CN106363609B - A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism - Google Patents
A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism Download PDFInfo
- Publication number
- CN106363609B CN106363609B CN201611018887.2A CN201611018887A CN106363609B CN 106363609 B CN106363609 B CN 106363609B CN 201611018887 A CN201611018887 A CN 201611018887A CN 106363609 B CN106363609 B CN 106363609B
- Authority
- CN
- China
- Prior art keywords
- hack lever
- connecting shaft
- remote
- nearly
- parallel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—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
-
- 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
-
- 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
The invention discloses a kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanisms, including fixed frame, moving platform, the first, second, third and fourth branch being arranged between the fixed frame and moving platform；Four branches include nearly hack lever, remote hack lever, second branch and the 4th branch further include rotation fork, and the rotation fork is rotatablely connected with fixed frame, one end and fixed frame or the rotation fork connection of the nearly hack lever, the other end is connect with remote hack lever, and the remote hack lever is connect with moving platform.The Planar Mechanisms degree of freedom high speed parallel robot mechanism of the present invention is simple and compact for structure, and two of which branch uses Planar Mechanisms structure, is conducive to the rigidity for improving mechanism.
Description
Technical field
The present invention relates to a kind of robot mechanism, especially a kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism.
Background technology
High speed parallel robot mechanism can meet the carrying of space object because end can realize high speed and acceleration
Deng operation, the fields such as food medicine, modern logistics, electronic information automatic production line high speed light loading has been widely used in it and has carried
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 the rigidity of said mechanism is not strong, rapid capability is poor.
Invention content
The purpose of the present invention is to provide a kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanisms, to improve mechanism
Rigidity, improve its rapid capability.
Realizing the technical solution of the object of the invention is：A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism,
Including the first branch, the second branch, the third branch and between fixed frame, moving platform and Connection Bracket and moving platform
Four branches, the moving platform include main platform and auxiliary platform, and the main platform and auxiliary platform are rotatablely connected；First branch and
Third branch is connected with main platform, and second branch and the 4th branch are connected with auxiliary platform；First branch and third branch
Chain structure is identical and is oppositely arranged, and second branch and the 4th branched structure are identical and be oppositely arranged；
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；The first driving means and fixed frame are affixed, one end of the first nearly hack lever with
Fixed frame is rotatablely connected, and affixed with the driving end of first driving means, and the first nearly hack lever is under the driving of first driving means
Rotation, the other end of the first nearly hack lever and connecting shaft on first are affixed；One end of described two first remote hack levers on first
Connecting shaft ball-joint, the other end with first time connecting shaft ball-joint being fixed on moving platform；
Second branch includes the second rotation fork, the second driving device, the second nearly hack lever, second assists nearly hack lever, the
Two links, connecting shaft on second, two parallel and isometric the second remote hack lever, the remote hack lever of the second auxiliary, second support bar and
Second time connecting shaft；The second rotation fork is rotatablely connected second driving device with fixed frame and the second rotation fork is affixed,
One end of the second nearly hack lever and the second rotation fork rotation connection, and it is affixed with the driving end of the second driving device, second is close
The other end of hack lever and the second link are rotatablely connected, and described second assists nearly hack lever one end and the second rotation fork rotation connection,
Described second assists the other end of nearly hack lever and the second link to be rotatablely connected, the second nearly hack lever and the nearly hack lever of the second auxiliary
Parallel and isometric, the second nearly hack lever, the nearly hack lever of the second auxiliary, the second link and the second rotation fork constitute parallelogram
Mechanism, connecting shaft hack lever close with second is connect on described second, on described second the place axis of connecting shaft with connect described
The coaxial of two nearly hack levers and the second link, one end and second of the described two parallel and isometric second remote hack lever
Upper connecting shaft rotation connection, the other end of the described two parallel and isometric second remote hack lever and second time connecting shaft rotation connect
It connects, second time connecting shaft is connect with moving platform, and second is connected between the described two parallel and isometric second remote hack lever
Supporting rod；Described second assists one end of remote hack lever to be rotatablely connected with the second link, and the other end is rotatablely connected with moving platform；Institute
It states the remote hack lever of the second auxiliary and the second remote hack lever is parallel and isometric, described second assists remote hack lever, the second remote hack lever, the second connection
Frame and moving platform constitute parallelogram mechanism；
It connects the pivot center of the second rotation fork and support platform fixed frame and connect the described second nearly hack lever and the
The pivot center of two rotation forks intersects vertically.
