21 | Planar two-DOF parallel robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103522282A true CN103522282A (en) | 2014-01-22 |
Family
ID=49924809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310491900.6A Pending CN103522282A (en) | 2013-10-21 | 2013-10-21 | Planar two-DOF parallel robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103522282A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385281A (en) * | 2014-07-28 | 2015-03-04 | 天津大学 | Zero calibrating method for two-degree-freedom high speed parallel robot |
| CN112161800A (en) * | 2020-09-30 | 2021-01-01 | 北华航天工业学院 | Three-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive subchains |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030051336A1 (en) * | 2001-03-16 | 2003-03-20 | Helm Manfred Burkhard | Device for positioning a tool within a predetermined working area |
| TW200520911A (en) * | 2003-12-05 | 2005-07-01 | Janome Sewing Machine Co Ltd | A robot |
| CN101537612A (en) * | 2009-04-27 | 2009-09-23 | 辽宁聚智科技发展有限公司 | Crank block type mechanism arm |
| CN101908787A (en) * | 2010-07-16 | 2010-12-08 | 广西大学 | Multi-freedom-degree vibration ageing device |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN202783994U (en) * | 2012-06-25 | 2013-03-13 | 浙江工业职业技术学院 | Toothpaste squeezing device enabling user to operate with single hand |
-
2013
- 2013-10-21 CN CN201310491900.6A patent/CN103522282A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030051336A1 (en) * | 2001-03-16 | 2003-03-20 | Helm Manfred Burkhard | Device for positioning a tool within a predetermined working area |
| TW200520911A (en) * | 2003-12-05 | 2005-07-01 | Janome Sewing Machine Co Ltd | A robot |
| CN101537612A (en) * | 2009-04-27 | 2009-09-23 | 辽宁聚智科技发展有限公司 | Crank block type mechanism arm |
| CN101908787A (en) * | 2010-07-16 | 2010-12-08 | 广西大学 | Multi-freedom-degree vibration ageing device |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN202783994U (en) * | 2012-06-25 | 2013-03-13 | 浙江工业职业技术学院 | Toothpaste squeezing device enabling user to operate with single hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385281A (en) * | 2014-07-28 | 2015-03-04 | 天津大学 | Zero calibrating method for two-degree-freedom high speed parallel robot |
| CN104385281B (en) * | 2014-07-28 | 2016-07-06 | 天津大学 | A kind of Zero calibration method of two-freedom high speed parallel robot |
| CN112161800A (en) * | 2020-09-30 | 2021-01-01 | 北华航天工业学院 | Three-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive subchains |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104354154B (en) | Three translating parallel robot mechanisms | |
| CN202428439U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN103846911B (en) | A kind of high speed six-degree of freedom parallel manipulator | |
| CN203210372U (en) | Parallel robot | |
| CN102922515A (en) | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling | |
| CN204160242U (en) | A kind of mechanism for axial workpiece self-feeding | |
| CN103522282A (en) | Planar two-DOF parallel robot mechanism | |
| CN103522286A (en) | Planar vertical two-degree-of-freedom parallel robot mechanism | |
| DE502006008913D1 (en) | POWER STORAGE | |
| CN202622802U (en) | Two-freedom-degree translation parallel mechanism | |
| CN202922581U (en) | Two-degree freedom parallel mechanism with large lateral displacement | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN204094785U (en) | A kind of planar two-DOF parallel robot mechanism | |
| CN103522283A (en) | Planar two-DOF parallel translational robot mechanism | |
| CN103350418B (en) | High-speed five-freedom-degree parallel mechanical arm | |
| CN104647357A (en) | Four-degree-of-freedom stepper motor driving joint-type manipulator | |
| CN102873681A (en) | Novel two-degree-of-freedom manipulator mechanism | |
| CN103406897B (en) | There is the 3-freedom parallel mechanism that two move a turn | |
| CN104044135A (en) | Planar two-degree-of-freedom parallel robot mechanism | |
| CN204300269U (en) | A kind of one-sided crank block device that rests | |
| CN103495970A (en) | Three-freedom-degree parallel mechanism | |
| CN204054063U (en) | A kind of can the Delta structure parallel manipulator of precision three-dimensional movement | |
| CN103522285A (en) | Planar vertical two-degree-of-freedom parallel translational robot mechanism | |
| CN203712695U (en) | 2.5 axis horizontal joint manipulator | |
| CN203460177U (en) | High-speed five-freedom-degree parallel connection mechanical hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140122 |