CN106272361B - It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved - Google Patents
It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved Download PDFInfo
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- CN106272361B CN106272361B CN201610874845.2A CN201610874845A CN106272361B CN 106272361 B CN106272361 B CN 106272361B CN 201610874845 A CN201610874845 A CN 201610874845A CN 106272361 B CN106272361 B CN 106272361B
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- hack lever
- connecting shaft
- branch
- affixed
- platform
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
Two flat one turn of Three Degree Of Freedom robot mechanisms, including fixed frame, moving platform, the first, second, and third branch being arranged between the fixed frame and moving platform can be achieved the invention discloses a kind of；Three branches include nearly hack lever, two parallel and isometric remote hack levers, and the third branch further includes conversion fork, and the conversion fork and fixed frame are affixed；One end of the nearly hack lever is connect with fixed frame or conversion fork, the other end and remote hack lever ball-joint, the remote hack lever and moving platform ball-joint, the moving platform includes the main platform and auxiliary platform that can mutually rotate, the mechanism good rigidity, movement is flexible, easily realizes high speed pick-and-place.
Description
Technical field
The present invention relates to a kind of robot mechanism, especially it is a kind of can be achieved two flat one turn Three Degree Of Freedom machine it is man-machine
Structure.
Background technology
In the automatic packaging of the industries such as electronics, food, medicine, light industry, encapsulation and logistic production line, need by machine
Tool hand from a certain position capture jobbie, then planar make fast move on a large scale, and according to given angle with
The object being crawled is placed into another location by height.United States Patent (USP) US4392776 (or EP0065859, JP57194888,
ES8307152, EP0065859, IE820902L, IE52774), US5000653 (or WO8700789, EP0232292,
ES2001359, DE35287769), US2005087034 (or EP1525957, JP2005125489, DE10349452),
US6212968 (or DE19934973), European patent EP 0169473 (or JP61109681), Japan Patent JP2003275977,
JP2003275978, JP2003275987, Bulgaria patent BG5129 and Chinese patent CN1779936 etc., all refer to
A kind of Three Degree Of Freedom or four-degree-of-freedom SCARA (Selective Compliance Assemble Robot Arm) humanoid robot.
Master arm one end of such robot is connect by revolute pair with engine base, the master arm other end pass through rotary pair and slave arm one
End connection, two pivot centers are parallel, to make master arm constitute two-freedom plane articulation serial machine robot mechanism with slave arm；
The other end of slave arm is provided with end effector, and there are one revolution degree of freedom and one relative to slave arm tool for end effector
One-movement-freedom-degree, the axis for turning round degree of freedom is parallel with the axis of rotation of master arm and slave arm, and the direction of one-movement-freedom-degree is hung down
Directly in master arm and the plane of movement of slave arm.Each driving device can be directly arranged on the joint of two opposed moving members,
It can be fixed on pedestal, then pass through each joint of actuator drives.Such robot may be implemented in the complete cycle in plane of movement
Revolution, thus have larger space, still, due to using open loop structure, so the inertia of master arm and slave arm compared with
Greatly, rigidity and precision are relatively low.
Invention content
Two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved the purpose of the present invention is to provide a kind of.
