CN105710861A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN105710861A CN105710861A CN201610190037.4A CN201610190037A CN105710861A CN 105710861 A CN105710861 A CN 105710861A CN 201610190037 A CN201610190037 A CN 201610190037A CN 105710861 A CN105710861 A CN 105710861A
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- CN
- China
- Prior art keywords
- universal joint
- connecting rod
- side chain
- pair
- motion platform
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a robot. The robot is composed of a movable platform, a fixed platform and three branch chains connected with the two platforms. The first branch chain and the second branch chain in the three branch chains are of the same structure and each composed of two universal joint pairs and a connecting rod between the two universal joint pairs from top to bottom. The third branch chain in the three branch chains is composed of a spherical hinge pair, a rotary pair, a universal joint pair and a connecting rod among the spherical hinge pair, the rotary pair and the universal joint pair from top to bottom. The robot is simple in mechanism, easy to process and manufacture and simple in kinematic model, kinematic calibration and control become easy, and meanwhile the number of mechanism joints is small, so that structural stiffness is improved.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of robot.
Background technology
Parallel robot mechanism is by being connected with plural side chain between fixed platform and motion platform, each side chain is made up of connecting rod and kinematic pair, motion platform has plural degree of freedom, and with the mechanism that parallel way drives, this serial manipulator with transmission is all very different in theory of mechanisms, kinesiology, kinetics etc..
Parallel robot mechanism is widely used in the technical fields such as Digit Control Machine Tool, inching operation, boiler maintenance, production processing, and research worker have also been invented a lot of parallel institution.But existing parallel robot mechanism still suffers from some shortcomings, the problems such as poor in manufacturability, structure complexity, manufacturing cost are high.
Summary of the invention
Present invention aims to the defect of prior art and deficiency, it is provided that a kind of simple in construction, kinematic pair number is few, the robot mechanism of less costly parallel connection.
For achieving the above object, the technical solution used in the present invention is:
A kind of robot, it is made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection, the first side chain and the second branched structure in described three side chains are identical, these two side chains are made up of two universal joints pairs and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, revolute pair, secondary and between them the connecting rod of universal joint from top to bottom；
One end of the connecting rod of the first side chain is connected with motion platform by the first universal joint pair, and the other end of connecting rod is connected with fixed platform by the second universal joint pair；
One end of the connecting rod of the second side chain is connected with motion platform by the 3rd universal joint pair, and the other end of connecting rod is connected with fixed platform by the 4th universal joint pair；
One end of the upper connecting rod of the 3rd side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by revolute pair, and the other end of lower link is connected with fixed platform by the 5th universal joint pair；
Wherein, secondary and the 3rd side chain the driving that the 5th universal joint pair is mechanism of the second universal joint of the first side chain the 4th universal joint secondary, the second side chain is secondary.
Preferably, described motion platform is isosceles triangle.
Preferably, described motion platform is isosceles right triangle.
The invention has the beneficial effects as follows:
The motion platform mechanism of robot mechanism of the present invention is simple, and processing and manufacturing is easy, and kinematics model is simple so that Kinematic Calibration and control become easy, and mechanism joint is few simultaneously, improves the rigidity of structure.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of robot.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Embodiments provide a kind of robot, as shown in Figure 1, it is made up of motion platform 1, fixed platform 9, three side chains connecting described motion platform 1 and fixed platform 9, the first side chain and the second branched structure in described three side chains are identical, these two side chains are made up of two universal joints pairs and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, revolute pair, secondary and between them the connecting rod of universal joint from top to bottom；
One end of the connecting rod L1 of the first side chain is connected with motion platform 1 by the first universal joint secondary 5, and the other end of connecting rod L1 is connected with fixed platform 9 by the second universal joint secondary 6；
One end of the connecting rod L2 of the second side chain is connected with motion platform 1 by the 3rd universal joint secondary 7, and the other end of connecting rod L2 is connected with fixed platform 9 by the 4th universal joint secondary 8；
One end of the upper connecting rod L3 of the 3rd side chain is connected with motion platform 1 by typed ball bearing pair 2, and the other end of upper connecting rod L3 is connected with one end of lower link L4 by revolute pair 3, and the other end of lower link L4 is connected with fixed platform 9 by the 5th universal joint secondary 4；
Wherein, the 4th universal joint secondary 8 of second universal joint pair the 6, second side chain of the first side chain and the driving that the 5th universal joint secondary 4 is mechanism of the 3rd side chain are secondary.
Preferably, described motion platform 1 is isosceles triangle.
Preferably, described motion platform 1 is isosceles right triangle.
Above disclosed it is only present pre-ferred embodiments, certainly can not limit the interest field of the present invention, the equivalent variations therefore made according to the claims in the present invention with this, still belong to the scope that the present invention contains.
Claims (3)
1. a robot, it is made up of motion platform (1), fixed platform (9), three side chains connecting described motion platform (1) and fixed platform (9), it is characterized in that: the first side chain and the second branched structure in described three side chains are identical, secondary by two universal joints and between them connecting rod forms respectively all from top to bottom, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, revolute pair, secondary and between them the connecting rod of universal joint from top to bottom；
One end of the connecting rod (L1) of the first side chain is connected with motion platform (1) by the first universal joint secondary (5), and the other end of connecting rod (L1) is connected with fixed platform (9) by the second universal joint secondary (6)；
One end of the connecting rod (L2) of the second side chain is connected with motion platform (1) by the 3rd universal joint secondary (7), and the other end of connecting rod (L2) is connected with fixed platform (9) by the 4th universal joint secondary (8)；
One end of the upper connecting rod (L3) of the 3rd side chain is connected with motion platform (1) by typed ball bearing pair (2), the other end of upper connecting rod (L3) is connected with one end of lower link (L4) by revolute pair (3), and the other end of lower link (L4) is connected with fixed platform (9) by the 5th universal joint secondary (4)；
Wherein, the driving that second universal joint secondary (6) of the first side chain, the 4th universal joint secondary (8) of the second side chain and the 5th universal joint secondary (4) of the 3rd side chain are mechanism is secondary.
2. a kind of robot according to claim 1, it is characterised in that: described motion platform (1) is isosceles triangle.
3. a kind of robot according to claim 2, it is characterised in that: described motion platform (1) is isosceles right triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610190037.4A CN105710861A (en) | 2016-03-30 | 2016-03-30 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610190037.4A CN105710861A (en) | 2016-03-30 | 2016-03-30 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105710861A true CN105710861A (en) | 2016-06-29 |
Family
ID=56159426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610190037.4A Pending CN105710861A (en) | 2016-03-30 | 2016-03-30 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105710861A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN104440881A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Double-platform mechanism |
| CN104440879A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Multi-freedom-degree parallel mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN104589308A (en) * | 2014-11-21 | 2015-05-06 | 广西智通节能环保科技有限公司 | Multi-rotating-pair mechanism |
| CN104669251A (en) * | 2015-02-10 | 2015-06-03 | 柳州市金旭节能科技有限公司 | 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism |
| CN104858857A (en) * | 2015-03-31 | 2015-08-26 | 广西智通节能环保科技有限公司 | 2PR and PRS spatial parallel robot mechanism |
| CN104858856A (en) * | 2015-03-31 | 2015-08-26 | 广西智通节能环保科技有限公司 | 2PU and CRS spatial parallel robot mechanism |
-
2016
- 2016-03-30 CN CN201610190037.4A patent/CN105710861A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN104440881A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Double-platform mechanism |
| CN104440879A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Multi-freedom-degree parallel mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN104589308A (en) * | 2014-11-21 | 2015-05-06 | 广西智通节能环保科技有限公司 | Multi-rotating-pair mechanism |
| CN104669251A (en) * | 2015-02-10 | 2015-06-03 | 柳州市金旭节能科技有限公司 | 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism |
| CN104858857A (en) * | 2015-03-31 | 2015-08-26 | 广西智通节能环保科技有限公司 | 2PR and PRS spatial parallel robot mechanism |
| CN104858856A (en) * | 2015-03-31 | 2015-08-26 | 广西智通节能环保科技有限公司 | 2PU and CRS spatial parallel robot mechanism |
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Application publication date: 20160629 |
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| WD01 | Invention patent application deemed withdrawn after publication |