CN106041921A - Six-degree-of-freedom hybrid robot - Google Patents
Six-degree-of-freedom hybrid robot Download PDFInfo
- Publication number
- CN106041921A CN106041921A CN201610522635.7A CN201610522635A CN106041921A CN 106041921 A CN106041921 A CN 106041921A CN 201610522635 A CN201610522635 A CN 201610522635A CN 106041921 A CN106041921 A CN 106041921A
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- leading screw
- wheel
- reductor
- motor
- connecting shaft
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-degree-of-freedom hybrid robot and belongs to the technical field of industrial robots. The hybrid robot comprises a rack, a connection rod synchronous belt transmission mechanism, a tail end executing mechanism and a driving device. In the six-degree-of-freedom hybrid robot, a fifth motor and a sixth motor control rotation of a first driving arm and a second driving arm so that translational motion of a second driven arm can be achieved; a first motor, a second motor, a third motor and a fourth motor control rotation of a first driving wheel, a second driving wheel, a third driving wheel and a fourth driving wheel so that movement of a first lead screw, a second lead screw, a third lead screw and a spline shaft can be achieved; and the space multi-direction overturning and the rotational movement of a tail end connection flange are finally achieved, and therefore the ideal action of the tail end connection flange can be achieved. According to the six-degree-of-freedom hybrid robot, a servo system is adopted, the action is accurate and steady, a human-computer interface is adopted for operation, the operation is flexible, and the six-degree-of-freedom hybrid robot can be widely applied in the industrial production field.
Description
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of six degree of freedom series-parallel robot.
Background technology:
In the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation past
Toward needing end effector to carry out the mechanical hand of high-speed job in space.General industry robot device costliness, structure bulky,
Take up room big and range of movement is limited, it is impossible to meet people simultaneously to space functional, little, lightness, high accuracy etc. in many ways
The high requirement in face.A kind of six degree of freedom series-parallel robot that the present invention provides can not only meet the quick lightness market of light load
Demand, and because the feature of its six-freedom degree, it is possible to achieve the space of multi-angle on a large scale.Adapt to key industry
Sorting application, the highest to environmental requirement, have more flexibility.The research and development speed of robot can be improved, reduce cost, for robot
Design provides direction and theoretical foundation further.
Summary of the invention:
The present invention is directed to the upgrade problem of existing multi-freedom robot, it is provided that a kind of six degree of freedom series-parallel robot, this
Invention provide a kind of six degree of freedom series-parallel robot include frame 1, connecting rod synchronous belt drive mechanism 2, end effector mechanism 3 and
Driving means；Described driving means include the first motor 4-1, the first reductor 4-2, the second motor 5-1, the second reductor 5-2,
3rd motor 6-1, the 3rd reductor 6-2, the 4th motor 7-1, the 4th reductor 7-2, the 5th motor 8-1, the 5th reductor 8-
2, the 6th motor 9-1 and the 6th reductor 9-2；Described first motor 4-1, the first reductor 4-2, the second motor 5-1, second subtract
Speed machine 5-2, the 3rd motor 6-1, the 3rd reductor 6-2, the 4th motor 7-1, the 4th reductor 7-2, the 5th motor 8-1, the 5th
Reductor 8-2, the 6th motor 9-1 and described 6th reductor 9-2 are supporting to be arranged in described frame 1, as whole robot
Power set.
Described connecting rod synchronous belt drive mechanism 2 include the first drivewheel 4-3, the second drivewheel 5-3, the 3rd drivewheel 6-3,
4th drivewheel 7-3, first driven pulley the 10, second driven pulley the 11, the 3rd driven pulley the 12, the 4th driven pulley the 13, first connecting shaft
14, second connecting shaft the 15, first master arm the 16, second master arm the 17, first slave arm the 18, second slave arm the 19, the 3rd connects
In axle the 20, the 4th connecting shaft the 21, the 5th connecting shaft the 22, the 6th connecting shaft the 23, first breast wheel the 24, second breast wheel the 25, the 3rd
Between take turns the 26, the 4th breast wheel the 27, the 5th breast wheel the 28, the 6th breast wheel the 29, the 7th breast wheel the 30, first Timing Belt 31, second
Timing Belt the 32, the 3rd Timing Belt 33 and the 4th Timing Belt (34).