Compared with prior art, the present invention its remarkable advantage is：The Planar Mechanisms degree of freedom high speed parallel robot of the present invention
Mechanism structure simple and compact, and two of which branch uses Planar Mechanisms structure, is conducive to the rigidity for improving mechanism.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of moving platform in the embodiment of the present invention.
Representative meaning is numbered in figure is：
1, fixed frame, 2, main platform, 3, auxiliary platform, 11, first driving means, the 12, first nearly hack lever connects on 13, first
Spindle, the 14, first remote hack lever, the 15, first time connecting shaft, 21, second rotation fork, the 22, second driving device, the 23, second nearly frame
Bar, the 24, second nearly hack lever of auxiliary, the 25, second link, connecting shaft on 26, second, the 27, second remote hack lever, the 28, second support
Bar, the 29, second remote hack lever of auxiliary, 210, second time connecting shaft, 35, connecting shaft under third, 410, the four times connecting shafts.
Specific implementation mode
The present invention a kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism, including fixed frame 1, moving platform and
The first branch, the second branch, third branch and the 4th branch, the moving platform between Connection Bracket 1 and moving platform include
Main platform 2 and auxiliary platform 3, the main platform 2 and auxiliary platform 3 are rotatablely connected；First branch and third branch and main platform 2
It is connected, second branch and the 4th branch are connected with auxiliary platform 3；First branch it is identical with third branched structure and
It is oppositely arranged, second branch and the 4th branched structure are identical and be oppositely arranged；
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, and the first nearly hack lever 12 is the
One driving device 11 is rotated by, and the other end and connecting shaft on first 13 of the first nearly hack lever 12 are affixed；Described two
One end of one remote hack lever 14 with 13 ball-joint of connecting shaft on first, the other end be fixed on moving platform first time connection
15 ball-joint of axis；
The third branch includes third driving device, the nearly hack lever of third, connecting shaft in third, two it is parallel and isometric
Connecting shaft 35 under the remote hack lever of third and third；The third driving device and fixed frame 1 are affixed, one end of the nearly hack lever of the third
It is rotatablely connected with fixed frame 1, and affixed with the driving end of third driving device, is connected on the other end and third of the nearly hack lever of third
Axis is affixed；The remote hack lever one end of two thirds with connecting shaft ball-joint in the third, the other end be fixed in it is described
35 ball-joint of connecting shaft under third on moving platform；
Second branch includes that the 21, second driving device 22 is pitched in the second rotation, the second nearly hack lever 23, second assists nearly frame
The second remote hack lever 27, second that connecting shaft 26, two is parallel and isometric on bar 24, the second link 25, second assists remote hack lever
28, second support bar 29 and second time connecting shaft 210；The second rotation fork 21 is rotatablely connected with fixed frame 1, and described second drives
22 and second rotation fork 21 of dynamic device is affixed, and one end of the second nearly hack lever 23 is rotated with second pitches 21 rotation connections, and with
The driving end of second driving device 22 is affixed, and the other end of the second nearly hack lever 23 and the second link 25 are rotatablely connected, and described the
Two assist nearly 24 one end of hack lever to pitch 21 rotation connections with the second rotation, and described second assists the other end of nearly hack lever 24 and second to connect
The rotation connection of frame 25 is connect, the second nearly hack lever 23 hack lever 24 close with the second auxiliary is parallel and isometric, the second nearly hack lever 23,
The nearly hack lever 24 of second auxiliary, the second link 25 and second rotation fork 21 constitute parallelogram mechanism, are connected on described second
Close with second hack lever of axis 26 24 is connect, on described second the place axis of connecting shaft 26 with connect the described second nearly hack lever 23 and
The coaxial of two links 25, connecting shaft on one end and second of the described two parallel and isometric second remote hack lever 27
26 rotation connections, the other end of the described two parallel and isometric second remote hack lever 27 and second time connecting shaft 210 are rotatablely connected,