Realizing the technical solution of the object of the invention is：It is a kind of can be achieved two flat one turn Three Degree Of Freedom machine it is man-machine
The first branch, the second branch between structure, including fixed frame, moving platform and Connection Bracket and moving platform and third branch,
Wherein,
First branch and the second branched structure are identical, and are distributed in the both sides of third branch；
First branch includes first driving means, the first nearly hack lever, connecting shaft on first, two it is parallel and isometric
First remote hack lever and first time connecting shaft；First driving means are affixed with fixed frame, and one end and the fixed frame of the first nearly hack lever turn
Dynamic connection, and it is affixed with the driving end of first driving means, the other end of the first nearly hack lever and connecting shaft on first are affixed；First
Remote hack lever one end and connecting shaft ball-joint on first, the other end and first time connecting shaft ball-joint being fixed on moving platform；
Second branch includes the second driving device, the second nearly hack lever, connecting shaft on second, two it is parallel and isometric
Second remote hack lever and second time connecting shaft；Second driving device and fixed frame are affixed, and one end and the fixed frame of the second nearly hack lever turn
Dynamic connection, and it is affixed with the driving end of the second driving device, the other end of the second nearly hack lever and connecting shaft on second are affixed；Second
Remote hack lever one end and connecting shaft ball-joint on second, the other end and second time connecting shaft ball-joint being fixed on moving platform；
The third branch include conversion fork, third driving device, the nearly hack lever of third, connecting shaft in third, two it is parallel
And connecting shaft under the isometric remote hack lever of third, supporting rod and third；Conversion fork is affixed with fixed frame, third driving device and conversion
Pitch affixed, one end and the conversion fork rotation connection of the nearly hack lever of third, and, third nearly frame affixed with the driving end of third driving device
Connecting shaft is affixed on the other end and third of bar；Connecting shaft ball-joint in the remote hack lever one end of third and third, the other end with it is affixed
Connecting shaft ball-joint under third on moving platform；It is connected with supporting rod between the remote hack lever of two parallel and isometric thirds；
The moving platform includes main platform and auxiliary platform, and main platform and auxiliary platform are rotatablely connected；First branch and second
Chain is connect with main platform, and third branch is connect with auxiliary platform.
It connects the rotation pivot center of the described first nearly hack lever and fixed frame, connect the rotation of the second nearly hack lever and fixed frame
Axis is mutually parallel, and is mutually perpendicular to the pivot center for connecting the nearly hack lever of third and conversion fork.
It is connected with internal gear on the main platform, pinion gear is rotatably connected on auxiliary platform, internal gear is engaged with pinion gear,
The two constitutes gear pair, and pinion gear is connected with end effector.
It is connected with round guide on the main platform, smooth block is connected on auxiliary platform, smooth block constitutes guide rail with round guide
It is secondary.
Compared with prior art, the present invention its remarkable advantage is：Two flat one turn of 3-freedom parallel mechanism knot of the present invention
Structure simple and compact, motion mode are clear；And supporting rod is used between the remote hack lever of third branch, be conducive to the rigidity for improving mechanism
And dynamic response characteristic, it is advantageously implemented high speed and high acceleration.
Description of the drawings
Fig. 1 is the structural schematic diagram of the Three Degree Of Freedom robot mechanism of flat one turn of the present invention achievable two.
Fig. 2 is the structural schematic diagram of moving platform in the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of main platform in the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of auxiliary platform in the embodiment of the present invention.
Representative meaning is numbered in figure is：
1, fixed frame, 2, smooth block, 3, round guide, 4, internal gear, 5, pinion gear, 6, main platform, 7, auxiliary platform, 8, end
Actuator, 11, first driving means, the 12, first nearly hack lever, connecting shaft on 13, first, the 14, first remote hack lever, under 15, first
Connecting shaft, the 21, second driving device, the 22, second nearly hack lever, connecting shaft on 23, second, the 24, second remote hack lever, under 25, second
Connecting shaft, 31, third driving device, 32, conversion fork, 33, the nearly hack lever of third, 34, connecting shaft in third, 35, the remote hack lever of third,
36, supporting rod, 37, connecting shaft under third.
Specific implementation mode
Further detailed description is done to the present invention with reference to embodiment：
It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms, including fixed frame 1, moving platform can be achieved in conjunction with attached drawing 1-4
And the first branch, the second branch and third branch between Connection Bracket 1 and moving platform, first branch and second
Chain structure is identical, and is distributed in the both sides of third branch；
First branch includes first driving means 11, on the first nearly hack lever 12, first connecting shaft 13, two it is parallel and
Isometric the first remote hack lever 14 and first time connecting shaft 15；The first driving means 11 and fixed frame 1 are affixed, and described first is close
One end of hack lever 12 is rotatablely connected with fixed frame 1, and affixed with the driving end of first driving means 11, the first nearly hack lever 12 it is another
One end and connecting shaft on first 13 are affixed；13 ball-joint of connecting shaft on described first remote hack lever, 14 one end and described first, it is another
Hold and be fixed in first time connecting shaft, 15 ball-joint on the moving platform；
Second branch includes the second driving device 21, on the second nearly hack lever 22, first connecting shaft 23, two it is parallel and
Isometric the second remote hack lever 24 and second time connecting shaft 25；Second driving device 21 and fixed frame 1 are affixed, and described second is close
One end of hack lever 22 is rotatablely connected with fixed frame 1, and affixed with the driving end of the second driving device 21, the second nearly hack lever 22 it is another
One end and connecting shaft on second 23 are affixed；23 ball-joint of connecting shaft on described second remote hack lever, 24 one end and described second, it is another
Hold and be fixed in second time connecting shaft, 25 ball-joint on the moving platform；
The third branch include conversion fork 32, third driving device 31, the nearly hack lever 33 of third, connecting shaft 34 in third,
Connecting shaft 37 under the remote hack lever 35 of two parallel and isometric thirds, supporting rod 36 and third；The conversion fork 32 is solid with fixed frame 1
It connecing, the third driving device 31 and conversion fork 32 are affixed, and one end of the nearly hack lever of the third 33 is rotatablely connected with conversion fork 32,
And it is affixed with the driving end of third driving device 31, connecting shaft 34 is affixed on the other end and third of the nearly hack lever of third 33；It is described
Under 34 ball-joint of connecting shaft on remote 33 one end of hack lever of third and the third, the other end and the third being fixed on the moving platform
37 ball-joint of connecting shaft；It is connected with supporting rod 36 between the remote hack lever of described two parallel and isometric third 35；
The moving platform includes main platform 6 and auxiliary platform 7, and the main platform 6 and auxiliary platform 7 are rotatablely connected；Described first
Branch and the second branch are connect with main platform 6, and the third branch is connect with the auxiliary platform 7.
Connect the rotation of the pivot center, the connection second nearly hack lever and fixed frame of the described first nearly hack lever and fixed frame
Axis is mutually parallel, and is mutually perpendicular to the pivot center for connecting the nearly hack lever of the third and conversion fork.
It is connected with internal gear 4 on the main platform 6, pinion gear 5, the internal gear 4 are rotatably connected on the auxiliary platform 7
It is engaged with pinion gear 5, the two constitutes gear pair, and the pinion gear 5 is connected with end effector 8.
It is connected with round guide 3 on the main platform 6, smooth block 2, the smooth block 2 and circle are connected on the auxiliary platform 7
Guide rail 3 constitutes guideway.
Two flat one turn of 3-freedom parallel mechanism of the present invention are simple and compact for structure, and motion mode is clear；And third branch
Supporting rod is used between remote hack lever, is conducive to the rigidity and dynamic response characteristic that improve mechanism, is advantageously implemented high speed and height
Acceleration.