Described first drivewheel 4-3, the second drivewheel 5-3, the 3rd drivewheel 6-3 and described 4th drivewheel 7-3 are respectively
It is arranged on described first reductor 4-2, the second reductor 5-2, the 3rd reductor 6-2 and described 4th reductor 7-2；Described
First connecting shaft 14 is fixed on the axle of described 5th reductor 8-2；Described second connecting shaft 15 is fixed in described 6th deceleration
On the axle of machine 9-2；Described first driven pulley the 10, second driven pulley 11 is arranged in described first connecting shaft 14 by bearing；Institute
State the 3rd driven pulley the 12, the 4th driven pulley 13 to be arranged in described second connecting shaft 15 by bearing.
One end of described first master arm 16 is arranged on described 5th motor 8-1, another of described first master arm 16
End is connected with described first slave arm 18 by described 5th connecting shaft 22；One end of described second master arm 17 is arranged on institute
Stating on the 6th motor 9-1, the other end of described second master arm 17 is by described 3rd connecting shaft 20 and described second slave arm
19 are connected；Described first slave arm 18 is connected with described second slave arm 19 by described 4th connecting shaft 21；Described
Six connecting shafts 23 are fixed on described first slave arm 18；Described first breast wheel the 24, second breast wheel 25 is installed by bearing
In described 3rd connecting shaft 20；Described 3rd breast wheel the 26, the 4th breast wheel 27 is arranged on described 4th connection by bearing
On axle 21；Described 5th breast wheel the 28, the 6th breast wheel 29 is arranged in described 5th connecting shaft 22 by bearing；Described 7th
Breast wheel 30 is arranged in described 6th connecting shaft 23 by bearing；It is main that described first Timing Belt 31 is sequentially arranged at described first
Driving wheel 4-3, the second driven pulley the 11, the 6th breast wheel 29 and the described 4th perform on wheel 46；Described second Timing Belt 32 is pacified successively
Be contained in described second drivewheel 5-3, the first driven pulley the 10, the 5th breast wheel the 28, the 7th breast wheel 30 and the described 3rd performs wheel
On 45；Described 3rd Timing Belt 33 install successively through described 3rd drivewheel 6-3, the 4th driven pulley the 13, second breast wheel 25,
4th breast wheel 27 and described second performs on wheel 44；Described 4th Timing Belt 34 is installed successively through described 4th drivewheel 7-
3, the 3rd driven pulley the 12, first breast wheel the 24, the 3rd breast wheel 26 and described first performs on wheel 43.
Described end effector mechanism 3 includes first feed screw nut the 35, second feed screw nut the 36, the 3rd feed screw nut
37, splined nut the 38, first leading screw the 39, second leading screw the 40, the 3rd leading screw 41,47, second, splined shaft the 42, first leading screw support
Thick stick support the 48, the 3rd leading screw support 49, spline support the 50, first ball pivot the 51, second ball pivot the 52, first Hooke's hinge the 53, second tiger
Gram hinge the 54, the 3rd Hooke's hinge the 55, the 4th Hooke's hinge the 56, the 5th Hooke's hinge 57, head rod the 58, second connecting rod the 59, the 3rd
Connecting rod the 60, the 4th connecting rod the 61, the 5th connecting rod the 62, the 6th connecting rod the 63, first end connectors the 64, second end connects
Part 65, three-termination connector 66, end intermediate connector 67, end platform 68 and end adpting flange 69.
Described first leading screw support the 47, second leading screw support the 48, the 3rd leading screw support 49 and spline support 50 are fixed in institute
Stating on the first slave arm 18, described first leading screw support the 47, second leading screw support 48 and the 3rd leading screw support 49 are in equilateral triangle
Shape structure, described spline support 50 is positioned at the center of described equilateral triangle；Described first feed screw nut the 35, second feed screw nut
36, the 3rd feed screw nut 37 and described splined nut 38 correspondence respectively are arranged on described first leading screw support the 47, second leading screw and prop up
On frame the 48, the 3rd leading screw support 49 and described spline support 50；Described first leading screw the 39, second leading screw the 40, the 3rd leading screw 41 and
Described splined shaft 42 respectively correspondence is through described first feed screw nut the 35, second feed screw nut the 36, the 3rd feed screw nut 37 and institute
State splined nut 38.