Second time connecting shaft 210 is connect with moving platform, and is connected between the described two parallel and isometric second remote hack lever 27
Two supporting rods 28；Described second assists one end of remote hack lever 29 to be rotatablely connected with the second link 25, and the other end turns with moving platform
Dynamic connection；Described second assists remote hack lever 29 parallel and isometric with the second remote hack lever 27, and described second assists remote hack lever 29, second
Remote hack lever 27, the second link 25 and moving platform constitute parallelogram mechanism；
Connect it is described second rotation fork 21 and support platform fixed frame 1 pivot center with connect the described second nearly hack lever 23
It intersects vertically with the pivot center of the second rotation fork 21；
4th branch includes the 4th rotation fork, four-drive device, nearby place's hack lever, the 4th assists nearly hack lever, the
Four links, connecting shaft on the 4th, two parallel and isometric the 4th remote hack lever, the remote hack lever of the 4th auxiliary, the 4th supporting rod and
The four times connecting shafts 410；The rotation fork is rotatablely connected with fixed frame, and the four-drive device and rotation fork are affixed, described
One end of nearby place's hack lever and rotation fork rotation connection, and affixed with the driving end of four-drive device, nearby place's hack lever it is another
One end is rotatablely connected with the 4th link, and the described 4th assists nearly hack lever one end and rotation fork rotation connection, and the described 4th assists
The other end and the 4th link of nearly hack lever are rotatablely connected, and nearby place's hack lever and the nearly hack lever of the 4th auxiliary are parallel and isometric,
Nearby place's hack lever, the nearly hack lever of the 4th auxiliary, the 4th link and rotation pitch and constitute parallelogram mechanism, on the described 4th
Connecting shaft is connect with nearby place's hack lever, and the place axis of connecting shaft connects with nearby place's hack lever and the 4th is connect on the described 4th
The coaxial of frame is connect, connecting shaft rotates company on one end and the 4th of the 4th described two parallel and isometric remote hack lever
It connects, the other end of the 4th described two parallel and isometric remote hack lever and the four times connecting shafts 410 are rotatablely connected, under the described 4th
Connecting shaft 410 is connect with moving platform, and the 4th supporting rod is connected between the 4th described two parallel and isometric remote hack lever；It is described
One end of the remote hack lever of 4th auxiliary is rotatablely connected with the 4th link, and the other end is rotatablely connected with moving platform；4th auxiliary
Remote hack lever and the 4th remote hack lever are parallel and isometric, and the described 4th assists remote hack lever, the 4th remote hack lever, the 4th link and moving platform
Constitute parallelogram mechanism；
It connects the pivot center of the 4th rotation fork and support platform fixed frame 1 and connect nearby place's hack lever and the
The pivot center of four rotation forks intersects vertically.
The axis that the main platform 2 and auxiliary platform 3 are rotatablely connected is mutually parallel with first time 15 place axis of connecting shaft, the
Once connecting shaft 15 is mutually parallel with connecting shaft under third 35.
Second time connecting shaft 210 is mutually parallel with the four times connecting shafts 410, under second time connecting shaft 210 and first
Connecting shaft 15 is mutually perpendicular to.
The hack lever 24 close with second of connecting shaft 26 is affixed on described second, and second time connecting shaft 210 and moving platform are affixed,
Connecting shaft and nearby place's hack lever are affixed on described 4th, and the four times connecting shafts 410 and moving platform are affixed.
Alternatively, close with second hack lever 24 of connecting shaft 26 is rotatablely connected on described second, second time connecting shaft 210 with move
Platform is rotatablely connected, and connecting shaft is rotatablely connected with nearby place's hack lever on the described 4th, and the four times connecting shafts 410 are rotated with moving platform
Connection.
The Planar Mechanisms degree of freedom high speed parallel robot mechanism of the present invention is simple and compact for structure, and two of which branch uses
Planar Mechanisms structure is conducive to the rigidity for improving mechanism.
