CN106313006B - A kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch - Google Patents
A kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch Download PDFInfo
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- CN106313006B CN106313006B CN201610874938.5A CN201610874938A CN106313006B CN 106313006 B CN106313006 B CN 106313006B CN 201610874938 A CN201610874938 A CN 201610874938A CN 106313006 B CN106313006 B CN 106313006B
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- hack lever
- connecting shaft
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- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of three flat one turn of four-degree-of-freedom robot mechanisms of three branch, including fixed frame, moving platform, the first, second, and third branch being arranged between the fixed frame and moving platform；Three branches include nearly hack lever, two parallel and isometric remote hack levers, the third branch further includes rotation fork, the rotation fork is rotatablely connected with fixed frame, one end of the nearly hack lever and fixed frame or rotation fork connection, the other end and remote hack lever ball-joint, the remote hack lever and moving platform ball-joint, the moving platform include the main platform and auxiliary platform of rotation connection.The mechanism realizes the movement of three flat one turn of four degree of freedom by three branches, advantageously reduces manufacturing cost.
Description
Technical field
The present invention relates to a kind of robot mechanisms, especially a kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch.
Background technology
The operations such as carrying of the three-dimensional translation and one-dimensional rotation parallel mechanism because that can meet space object, have been widely used in eating
The fields such as product medicine, modern logistics, electronic information automatic production line high speed light loading transport operation.
A kind of high speed parallel manipulator of four degree of freedom of band of the U.S. Patent Publication of Patent No. US20090019960A1
People, European patent discloses a kind of four-freedom-degree parallel-connection robots by Patent No. EP1084802B1, by this two pieces patent point
The parallel institution it is found that existing achievable three-dimensional translation and one-dimensional rotation, including four active branched chains and a moving platform are analysed, often
Branch includes nearly hack lever and remote hack lever two parts.Wherein close hack lever one end only has there are one movement or is turned relative to fixed frame
Dynamic degree of freedom, there are two the hinges of revolution degree of freedom to be connect with one end of remote hack lever by only having for the other end；The remote hack lever other end
By only have there are two revolution degree of freedom hinge connect with moving platform, to ensure the translation of mechanism；Moving platform is by four portions
Part forms, and two of which component need to be mutually parallel, other two component passes through rotating hinge with the component that both of the aforesaid is mutually parallel
Chain link can be achieved the rotational freedom around the axis perpendicular to moving platform by the mutual rotation between component, be equipped with simultaneously
Corresponding enlarger can expand angle range.But said mechanism is limited in that：Branch quantity is more, and the weight of moving platform
Measure it is larger, be unfavorable for improve mechanism dynamic response characteristic.
Invention content
The purpose of the present invention is to provide four freedom that three-dimensional translation and one-dimensional rotation can be realized in a kind of three branches of use
Spend robot mechanism.
Realizing the technical solution of the object of the invention is：A kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch,
Including the first branch, the second branch and the third branch between fixed frame, moving platform and Connection Bracket and moving platform,
In, 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 flexural pivot being fixed on the moving platform
It connects；
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 includes rotation fork, rotates fork driving device, in third driving device, the nearly hack lever of third, third
Connecting shaft under connecting shaft, the remote hack lever of two parallel and isometric thirds and third；Rotation fork driving device and fixed frame are affixed, turn
It connecing fork to be rotatablely connected with fixed frame, and affixed with the driving end of rotation fork driving device, third driving device and rotation fork are affixed,
One end of the nearly hack lever of third and rotation fork rotation connection, and affixed with the driving end of third driving device, the nearly hack lever of third it is another
One end and connecting shaft in third are affixed；Connecting shaft ball-joint in the remote hack lever of third [36] one end and third, the other end be fixed in
Connecting shaft ball-joint under third on moving platform；
The pivot center of connection rotation fork and fixed frame and the vertical phase of pivot center for connecting the nearly hack lever of third and rotation fork
It hands over；
The moving platform includes main platform and auxiliary platform, and the first branch and the second branch are connect with main platform, third branch
Chain is rotatablely connected with auxiliary platform.
Preferably, it is connected with internal gear on the main platform, pinion gear, internal gear and small tooth is rotatably connected on auxiliary platform
Wheel engagement, the two constitute gear pair, and pinion gear lower end is connected with end effector；Round guide, auxiliary platform are connected on main platform
On be connected with smooth block, smooth block constitutes guideway with round guide.
Preferably, the main platform is rotatably connected to pinion gear, the affixed fan with teeth of auxiliary platform, tooth fan and pinion gear engagement,
Pinion gear lower end is connected with end effector.
Preferably, the main platform is rotatably connected to small pulley, and auxiliary platform is connected with big belt wheel, and big belt wheel and small pulley are logical
Belt connection is crossed, small pulley lower end is connected with end effector.