Described first leading screw 39 is connected with described head rod 58 by described first ball pivot 51, and described first connects
Bar 58 is connected with described first end connectors 64 by the first Hooke's hinge 53；Described second leading screw 40 is by described second ball
Hinge 52 is connected with described second connecting rod 59, and described second connecting rod 59 is by described second Hooke's hinge 54 and described second end
End connection 65 is connected；One end of described 3rd connecting rod 60 is affixed with described 3rd leading screw 41, described 3rd connecting rod 60
The other end be connected with described three-termination connector 66 by described 3rd Hooke's hinge 55；The one of described 4th connecting rod 61
Holding affixed with described splined shaft 42, the other end of described 4th connecting rod 61 is by the 4th Hooke's hinge 56 and described 5th connecting rod
One end of 62 is connected, and the other end of described 5th connecting rod 62 is affixed with one end of described 6th connecting rod 63, and the described 6th
The other end of connecting rod 63 is connected with described end intermediate connector 67 by described 5th Hooke's hinge 57；Described first end
Connector the 64, second end connectors 65 and described three-termination connector 66 in equilateral triangle structure, described first end
Connector the 64, second end connectors 65 and described three-termination connector 66 are fixed on described end platform 68；Described end
End intermediate connector 67 is arranged on the center of described end platform 68 by bearing, and described end adpting flange 69 is fixed in described
On end intermediate connector 67.
Described first performs wheel the 43, second execution wheel the 44, the 3rd execution wheel the 45, the 4th execution wheel 46 correspondence respectively is arranged on
On described first feed screw nut the 35, second feed screw nut the 36, the 3rd feed screw nut 37, splined nut 38.
The present invention has a techniques below feature:
1, the six-freedom degree of the end adpting flange of the present invention is by six identical driven by servomotor, and action is accurate,
Flexible operation.
2, six power sources are delivered to end adpting flange by the series-parallel connection kind of drive by the present invention；
3, the present invention is capable of along 3 translational degree of freedom of X, Y, Z axis and rotating around X, Y, Z axis 3 rotatably mounted
Spending, structure is simplified, and low price takes up room little, and work surface is steady, can be largely used to the occasions such as industry sorting.
Accompanying drawing illustrates:
Fig. 1 is six degree of freedom series-parallel robot structural representation of the present invention；
Driving means and connecting rod synchronous belt drive mechanism attachment structure schematic diagram in Tu2Shi robot of the present invention；
Connecting rod synchronous belt drive mechanism and end effector mechanism attachment structure schematic diagram in Tu3Shi robot of the present invention；
One of structural representation of end effector mechanism in Tu4Shi robot of the present invention；
In Tu5Shi robot of the present invention the two of the structural representation of end effector mechanism；
In Tu6Shi robot of the present invention the three of the structural representation of end effector mechanism.