Further detailed description is done to the present invention with reference to embodiment：
Embodiment
In conjunction with attached drawing 1-2, a kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism, including fixed frame 1, moving platform,
And the first branch, the second branch, third branch and the 4th branch between Connection Bracket 1 and moving platform,
The moving platform includes main platform 2 and auxiliary platform 3, and the main platform 2 and auxiliary platform 3 are rotatablely connected；Described first
Branch and third branch are connected with main platform 2, and second branch and the 4th branch are connected with auxiliary platform 3；
First branch is identical with third branched structure, second branch and the 4th complete phase of branched structure
Together；
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；
The third branch includes third driving device, the nearly hack lever of third, connecting shaft in third, two it is parallel and isometric
Connecting shaft 35 under the remote hack lever of third and third；The third driving device and fixed frame 1 are affixed, one end of the nearly hack lever of the third
It is rotatablely connected with fixed frame 1, and affixed with the driving end of third driving device, is connected on the other end and third of the nearly hack lever of third
Axis is affixed；The remote hack lever one end of the third and connecting shaft ball-joint in the third, the other end and are fixed on the moving platform
Third under 35 ball-joint of connecting shaft；
Second branch includes that the 21, second driving device 22 is pitched in the second rotation, the second nearly hack lever 23, second assists nearly frame
The second remote hack lever 27, second that connecting shaft 26, two is parallel and isometric on bar 24, the second link 25, second assists remote hack lever
28, supporting rod 29 and second time connecting shaft 210；The rotation fork 21 is rotatablely connected second driving device 22 with fixed frame 1
It is 21 affixed with rotation fork, one end and 21 rotation connection of rotation fork of the second nearly hack lever 23, and with the second driving device 22
Drive end affixed, the other end of the second nearly hack lever 23 and the second link 25 are rotatablely connected, and described second assists nearly hack lever 24 1
It holds and assists the other end of nearly hack lever 24 and the second link 25 to be rotatablely connected with 21 rotation connection of rotation fork, described second, it is described
Second nearly hack lever 23 and the second nearly hack lever 24 of auxiliary are parallel and isometric, and the second nearly hack lever 23, second assists nearly hack lever 24, the
Two links 25 and rotation fork 21 constitute parallelogram mechanisms, on described second the hack lever 24 close with second of connecting shaft 26 it is affixed or
It is rotatablely connected, the place axis of connecting shaft 26 and turn for connecting the described second nearly hack lever 23 and the second link 25 on described second
Shaft line is coaxial, and connecting shaft 26 is rotatablely connected on one end and second of the described two parallel and isometric second remote hack lever 27, institute
The other end and second time connecting shaft 210 for stating the remote hack lever of two parallel and isometric second 27 are rotatablely connected, and are connected under described second
Spindle 210 and moving platform be affixed or rotation connection, and support is connected between the described two parallel and isometric second remote hack lever 27
Bar 28；Described second assists one end of remote hack lever 29 to be rotatablely connected with the second link 25, and the other end is rotatablely connected with moving platform；
Described second assists remote hack lever 29 parallel and isometric with the second remote hack lever 27, and described second assists remote hack lever 29, the second remote hack lever
27, the second link 25 and moving platform constitute parallelogram mechanism.
Connect it is described second rotation fork 21 and support platform fixed frame 1 pivot center with connect the described second nearly hack lever 23
It intersects vertically with the pivot center of the second rotation fork 21.
4th branch includes the 4th rotation fork, four-drive device, nearby place's hack lever, the 4th assists nearly hack lever, the
Four links, connecting shaft on the 4th, two parallel and isometric the 4th remote hack lever, the remote hack lever of the 4th auxiliary, supporting rods and the 4th
Lower connecting shaft 410；The rotation fork is rotatablely connected the four-drive device with fixed frame 1 and rotation fork is affixed, and the described 4th
One end of nearly hack lever and rotation fork rotation connection, and, the other end of nearby place hack lever affixed with the driving end of four-drive device
It is rotatablely connected with the 4th link, the described 4th assists nearly hack lever one end and rotation fork rotation connection, and the described 4th assists nearly frame
The other end of bar and the 4th link are rotatablely connected, and nearby place's hack lever and the nearly hack lever of the 4th auxiliary are parallel and isometric, described
Nearby place's hack lever, the nearly hack lever of the 4th auxiliary, the 4th link and rotation fork constitute parallelogram mechanism, are connected on the described 4th
Axis and nearby place's hack lever is affixed or rotation connection, on the described 4th the place axis of connecting shaft with connect nearby place's hack lever and
The coaxial of 4th link connects shaft rotation on one end and the 4th of the 4th described two parallel and isometric remote hack lever
Dynamic connection, the other end of the 4th described two parallel and isometric remote hack lever and the four times rotation connections of connecting shafts 410, described the
Four times connecting shafts 410 and moving platform be affixed or rotation connection, is connected between the 4th described two parallel and isometric remote hack lever
Supporting rod；Described 4th assists one end of remote hack lever to be rotatablely connected with the 4th link, and the other end is rotatablely connected with moving platform；Institute
It states the remote hack lever of the 4th auxiliary and the 4th remote hack lever is parallel and isometric, the described 4th assists remote hack lever, the 4th remote hack lever, the 4th connection
Frame and moving platform constitute parallelogram mechanism.
