CN105773582A - Six-degree-of-freedom robot with three branch chains - Google Patents
Six-degree-of-freedom robot with three branch chains Download PDFInfo
- Publication number
- CN105773582A CN105773582A CN201610355256.3A CN201610355256A CN105773582A CN 105773582 A CN105773582 A CN 105773582A CN 201610355256 A CN201610355256 A CN 201610355256A CN 105773582 A CN105773582 A CN 105773582A
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- China
- Prior art keywords
- connecting rod
- cross universal
- hinge
- universal hinge
- lower cross
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- 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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A six-degree-of-freedom robot with three branch chains consists of a moving platform, a fixed platform and three branch chains uniformly distributed for connecting the moving platform and the fixed platform, wherein each branch chain comprises a lower cross universal hinge, a support telescopic rod assembly and an upper cross universal hinge, sequentially connected from the fixed platform to the moving platform; the support telescopic rod assembly consists of a moving connecting rod and a support connecting rod, a plane connecting rod assembly is mounted among the upper hinge bases of the moving connecting rod, the support connecting rod and the lower cross universal hinge, and the plane connecting rod assembly consists of a lower connecting rod, a middle connecting rod and an upper connecting rod; the bottom end of the upper connecting rod is connected with the moving connecting rod through a hinge pin, and the bottom end of the lower connecting rod is connected with an output shaft of a second motor on an upper fork-shaped hinge base of the lower cross universal hinge; and a lower fork-shaped hinge base of the lower cross universal hinge is fixedly mounted on the fixed platform, a first motor is mounted on the lower fork-shaped hinge base of the lower cross universal hinge, and an output shaft of the first motor is connected with a cross hinge pin of the lower cross universal hinge.
Description
Technical field
The invention belongs to parallel robot field.
Background technology
On the basis of existing Stewart six-degree-of-freedom parallel connection mechanism, change the kind of kinematic pair in branch, put in order and direction etc., it is maintained with six independent degree of branch, new six-degree-of-freedom parallel connection mechanism type can be obtained, the 6DOF parallel institution side chain of existing improvement is uniformly and symmetrically distributed arrangement, required driving is more, and control method is complicated；It addition, the kinematic accuracy of single side chain has a strong impact on whole moving platform kinematic accuracy, and then the job requirement of special circumstances can not be met well.
Therefore provide the three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot of a kind of improvement so that it is side chain forms of motion is simple and easy to control, there is higher motility and kinematic accuracy is higher, become problem demanding prompt solution in prior art.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, by moving platform, fixed platform and three connect the uniform side chain of moving platform and fixed platform and form, it is characterized in that every side chain fixed platform includes the lower cross universal hinge being sequentially connected with to moving platform direction, support telescopic bar assembly and upper cross universal hinge, support telescopic bar assembly is by can coaxially the movable rod of stretching motion and support link form, the end of movable rod and the end of support link respectively with upper cross universal hinge and lower cross universal chain connection, at movable rod, mounting plane link assembly between the upper hinge seat of support link and lower cross universal hinge, the lower link that described planar linkage assembly is sequentially connected with to moving platform direction with bearing pin from fixed platform by edge, intermediate connecting rod and upper connecting rod composition；Upper connecting rod end is connected with movable rod by bearing pin, have the elongated slot parallel with connecting rod direction in the middle part of intermediate connecting rod and be slidably connected with the bearing pin in support link by elongated slot, lower link end is connected with the output shaft of the second motor on the upper forked type hinge seat being fixed on lower cross universal hinge, the lower forked type hinge seat of lower cross universal hinge fixedly mounts on the stationary platform, first motor is arranged on the lower forked type hinge seat of lower cross universal hinge, and the output shaft of the first motor is connected with the cross bearing pin of lower cross universal hinge.
A kind of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot provided by the invention has the following advantages compared with the three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot of existing various improvement
(1) simple and reliable for structure, moving platform stable movement
(2) single side chain is configured with two drivings, opposing coupler between driving, this mechanism is made to have higher motility, and positioning precision is high, two drive motors of each side chain, first motor can make upper mounting plate be rapidly achieved destination locations, and moving platform is carried out precision position adjustment by the second motor.Using two motors as main driving and coordinated drive, or simultaneously drive can make moving platform quickly, smoothly realize Six-freedom-degree space motion；And the forms of motion of side chain is relatively easy, it is easy to ensure this mechanism precision in operation and quality,
(3) this mechanism controls strong robustness, carrying better, it is possible to be applied to the field such as lathe, robot detection according to different needs.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of embodiment of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot provided by the invention
Fig. 2 is the structural representation of a side chain of a kind of embodiment of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot provided by the invention
In figure
1, moving platform, 2, fixed platform, 3 support telescopic bar assemblies, 4, planar linkage assembly, 5, upper cross universal hinge, 6, lower cross universal hinge, 7, movable rod, 8, support link, 9, upper connecting rod, 10, intermediate connecting rod, 11 lower links, the 14, first motor, the 15, second motor.
Detailed description of the invention
The invention provides a kind of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, by moving platform 1, fixed platform 2 and three connect the uniform side chain of moving platform and fixed platform and form, it is characterized in that every side chain fixed platform includes the lower cross universal hinge 6 being sequentially connected with to moving platform direction, support telescopic bar assembly 3 and upper cross universal hinge 5, support telescopic bar assembly 3 is by can coaxially the movable rod 7 of stretching motion and support link 8 form, the end of movable rod and the end of support link respectively with upper cross universal hinge and lower cross universal chain connection, at movable rod, mounting plane link assembly 4 between the upper hinge seat of support link and lower cross universal hinge, the lower link 11 that described planar linkage assembly 4 is sequentially connected with to moving platform direction with bearing pin from fixed platform by edge, intermediate connecting rod 10 and upper connecting rod 9 form；Upper connecting rod end is connected with movable rod by bearing pin, have the elongated slot parallel with connecting rod direction in the middle part of intermediate connecting rod and be slidably connected with the bearing pin in support link by elongated slot, lower link end is connected with the output shaft of the second motor 15 on the upper forked type hinge seat being fixed on lower cross universal hinge, the lower forked type hinge seat of lower cross universal hinge fixedly mounts on the stationary platform, first motor 14 is arranged on the lower forked type hinge seat of lower cross universal hinge, and the output shaft of the first motor is connected with the cross bearing pin of lower cross universal hinge.
The motion principle of three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot provided by the invention is as follows
1) the first motor control support bar assembly rotates around lower cross universal hinge, it is possible to make moving platform quickly arrive destination locations,
2) the second motor drives lower link around its output shaft rotation, and drive the elongated slot of intermediate connecting rod along bearing pin relative sliding, make connecting rod promote movable rod to move along the axis of support link, regulate the flexible of support telescopic bar assembly, thus the position of moving platform is accurately regulated.
3) the first motor and the second motor can alternately regulate, can also synergic adjustment, play drive coupling, shorten adjustment process.
Claims (1)
1. a three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, by moving platform, fixed platform and three connect the uniform side chain of moving platform and fixed platform and form, it is characterized in that every side chain fixed platform includes the lower cross universal hinge being sequentially connected with to moving platform direction, support telescopic bar assembly and upper cross universal hinge, support telescopic bar assembly is by can coaxially the movable rod of stretching motion and support link form, the end of movable rod and the end of support link respectively with upper cross universal hinge and lower cross universal chain connection, at movable rod, mounting plane link assembly between the upper hinge seat of support link and lower cross universal hinge, the lower link that described planar linkage assembly is sequentially connected with to moving platform direction with bearing pin from fixed platform by edge, intermediate connecting rod and upper connecting rod composition；Upper connecting rod end is connected with movable rod by bearing pin, have the elongated slot parallel with connecting rod direction in the middle part of intermediate connecting rod and be slidably connected with the bearing pin in support link by elongated slot, lower link end is connected with the output shaft of the second motor on the upper forked type hinge seat being fixed on lower cross universal hinge, the lower forked type hinge seat of lower cross universal hinge fixedly mounts on the stationary platform, first motor is arranged on the lower forked type hinge seat of lower cross universal hinge, and the output shaft of the first motor is connected with the cross bearing pin of lower cross universal hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610355256.3A CN105773582A (en) | 2016-05-25 | 2016-05-25 | Six-degree-of-freedom robot with three branch chains |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610355256.3A CN105773582A (en) | 2016-05-25 | 2016-05-25 | Six-degree-of-freedom robot with three branch chains |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105773582A true CN105773582A (en) | 2016-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610355256.3A Pending CN105773582A (en) | 2016-05-25 | 2016-05-25 | Six-degree-of-freedom robot with three branch chains |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486590A (en) * | 2019-09-11 | 2019-11-22 | 穆特科技（武汉）股份有限公司 | A kind of two degrees of freedom platform mechanism of sliding block form |
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| JP2012076188A (en) * | 2010-10-04 | 2012-04-19 | Leptrino Co Ltd | Parallel link mechanism and driving stage |
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| CN103465255A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Hydraulic drive parallel moving robot |
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| CN104929544A (en) * | 2015-06-21 | 2015-09-23 | 常州大学 | Oil drilling pipe clamping jaw |
| CN205630614U (en) * | 2016-05-25 | 2016-10-12 | 河北工业大学 | Three -branch six -degree -of -freedom robot |
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- 2016-05-25 CN CN201610355256.3A patent/CN105773582A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1745986A (en) * | 2005-10-10 | 2006-03-15 | 燕山大学 | Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU |
| CN101270772A (en) * | 2008-05-13 | 2008-09-24 | 北京交通大学 | Spacing telescoping mechanism using inverse parallelogram |
| JP2012076188A (en) * | 2010-10-04 | 2012-04-19 | Leptrino Co Ltd | Parallel link mechanism and driving stage |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN103465255A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Hydraulic drive parallel moving robot |
| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
| CN204375903U (en) * | 2014-09-03 | 2015-06-03 | 上海创投机电工程有限公司 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
| CN104929544A (en) * | 2015-06-21 | 2015-09-23 | 常州大学 | Oil drilling pipe clamping jaw |
| CN205630614U (en) * | 2016-05-25 | 2016-10-12 | 河北工业大学 | Three -branch six -degree -of -freedom robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486590A (en) * | 2019-09-11 | 2019-11-22 | 穆特科技（武汉）股份有限公司 | A kind of two degrees of freedom platform mechanism of sliding block form |
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Application publication date: 20160720 |
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