Claims (3)
1. two flat one turn of Three Degree Of Freedom robot mechanisms are can be achieved a kind of, including fixed frame (1), moving platform and are connected and fixed
The first branch, the second branch and the third branch of frame (1) and moving platform, which is characterized in that
First branch and the second branched structure are identical, and are distributed in the both sides of third branch；
First branch includes first driving means (11), the first nearly hack lever (12), connecting shaft (13) on first, two it is parallel
And isometric the first remote hack lever (14) and first time connecting shaft (15)；The first driving means (11) and fixed frame (1) are affixed,
One end of the first nearly hack lever (12) is rotatablely connected with fixed frame (1), and affixed with the driving end of first driving means (11),
The other end and connecting shaft on first (13) of first nearly hack lever (12) are affixed；Described first remote hack lever (14) one end and described first
Upper connecting shaft (13) ball-joint, the other end and first time connecting shaft (15) ball-joint being fixed on the moving platform；
Second branch includes the second driving device (21), the second nearly hack lever (22), connecting shaft (23) on second, two it is parallel
And isometric the second remote hack lever (24) and second time connecting shaft (25)；Second driving device (21) and fixed frame (1) are affixed,
One end of the second nearly hack lever (22) is rotatablely connected with fixed frame (1), and affixed with the driving end of the second driving device (21),
The other end and connecting shaft on second (23) of second nearly hack lever (22) are affixed；Described second remote hack lever (24) one end and described second
Upper connecting shaft (23) ball-joint, the other end and second time connecting shaft (25) ball-joint being fixed on the moving platform；
The third branch includes conversion fork (32), third driving device (31), the nearly hack lever of third (33), connecting shaft in third
(34), connecting shaft (37) under the remote hack lever (35) of two parallel and isometric thirds, supporting rod (36) and third；The conversion fork
(32) affixed with fixed frame (1), the third driving device (31) and conversion fork (32) are affixed, the nearly hack lever (33) of the third
One end and conversion fork (32) are rotatablely connected, and affixed with the driving end of third driving device (31), the nearly hack lever of third (33) it is another
One end and connecting shaft in third (34) are affixed；Connecting shaft (34) flexural pivot on described remote hack lever (35) one end of third and the third
It connects, the other end and connecting shaft (37) ball-joint under the third being fixed on the moving platform；Described two parallel and isometric
It is connected with supporting rod (36) between three remote hack levers (35)；
The moving platform includes main platform (6) and auxiliary platform (7), and the main platform (6) and auxiliary platform (7) are rotatablely connected；It is described
First branch and the second branch are connect with main platform (6), and the third branch is connect with the auxiliary platform (7)；
The pivot center of the described first nearly hack lever (12) and fixed frame (1) is connected, the second nearly hack lever (22) is connected and fixes
The pivot center of frame (1) is mutually parallel, and mutual with the pivot center for connecting the nearly hack lever of the third (33) and conversion fork (32)
Vertically.
A kind of two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved 2. according to claim 1, which is characterized in that institute
It states and is connected with internal gear (4) on main platform (6), pinion gear (5), the internal gear (4) are rotatably connected on the auxiliary platform (7)
It is engaged with pinion gear (5), the two constitutes gear pair, and the pinion gear (5) is connected with end effector (8).
A kind of two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved 3. according to claim 1, which is characterized in that institute
It states and is connected with round guide (3) on main platform (6), smooth block (2), the smooth block (2) and circle are connected on the auxiliary platform (7)
Guide rail (3) constitutes guideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874845.2A CN106272361B (en) | 2016-10-07 | 2016-10-07 | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874845.2A CN106272361B (en) | 2016-10-07 | 2016-10-07 | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved |
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| Publication Number | Publication Date |
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| CN106272361A CN106272361A (en) | 2017-01-04 |
| CN106272361B true CN106272361B (en) | 2018-11-13 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803821A (en) * | 2017-11-23 | 2018-03-16 | 南京理工大学 | A kind of high speed parallel robot mechanism with two kinds of operator schemes |
| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US7337691B2 (en) * | 1999-08-05 | 2008-03-04 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
| GB2478280A (en) * | 2010-03-01 | 2011-09-07 | Makex Ltd | Five axis coordinate measuring machine |
| CN101973030B (en) * | 2010-09-25 | 2012-05-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
| CN102689305B (en) * | 2012-04-20 | 2014-04-16 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel mechanism |
| CN104354154B (en) * | 2014-09-19 | 2016-05-11 | 深圳职业技术学院 | Three translating parallel robot mechanisms |
| CN204471372U (en) * | 2015-03-23 | 2015-07-15 | 安徽工业大学 | A kind of Three Degree Of Freedom transfer robot |
| CN105234928B (en) * | 2015-11-16 | 2017-05-17 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105291096B (en) * | 2015-11-27 | 2017-02-01 | 中国地质大学（武汉） | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom |
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