It connects the pivot center of the 4th rotation fork and support platform fixed frame 1 and connect nearby place's hack lever and the
The pivot center of four rotation forks intersects vertically.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific implementation mode stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (5)
1. a kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism, which is characterized in that including fixed frame [1], moving platform, with
And first branch, second branch, third branch and fourth branch of the Connection Bracket [1] between moving platform, the moving platform
Including main platform [2] and auxiliary platform [3], the main platform [2] and auxiliary platform [3] rotation connection；First branch and third
Branch is connected with main platform [2], and second branch and the 4th branch are connected with auxiliary platform [3]；First branch and third
Branched structure is identical and is oppositely arranged, and second branch and the 4th branched structure are identical and be oppositely arranged；
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],
First nearly hack lever [12] being rotated by first driving means [11], the other end of the first nearly hack lever [12] connect on first
Spindle [13] is affixed；With connecting shaft on first [13] ball-joint, the other end is equal for one end of described two first remote hack levers [14]
With first time connecting shaft [15] ball-joint being fixed on moving platform；
The third branch includes third driving device, the nearly hack lever of third, connecting shaft, two parallel and isometric thirds in third
Connecting shaft [35] under remote hack lever and third；The third driving device and fixed frame [1] are affixed, one end of the nearly hack lever of the third
It is rotatablely connected with fixed frame [1], and affixed with the driving end of third driving device, connects on the other end and third of the nearly hack lever of third
Spindle is affixed；The remote hack lever one end of two thirds with connecting shaft ball-joint in the third, the other end be fixed in institute
State connecting shaft [35] ball-joint under the third on moving platform；
Second branch includes that the second rotation pitches [21], the second driving device [22], the second nearly hack lever [23], the second auxiliary closely
Hack lever [24], the second link [25], connecting shaft [26] on second, two parallel and isometric the second remote hack lever [27], second
Assist remote hack lever [28], second support bar [29] and second time connecting shaft [210]；The second rotation fork [21] and fixed frame
[1] it is rotatablely connected, second driving device [22] and the second rotation fork [21] are affixed, one end of the second nearly hack lever [23]
It is and affixed with the driving end of the second driving device [22] with the second rotation fork [21] rotation connection, the second nearly hack lever [23] it is another
One end is rotatablely connected with the second link [25], and described second assists nearly hack lever [24] one end to pitch [21] rotation company with the second rotation
It connects, described second assists the other end of nearly hack lever [24] and the second link [25] to be rotatablely connected, the second nearly hack lever [23]
Assist nearly hack lever [24] parallel and isometric with second, the second nearly hack lever [23], the nearly hack lever [24] of the second auxiliary, the second connection
Frame [25] and the second rotation fork [21] constitute parallelogram mechanism, connecting shaft [26] hack lever [24] close with second on described second
Connection, on described second the place axis of connecting shaft [26] with connect the described second nearly hack lever [23] and the second link [25]
Coaxial, on one end and second of the described two parallel and isometric second remote hack lever [27] connecting shaft [26] rotation connect
It connects, the other end of the described two parallel and isometric second remote hack lever [27] and second time connecting shaft [210] are rotatablely connected, described
Second time connecting shaft [210] connect with moving platform, and is connected between the described two parallel and isometric second remote hack lever [27]