In figure: 1: frame, 2: connecting rod synchronous belt drive mechanism, 3: end effector mechanism, the 4-1: the first motor, 4-2: the first
Reductor, the 4-3: the first drivewheel, the 5-1: the second motor, the 5-2: the second reductor, the 5-3: the second drivewheel, the 6-1: the three electricity
Machine, the 6-2: the three reductor, the 6-3: the three drivewheel, the 7-1: the four motor, the 7-2: the four reductor, the 7-3: the four drivewheel,
8-1: the five motor, the 8-2: the five reductor, the 9-1: the six motor, the 9-2: the six reductor, 10: the first driven pulleys, 11: the second
Driven pulley, 12: the three driven pulleys, 13: the four driven pulleys, 14: the first connecting shafts, 15: the second connecting shafts, 16: the first master arms,
17: the second master arms, 18: the first slave arms, 19: the second slave arms, 20: the three connecting shafts, 21: the four connecting shafts, 22: the five
Connecting shaft, 23: the six connecting shafts, 24: the first breast wheels, 25: the second breast wheels, 26: the three breast wheels, 27: the four breast wheels,
28: the five breast wheels, 29: the six breast wheels, 30: the seven breast wheels, 31: the first Timing Belts, 32: the second Timing Belts, 33: the three
Timing Belt, 34: the four Timing Belts, 35: the first feed screw nuts, 36: the second feed screw nuts, 37: the three feed screw nuts, 38: spline
Nut, 39: the first leading screws, 40: the second leading screws, 41: the three leading screws, 42: splined shaft, 43: the first perform wheel, 44: the second perform
Wheel, 45: the three perform wheel, 46: the four perform wheel, 47: the first leading screw supports, 48: the second leading screw supports, 49: the three leading screws prop up
Frame, 50: spline support, 51: the first ball pivots, 52: the second ball pivots, 53: the first Hooke's hinges, 54: the second Hooke's hinges, 55: the three tiger
Gram hinge, 56: the four Hooke's hinges, 57: the five Hooke's hinges, 58: head rod, 59: the second connecting rods, 60: the three connecting rods,
61: the four connecting rods, 62: the five connecting rods, 63: the six connecting rods, 64: the first end connectors, 65: the second ends connect
Part, 66: the three-termination connectors, 67: end intermediate connector, 68: end platform, 69: end adpting flange.
Detailed description of the invention:
The invention will be further described below in conjunction with the accompanying drawings:
As it is shown in figure 1, a kind of six degree of freedom series-parallel robot, hold including frame 1, connecting rod synchronous belt drive mechanism 2, end
Row mechanism 3 and driving means；Described driving means include the first motor 4-1, the first reductor 4-2, the second motor 5-1, second
Reductor 5-2, the 3rd motor 6-1, the 3rd reductor 6-2, the 4th motor 7-1, the 4th reductor 7-2, the 5th motor 8-1,
Five reductor 8-2, the 6th motor 9-1, the 6th reductor 9-2.
Described end effector mechanism 3 includes first feed screw nut the 35, second feed screw nut the 36, the 3rd feed screw nut 37, flower
Key nut the 38, first leading screw the 39, second leading screw the 40, the 3rd leading screw 41, splined shaft the 42, first leading screw support the 47, second leading screw prop up
Frame the 48, the 3rd leading screw support 49, spline support the 50, first ball pivot the 51, second ball pivot the 52, first Hooke's hinge the 53, second Hooke's hinge
54, the 3rd Hooke's hinge the 55, the 4th Hooke's hinge the 56, the 5th Hooke's hinge 57, head rod the 58, second connecting rod the 59, the 3rd connect
Bar the 60, the 4th connecting rod the 61, the 5th connecting rod the 62, the 6th connecting rod the 63, first end connectors the 64, second end connectors
65, three-termination connector 66, end intermediate connector 67, end platform 68 and end adpting flange 69.
Described first motor 4-1, the first reductor 4-2, the second motor 5-1, the second reductor 5-2, the 3rd motor 6-1,
3rd reductor 6-2, the 4th motor 7-1, the 4th reductor 7-2, the 5th motor 8-1, the 5th reductor 8-2, the 6th motor 9-
1, the 6th reductor 9-2 is supporting is arranged in frame 1, as the power set of whole robot；Described first drivewheel 4-3,
Second drivewheel 5-3, the 3rd drivewheel 6-3, the 4th drivewheel 7-3 correspondence respectively be arranged on described first reductor 4-2, second
On reductor 5-2, the 3rd reductor 6-2, the 4th reductor 7-2；Described first connecting shaft 14 is fixed in described 5th reductor
On 8-2 axle；Described second connecting shaft 15 is fixed on described 6th reductor 9-2 axle；Described first driven pulley 10, second is driven
Wheel 11 is commonly mounted in described first connecting shaft 14 by bearing；Described 3rd driven pulley the 12, the 4th driven pulley 13 passes through axle
Hold and be commonly mounted in described second connecting shaft 15；One end of described first master arm 16 is arranged on described 5th motor 8-1,
Its other end is connected with described first slave arm 18 by described 5th connecting shaft 22；One end peace of described second master arm 17
Being contained on described 6th motor 9-1, its other end is connected with described second slave arm 19 by described 3rd connecting shaft 20；Institute
State the first slave arm 18 to be connected with described second slave arm 19 by described 4th connecting shaft 21；Described 6th connecting shaft 23 is solid
It is connected on described first slave arm 18；Described first breast wheel the 24, second breast wheel 25 is arranged on described commonly through bearing
In three connecting shafts 20；Described 3rd breast wheel the 26, the 4th breast wheel 27 is arranged on described 4th connecting shaft 21 commonly through bearing
On；5th breast wheel the 28, the 6th breast wheel 29 is arranged in described 5th connecting shaft 22 commonly through bearing；In the middle of described 7th
Wheel 30 is arranged in described 6th connecting shaft 23 by bearing；Described first Timing Belt system 31 installs through described first main successively
The 4th execution wheel 46 in driving wheel 4-3, the second driven pulley the 11, the 6th breast wheel 29 and execution device 3；Described second Timing Belt
Be 32 install successively through described second drivewheel 5-3, the first driven pulley the 10, the 5th breast wheel the 28, the 7th breast wheel 30 and
Perform the 3rd execution wheel 45 in device 3；Described 3rd Timing Belt system 33 install successively through described 3rd drivewheel 6-3,
The second execution wheel 44 in four driven pulley the 13, second breast wheel the 25, the 4th breast wheels 27 and execution device 3；Described 4th is same
Ambulacral system 34 is installed successively through described 4th drivewheel 7-3, the 3rd driven pulley the 12, first breast wheel the 24, the 3rd breast wheel 26
And perform the first execution wheel 43 in device 3.
As shown in Fig. 4, Fig. 5, Fig. 6, described first leading screw support the 47, second leading screw support the 48, the 3rd leading screw support 49, flower
Key support 50 is fixed in equilateral triangle on the first slave arm 18, and wherein said spline support 50 is in this equilateral triangle
The heart；Described first feed screw nut the 35, second feed screw nut the 36, the 3rd feed screw nut 37, splined nut 38 correspondence respectively are arranged on
On described first leading screw support the 47, second leading screw support the 48, the 3rd leading screw support 49, spline support 50；Described first performs wheel
43, second perform wheel 44, the 3rd perform wheel 45, the 4th perform wheel 46 correspondence respectively be arranged on described first feed screw nut 35, the
On two feed screw nut the 36, the 3rd feed screw nuts 37, splined nut 38；Described first leading screw the 39, second leading screw the 40, the 3rd leading screw
41, splined shaft 42 correspondence respectively is through described first feed screw nut the 35, second feed screw nut the 36, the 3rd feed screw nut 37, spline
Nut 38；Described first leading screw 39 is connected with described First Transition rod member 58 by described first ball pivot 51；Described first even
Extension bar 58 is connected with described first end connectors 64 by the first Hooke's hinge 53；Described second leading screw 40 is by described second
Ball pivot 52 is connected with described second connecting rod 59；Described second connecting rod 59 is by described second Hooke's hinge 54 and described second
End connectors 65 is connected；One end of described 3rd connecting rod 60 is affixed with described 3rd leading screw 41, and its other end passes through institute
State the 3rd Hooke's hinge 55 to be connected with described three-termination connector 66；One end of described 4th connecting rod 61 and described splined shaft
42 is affixed, and its other end is connected by one end of the 4th Hooke's hinge 56 with described 5th connecting rod 62；Described 5th connecting rod
Described in the other end one of 62, one end of the 6th connecting rod 63 is affixed；The other end of described 6th connecting rod 63 is by described 5th tiger
Gram hinge 57 is connected with described end intermediate connector 67；Described first end connectors the 64, second end connectors the 65, the 3rd
End connectors 66 is fixed in equilateral triangle on described end platform 68；Described end intermediate connector 67 is pacified by bearing
It is contained in the center of described end platform 68；Described end adpting flange 69 is fixed on described end intermediate connector 67.
As it is shown in figure 1, the 5th motor 8-1, the 6th motor 9-1 control first master arm the 16, second master arm in the present invention
The rotation of 17, for realizing the translation of the second slave arm 19；First motor 4-1, the second motor 5-1, the 3rd motor 6-1, the 4th
Motor 7-1 controls the first drivewheel 4-3, the second drivewheel 5-3, the 3rd drivewheel 6-3, the rotation of the 4th drivewheel 7-3, is used for
Realize described first leading screw the 39, second leading screw the 40, the 3rd leading screw 41 and the motion of splined shaft 42, and finally realize end connection method
The multi-direction upset in space of blue 69 and the rotary motion of self.
Claims (1)
1. a six degree of freedom series-parallel robot, it is characterised in that this robot includes frame (1), connecting rod synchronous belt drive mechanism
(2), end effector mechanism (3) and driving means；Described driving means include the first motor (4-1), the first reductor (4-2),
Second motor (5-1), the second reductor (5-2), the 3rd motor (6-1), the 3rd reductor (6-2), the 4th motor (7-1),
Four reductors (7-2), the 5th motor (8-1), the 5th reductor (8-2), the 6th motor (9-1) and the 6th reductor (9-2), institute
State the first motor (4-1), the first reductor (4-2), the second motor (5-1), the second reductor (5-2), the 3rd motor (6-1),
3rd reductor (6-2), the 4th motor (7-1), the 4th reductor (7-2), the 5th motor (8-1), the 5th reductor (8-2),
6th motor (9-1) and described 6th reductor (9-2) is supporting is arranged in described frame (1), dynamic as whole robot
Power apparatus；Described connecting rod synchronous belt drive mechanism (2) includes the first drivewheel (4-3), the second drivewheel (5-3), the 3rd active
Wheel (6-3), the 4th drivewheel (7-3), the first driven pulley (10), the second driven pulley (11), the 3rd driven pulley (12), the 4th driven
Wheel (13), the first connecting shaft (14), the second connecting shaft (15), the first master arm (16), the second master arm (17), the first slave arm
(18), the second slave arm (19), the 3rd connecting shaft (20), the 4th connecting shaft (21), the 5th connecting shaft (22), the 6th connecting shaft
(23), the first breast wheel (24), the second breast wheel (25), the 3rd breast wheel (26), the 4th breast wheel (27), the 5th breast wheel
(28), the 6th breast wheel (29), the 7th breast wheel (30), the first Timing Belt (31), the second Timing Belt (32), the 3rd Timing Belt
And the 4th Timing Belt (34), described first drivewheel (4-3), the second drivewheel (5-3), the 3rd drivewheel (6-3) and institute (33)
State the 4th drivewheel (7-3) and be separately mounted to described first reductor (4-2), the second reductor (5-2), the 3rd reductor (6-
2) and on described 4th reductor (7-2), described first connecting shaft (14) is fixed on the axle of described 5th reductor (8-2),
Described second connecting shaft (15) is fixed on the axle of described 6th reductor (9-2), described first driven pulley (10), second driven
Wheel (11) is arranged on described first connecting shaft (14) by bearing, and described 3rd driven pulley (12), the 4th driven pulley (13) are logical
Crossing bearing to be arranged on described second connecting shaft (15), one end of described first master arm (16) is arranged on described 5th motor
(8-1), on, the other end of described first master arm (16) is by described 5th connecting shaft (22) and described first slave arm (18)
Being connected, one end of described second master arm (17) is arranged on described 6th motor (9-1), described second master arm (17)
The other end is connected with described second slave arm (19) by described 3rd connecting shaft (20), and described first slave arm (18) is passed through
Described 4th connecting shaft (21) is connected with described second slave arm (19), and described 6th connecting shaft (23) is fixed in described first
On slave arm (18), described first breast wheel (24), the second breast wheel (25) are arranged on described 3rd connecting shaft by bearing
(20), on, described 3rd breast wheel (26), the 4th breast wheel (27) are arranged in described 4th connecting shaft (21) by bearing, institute
State the 5th breast wheel (28), the 6th breast wheel (29) is arranged in described 5th connecting shaft (22) by bearing, in the described 7th
Between take turns (30) and be arranged in described 6th connecting shaft (23) by bearing, described first Timing Belt (31) is sequentially arranged at described the
One drivewheel (4-3), the second driven pulley (11), the 6th breast wheel (29) and the described 4th perform on wheel (46), and described second is same
Step band (32) is sequentially arranged at described second drivewheel (5-3), the first driven pulley (10), the 5th breast wheel (28), the 7th centre
Wheel (30) and the described 3rd performs on wheel (45), and described 3rd Timing Belt (33) is installed successively through described 3rd drivewheel (6-
3), the 4th driven pulley (13), the second breast wheel (25), the 4th breast wheel (27) and described second perform on wheel (44), described
Four Timing Belts (34) install successively through described 4th drivewheel (7-3), the 3rd driven pulley (12), the first breast wheel (24),
Three breast wheels (26) and described first perform on wheel (43)；Described end effector mechanism (3) includes the first feed screw nut
(35), the second feed screw nut (36), the 3rd feed screw nut (37), splined nut (38), the first leading screw (39), the second leading screw
(40), the 3rd leading screw (41), splined shaft (42), the first leading screw support (47), the second leading screw support (48), the 3rd leading screw support
(49), spline support (50), the first ball pivot (51), the second ball pivot (52), the first Hooke's hinge (53), the second Hooke's hinge (54),
Three Hooke's hinges (55), the 4th Hooke's hinge (56), the 5th Hooke's hinge (57), head rod (58), the second connecting rod (59), the 3rd
Connecting rod (60), the 4th connecting rod (61), the 5th connecting rod (62), the 6th connecting rod (63), the first end connectors (64),
Two end connectors (65), three-termination connector (66), end intermediate connector (67), end platform (68) and end connect
Flange (69), described first leading screw support (47), the second leading screw support (48), the 3rd leading screw support (49) and spline support (50)
Being fixed on described first slave arm (18), described first leading screw support (47), the second leading screw support (48) and the 3rd leading screw prop up
Frame (49) is in equilateral triangle structure, and described spline support (50) is positioned at the center of described equilateral triangle, described first leading screw
Nut (35), the second feed screw nut (36), the 3rd feed screw nut (37) and described splined nut (38) correspondence respectively are arranged on institute
State on the first leading screw support (47), the second leading screw support (48), the 3rd leading screw support (49) and described spline support (50), described
First leading screw (39), the second leading screw (40), the 3rd leading screw (41) and described splined shaft (42) correspondence respectively is through described first
Thick stick nut (35), the second feed screw nut (36), the 3rd feed screw nut (37) and described splined nut (38), described first leading screw
(39) being connected with described head rod (58) by described first ball pivot (51), described head rod (58) passes through first
Hooke's hinge (53) is connected with described first end connectors (64), and described second leading screw (40) passes through described second ball pivot (52)
Being connected with described second connecting rod (59), described second connecting rod (59) passes through described second Hooke's hinge (54) and described second
End connectors (65) is connected, and one end of described 3rd connecting rod (60) is affixed with described 3rd leading screw (41), and the described 3rd
The other end of connecting rod (60) is connected with described three-termination connector (66) by described 3rd Hooke's hinge (55), and described the
One end of four connecting rods (61) is affixed with described splined shaft (42), and the other end of described 4th connecting rod (61) passes through the 4th Hooke
Hinge (56) is connected with one end of described 5th connecting rod (62), and the other end of described 5th connecting rod (62) is with the described 6th even
One end of extension bar (63) is affixed, and the other end of described 6th connecting rod (63) is by described 5th Hooke's hinge (57) and described end
Intermediate connector (67) is connected, described first end connectors (64), the second end connectors (65) and described three-termination
Connector (66) in equilateral triangle structure, described first end connectors (64), the second end connectors (65) and described
Three-termination connector (66) is fixed on described end platform (68), and described end intermediate connector (67) is arranged on by bearing
The center of described end platform (68), described end adpting flange (69) is fixed on described end intermediate connector (67)；Institute
State and first perform wheel (43), second perform wheel (44), the 3rd perform wheel (45), the 4th perform wheel (46) correspondence respectively and be arranged on institute
State on the first feed screw nut (35), the second feed screw nut (36), the 3rd feed screw nut (37), splined nut (38).
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| CN201610522635.7A CN106041921B (en) | 2016-07-04 | 2016-07-04 | A kind of six degree of freedom series-parallel robot |
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| CN106041921B CN106041921B (en) | 2018-05-15 |
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