Compared with prior art, the present invention its remarkable advantage is：Three flat one turn of four-freedom parallel mechanism knot of the present invention
Structure simple and compact, motion mode are clear；Four degree of freedom are realized using three branches, reduces branch quantity, is conducive to drop
Low manufacturing cost.The mechanism realizes the movement of three flat one turn of four degree of freedom by three branches, advantageously reduces manufacturing cost.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the structural schematic diagram of moving platform in the embodiment of the present invention 1.
Fig. 3 is the structural schematic diagram of auxiliary platform in the embodiment of the present invention 1.
Fig. 4 is the structural schematic diagram of the embodiment of the present invention 2.
Fig. 5 is the structural schematic diagram of moving platform in the embodiment of the present invention 2.
Fig. 6 is the structural schematic diagram of the embodiment of the present invention 3.
Fig. 7 is the structural schematic diagram of moving platform in the embodiment of the present invention 3.
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, 9, tooth fan, 101, small pulley, 102, belt, 103, big belt wheel；11, first driving means, the 12, first nearly hack lever,
13, the upper connecting shaft of the first branch, the 14, first remote hack lever, the lower connecting shaft of the 15, first branch；21, the second driving device, 22,
Second nearly hack lever, the upper connecting shaft of the 23, second branch, the 24, second remote hack lever, the lower connecting shaft of the 25, second branch；31, it rotates
Pitch driving device, 32, third driving device, 33, rotation fork, 34, the nearly hack lever of third, 35, the upper connecting shaft of third branch, 36,
The remote hack lever of third, 37, the lower connecting shaft of third branch.
Specific implementation mode
Further detailed description is done to the present invention with reference to embodiment：
Embodiment 1
In conjunction with attached drawing 1-3, a kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch, including fixed frame 1, moving platform with
And the first branch, the second branch and third branch between Connection Bracket 1 and moving platform, first branch and the second branch
Structure is identical, and is distributed in the both sides of third branch；
First branch includes first driving means 11, the first nearly hack lever 12, the first connecting shaft 13, two is parallel and waits
Long the first remote hack lever 14 and first time connecting shaft 15；The first driving means 11 and fixed frame 1 are affixed, the first nearly frame
One end of bar 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
End is affixed with connecting shaft on first 13；Described first remote hack lever, 14 one end and 13 ball-joint of the first connecting shaft, the other end with
First time connecting shaft, 15 ball-joint being fixed on the moving platform；
Second branch includes the second driving device 21, on the second nearly hack lever 22, second connecting shaft 23 two it is parallel and
Isometric the second remote hack lever 24, 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 includes rotation fork 33, rotation fork driving device 31, third driving device 32, the nearly hack lever of third
34, connecting shaft 37 under the remote hack lever 36 of 35, two parallel and isometric thirds of connecting shaft, third in third；The rotation fork driving
Device 31 and fixed frame 1 are affixed, and the switching fork 33 is rotatablely connected with fixed frame 1, and pitch driving device 31 with the rotation
Drive end affixed, the third driving device 32 and rotation fork are 33 affixed, and one end of the nearly hack lever of the third 34 pitches 33 with rotation
Rotation connection, and affixed with the driving end of third driving device 32, connecting shaft 35 on the other end and third of the nearly hack lever of third 34
It is affixed；Remote 36 one end of hack lever of the third and 35 ball-joint of connecting shaft in the third, the other end and are fixed in the moving platform
On third under 37 ball-joint of connecting shaft；
It connects the pivot center of the rotation fork 33 and fixed frame 1 and connect the third nearly hack lever 34 and rotate and pitch 33
Pivot center intersects vertically；
The moving platform includes main platform 6 and auxiliary platform 7, and first branch and the second branch are connect with main platform 6,
The third branch is connect with the auxiliary platform 7.The main platform 6 and auxiliary platform 7 are rotatablely connected.
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 5 lower end of the pinion gear is connected with end effector 8.It is solid on the main platform 6
It is connected to round guide 3, is connected with smooth block 2 on secondary flat 7 platforms, the smooth block 2 constitutes guideway with round guide 3.
Embodiment 2
In conjunction with attached drawing 4-5, the embodiment is similar to Example 1, differs only in, and the main platform 6 is rotatably connected to small
Gear 5, the affixed fan 9 with teeth of the auxiliary platform 7, the tooth fan 9 and pinion gear 5 engage, and 5 lower end of the pinion gear is connected with end
Actuator 8.
Embodiment 3
In conjunction with attached drawing 6-7, the embodiment is similar to Example 1, differs only in, and the main platform 6 is rotatably connected to small
Belt wheel 101, the auxiliary platform 7 are connected with big belt wheel 103, and the big belt wheel 103 and small pulley 101 are connected by belt 102, institute
It states 101 lower end of small pulley and is connected with end effector 8.
Three flat one turn of four-freedom parallel mechanism of the present invention are simple and compact for structure, and motion mode is clear；Using three branch
Chain realizes four degree of freedom, reduces branch quantity, advantageously reduces manufacturing cost.The mechanism realizes three by three branches
The movement for equalling one turn of four degree of freedom, advantageously reduces manufacturing cost.
Claims (3)
1. a kind of three branches, three flat one turn of four-degree-of-freedom robot mechanism, which is characterized in that including fixed frame [1], moving platform with
And the first branch, the second branch and the third branch of Connection Bracket [1] and moving platform, first branch and second link
Structure is identical, and is 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 is parallel including connecting shaft [23] two on the second driving device [21], the second nearly hack lever [22], second
And isometric the second remote hack lever [24], 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 rotation fork [33], rotation fork driving device [31], third driving device [32], the nearly hack lever of third
[34], connecting shaft [37] under connecting shaft [35] in third, the remote hack lever [36] of two parallel and isometric thirds, third；Described turn
Moving fork driving device [31] and fixed frame [1] are affixed, and rotation fork [33] is rotatablely connected with fixed frame [1], and with described turn
The driving end of moving fork driving device [31] is affixed, and the third driving device [32] and rotation fork [33] are affixed, and the third is close
One end of hack lever [34] and rotation fork [33] rotation connection, and, third nearly frame affixed with the driving end of third driving device [32]
Connecting shaft [35] is affixed on the other end and third of bar [34]；Connecting shaft on described remote hack lever [36] one end of third and the third
[35] ball-joint, the other end and connecting shaft [37] ball-joint under the third being fixed on the moving platform；
The rotation of the rotation fork [33] and the pivot center hack lever [34] close with the third and rotation fork [33] of fixed frame [1]
Axis intersects vertically；
The moving platform includes main platform [6] and auxiliary platform [7], and first branch and the second branch connect with main platform [6]
It connects, the third branch is connect with the auxiliary platform [7], the main platform [6] and auxiliary platform [7] rotation connection；
It is connected with internal gear [4] on main platform [6], pinion gear [5], the internal gear are rotatably connected on the auxiliary platform [7]
[4] it is engaged with pinion gear [5], the two constitutes gear pair, and pinion gear [5] lower end is connected with end effector [8], the master
It is connected with round guide [3] on platform [6], smooth block [2], the smooth block [2] and round guide are connected on described secondary flat [7] platform
[3] guideway is constituted.
2. three branches, three flat one turns of four-degree-of-freedom robot mechanisms according to claim 1, which is characterized in that the master is flat
Platform [6] is rotatably connected to pinion gear [5], the affixed fan [9] with teeth of auxiliary platform [7], and the tooth fan [9] and pinion gear [5] are nibbled
It closes, pinion gear [5] lower end is connected with end effector [8].
3. three branches, three flat one turns of four-degree-of-freedom robot mechanisms according to claim 1, which is characterized in that the master is flat
Platform [6] is rotatably connected to small pulley [101], and the auxiliary platform [7] is connected with big belt wheel [103], the big belt wheel [103] and small
Belt wheel [101] is connected by belt [102], and small pulley [101] lower end is connected with end effector [8].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874938.5A CN106313006B (en) | 2016-10-07 | 2016-10-07 | A kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874938.5A CN106313006B (en) | 2016-10-07 | 2016-10-07 | A kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch |
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| CN106313006A CN106313006A (en) | 2017-01-11 |
| CN106313006B true CN106313006B (en) | 2018-10-12 |
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| CN110302525B (en) * | 2019-07-19 | 2020-08-07 | 西安邮电大学 | Automatic billiard ball placing robot |
| CN111137464A (en) * | 2019-12-16 | 2020-05-12 | 北京大学 | Environment-friendly robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101244557A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Three-translational freedom parallel mechanism with far frame three-lever space |
| 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 |
| CN102632499B (en) * | 2012-03-27 | 2014-07-02 | 西安交通大学 | Operating mechanism used in Par4 parallel robot |
| CN102848385A (en) * | 2012-04-12 | 2013-01-02 | 天津大学 | High-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees |
| KR20160064250A (en) * | 2014-11-27 | 2016-06-07 | 주식회사 나온테크 | Link-arm robot comprising wrist-axis |
| CN105234923B (en) * | 2015-11-16 | 2017-03-29 | 南京理工大学 | A kind of three flat three turns of six-degree-of-freedom parallel connection mechanisms |
| 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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Effective date of registration: 20220321 Address after: 215321 room 40, No. 586, Zhenxin East Road, Zhangpu Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Xiaoye Intelligent Equipment Co.,Ltd. Address before: 210094 No. 200, Xiaolingwei, Jiangsu, Nanjing Patentee before: NANJING University OF SCIENCE AND TECHNOLOGY |