Two supporting rods [28]；One end of the remote hack lever [29] of second auxiliary is rotatablely connected with the second link [25], the other end with it is dynamic
Platform is rotatablely connected；Described second assists remote hack lever [29] and second remote hack lever [27] parallel and isometric, and second auxiliary is remote
Hack lever [29], the second remote hack lever [27], the second link [25] and moving platform constitute parallelogram mechanism；
Connect it is described second rotation fork [21] and support platform fixed frame [1] pivot center with connect the described second nearly hack lever
[23] it intersects vertically with the pivot center of the second rotation fork [21]；
4th branch includes the 4th rotation fork, four-drive device, nearby place's hack lever, the nearly hack lever of the 4th auxiliary, the 4th company
Connect frame, connecting shaft on the 4th, two parallel and isometric the 4th remote hack lever, the remote hack lever of the 4th auxiliary, the 4th supporting rods and the 4th
Lower connecting shaft [410]；Rotation fork is rotatablely connected with fixed frame, the four-drive device pitched with rotation it is affixed, described the
One end of nearby place's hack lever and rotation fork rotation connection, and affixed with the driving end of four-drive device, nearby place's hack lever it is another
End is rotatablely connected with the 4th link, and the described 4th assists nearly hack lever one end and rotation fork rotation connection, and the described 4th assists closely
The other end of hack lever and the 4th link are rotatablely connected, and nearby place's hack lever and the nearly hack lever of the 4th auxiliary are parallel and isometric, institute
It states nearby place's hack lever, the nearly hack lever of the 4th auxiliary, the 4th link and rotation fork and constitutes parallelogram mechanism, connect on the described 4th
Spindle is connect with nearby place's hack lever, and the place axis of connecting shaft is connected with nearby place's hack lever and the 4th is connect on the described 4th
The coaxial of frame, connecting shaft rotation connection on one end and the 4th of the 4th described two parallel and isometric remote hack lever,
The other end of the 4th described two parallel and isometric remote hack lever and the four times connecting shafts [410] are rotatablely connected, under the described 4th
Connecting shaft [410] is connect with moving platform, and the 4th supporting rod is connected between the 4th described two parallel and isometric remote hack lever；Institute
The one end for stating the remote hack lever of the 4th auxiliary is rotatablely connected with the 4th link, and the other end is rotatablely connected with moving platform；Described 4th is auxiliary
Help remote hack lever and the 4th remote hack lever parallel and isometric, the described 4th assists remote hack lever, the 4th remote hack lever, the 4th link and move flat
Platform constitutes parallelogram mechanism；
Connect it is described 4th rotation fork and support platform fixed frame [1] pivot center with connect nearby place's hack lever and the 4th
The pivot center of rotation fork intersects vertically.
2. Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism according to claim 1, which is characterized in that the master is flat
Platform [2] and the axis of auxiliary platform [3] rotation connection are mutually parallel with axis where first time connecting shaft [15], first time connecting shaft
[15] it is mutually parallel with connecting shaft under third [35].
3. Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism according to claim 1 or 2, which is characterized in that described
Second time connecting shaft [210] is mutually parallel with the four times connecting shafts [410], second time connecting shaft [210] and first time connecting shaft
[15] it is mutually perpendicular to.
4. Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism according to claim 1, which is characterized in that described second
Upper connecting shaft [26] hack lever [24] close with second is affixed, and second time connecting shaft [210] and moving platform are affixed, on the described 4th
Connecting shaft and nearby place's hack lever are affixed, and the four times connecting shafts [410] and moving platform are affixed.
5. Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism according to claim 1, which is characterized in that described second
Hack lever [24] rotation connection close with second of upper connecting shaft [26], second time connecting shaft [210] and moving platform rotation connection, institute
It states connecting shaft on the 4th to be rotatablely connected with nearby place's hack lever, the four times connecting shafts [410] are rotatablely connected with moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018887.2A CN106363609B (en) | 2016-11-21 | 2016-11-21 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018887.2A CN106363609B (en) | 2016-11-21 | 2016-11-21 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106363609A CN106363609A (en) | 2017-02-01 |
| CN106363609B true CN106363609B (en) | 2018-10-12 |
Family
ID=57891094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611018887.2A Active CN106363609B (en) | 2016-11-21 | 2016-11-21 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106363609B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962551A (en) * | 2017-11-23 | 2018-04-27 | 南京理工大学 | A kind of dual-purpose parallel robot mechanism of three four-degree-of-freedoms |
| JP6698719B2 (en) * | 2018-02-14 | 2020-05-27 | ファナック株式会社 | Parallel link robot |
| CN110695962A (en) * | 2019-09-03 | 2020-01-17 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism |
| CN110815185B (en) * | 2019-11-13 | 2021-09-03 | 南京理工大学 | Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain |
| CN110815182B (en) * | 2019-11-13 | 2021-09-03 | 南京理工大学 | Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains |
| CN110815183B (en) * | 2019-11-13 | 2021-11-23 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains |
| CN110815277B (en) * | 2019-11-13 | 2021-09-03 | 南京理工大学 | Manipulator and gripper integrated mechanism |
| CN112936289B (en) * | 2021-03-24 | 2022-11-04 | 太原科技大学 | Method for judging virtual constraints and number of virtual constraints in mechanism based on continuity of overconstrained |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| TW511220B (en) * | 2000-10-24 | 2002-11-21 | Ulvac Corp | Carrying device and vacuum processing apparatus using the same |
| CN100348379C (en) * | 2005-10-28 | 2007-11-14 | 天津大学 | Space tritranslation parallel connection mechanism containing steel wire parallelogram fork chain structure |
| CN101244557A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Three-translational freedom parallel mechanism with far frame three-lever space |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN101913146B (en) * | 2010-08-05 | 2012-05-16 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN206277386U (en) * | 2016-11-21 | 2017-06-27 | 南京理工大学 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
-
2016
- 2016-11-21 CN CN201611018887.2A patent/CN106363609B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106363609A (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106363609B (en) | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism | |
| CN106378771B (en) | A kind of multi-coordinate high speed parallel robot mechanism | |
| CN105234929B (en) | A kind of three flat one turn of four-freedom parallel mechanism | |
| CN103978477B (en) | A kind of articulated robot | |
| CN103552059B (en) | A kind of four-degree-of-freedom large-working space parallel robot mechanism towards Pick-and-Place operations | |
| WO2011054195A1 (en) | Parallel mechanism with three-dimensional translations and one-dimensional rotation | |
| CN105234926B (en) | A kind of five-freedom parallel structure of achievable three-dimensional translating two-dimensional rotary | |
| CN106313004B (en) | A kind of four-degree-of-freedom high speed parallel robot mechanism | |
| CN204450527U (en) | A kind of sphere parallel mechanism with 2 rotational freedoms | |
| CN206277386U (en) | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism | |
| CN106272362B (en) | A kind of four-degree-of-freedom robot mechanism of achievable complete cycle revolution | |
| CN105234928B (en) | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation | |
| CN105234927B (en) | A kind of three side chain four-degree-of-freedom holohedral symmetry parallel institutions | |
| CN104802154B (en) | A kind of four-degree-of-freedom high-speed parallel manipulator | |
| CN106584426A (en) | High-speed parallel robot mechanism capable of realizing SCARA motion | |
| CN206216677U (en) | A kind of multi-coordinate high speed parallel robot mechanism | |
| CN106426101B (en) | A kind of four-degree-of-freedom robot mechanism | |
| CN106313005B (en) | It is a kind of that three flat one turn of four-degree-of-freedom robot mechanisms can be achieved | |
| CN106002947B (en) | The transfer robot that a kind of slave arm homonymy arrangement free degree can reconstruct | |
| CN106625576A (en) | Five-degree-of-freedom robot mechanism | |
| CN106584427B (en) | A kind of parallel robot mechanism of achievable SCARA movements | |
| CN106426103B (en) | It is a kind of that two flat two turns of four-degree-of-freedom robot mechanisms can be achieved | |
| CN107962556A (en) | Two axis parallel robots and cargo movement system | |
| CN106426102B (en) | It is a kind of that there are three flat two turns of robot with five degrees of freedom mechanisms | |
| CN106313006B (en) | A kind of three flat one turn of four-degree-of-freedom robot mechanism of three branch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |