CN106426091A - Three-freedom-degree robot - Google Patents
Three-freedom-degree robot Download PDFInfo
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- CN106426091A CN106426091A CN201610879835.8A CN201610879835A CN106426091A CN 106426091 A CN106426091 A CN 106426091A CN 201610879835 A CN201610879835 A CN 201610879835A CN 106426091 A CN106426091 A CN 106426091A
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- connecting rod
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- platform
- moving 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a three-freedom-degree robot, and relates to the technical field of robot design and manufacturing. The robot comprises a fixed platform, a movable platform, a middle restraining rod and three branch chains of the same structure; the upper end of the middle restraining rod is hinged to the center of the movable platform through a spherical hinge, the lower end of the middle retraining rod is fixedly connected with the center of the fixed platform, and each branch chain comprises a drive device, a drive connecting rod and a rotating telescopic mechanism; the upper ends of the rotating telescopic mechanisms are arranged on the movable platform in the circumferential direction with the middle restraining rod as the center, the drive devices are fixed to the fixed platform, one end of each drive connecting rod is connected with a drive device output shaft to form a rotating pair, the other end of each drive connecting rod and the lower end of the corresponding rotating telescopic mechanism are rotatably connected to form a rotating pair, and the upper ends of the rotating telescopic mechanisms are connected with the movable platform through cross shaft universal hinges or spherical hinges. The three-freedom-degree robot is compact in structure, high in drive performance, stable in motion of the movable platform and high in flexibility and facilitates motion control over the mechanisms, and the robot can be applied to major fields of machine tools, exercise rehabilitation, robot detection and the like according to different needs.
Description
Technical field
The present invention relates to Robot Design manufacturing technology field, more particularly to a kind of Three Degree Of Freedom robot.
Background technology
Since parallel robot self-application, because its have greater stiffness, high precision little compared with strong bearing capacity, error, from
The features such as heavy load is better than little, power performance, control is easy, is widely used in the every field of society.At present, three common are
Degree of freedom, four-degree-of-freedom, six-degree-of-freedom parallel robot, are wherein studied most with the 3-freedom parallel mechanism of unbranched symmetric distribution
Many, and which wide is applied to machine the fields such as revolving dial, rehabilitation equipment, mobile satellite location equipment, installation equipment.
The Three Degree Of Freedom robot for being applied now can be realized mostly doing three directions around fixed center and be rotated, but generally
Take up room big, complex structure, rotate dumb, action effect is undesirable, it is impossible to adapt to each relevant industries or field completely
Need.
Content of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, provides a kind of compact conformation, occupancy
Space is little, move flexible Three Degree Of Freedom robot.
For solving above-mentioned technical problem, the technical solution used in the present invention is：Including in fixed platform, moving platform, one
Between constraining rod and three structure identical side chains, intermediate restraint bar upper end is hinged by ball pivot and moving platform center, lower end with fixed
Platform center is fixedly connected, and side chain includes driving means, drive link and rotates telescoping mechanism, the rotation telescoping mechanism upper end
Arrange on circumferencial direction on moving platform centered on intermediate restraint bar, the driving means are fixed on fixed platform, described
Drive link one end is connected to form rotation pair with driving means output shaft, and the other end is rotated with the lower end for rotating telescoping mechanism and is connected
Formed and pair is rotated, the upper end for rotating telescoping mechanism is cut with scissors by cross-axle universal shaft or ball pivot is connected with moving platform.
Preferably, rotating telescoping mechanism to include curved rod and tubulose arc lower connecting rod, upper curved rod and lower arc
The concyclic heart of shape connecting rod, and upper curved rod is embedded in tubulose arc lower connecting rod inner chamber can be along the curved track of arc lower connecting rod
Road moves.
Preferably, rotating the circumference of same circle of the telescoping mechanism upper end on moving platform centered on intermediate restraint bar
On be evenly arranged.
Preferably, driving means are motor.
It is using the beneficial effect produced by technique scheme：Present configuration is compact, takes up room little, and structure is held
Load property is good, and driven nature is strong, moving platform stable movement, flexibility ratio height, is easy to the motor control of mechanism, can need application according to difference
In various fields such as lathe, athletic rehabilitation, robot detections.
Description of the drawings
Fig. 1 is the perspective view of one embodiment of the invention.
Fig. 2 is the structural representation of another angle of Fig. 1.
Fig. 3 is the structure motion schematic diagram for rotating another embodiment of stretching structure.
1. fixed platform；2. moving platform；3. intermediate restraint bar；4. side chain；41st, driving means；42nd, drive link；
43rd, telescoping mechanism is rotated；431st, arc lower connecting rod；432nd, upper curved rod.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As illustrated in fig. 1 and 2, the present embodiment includes fixed platform 1,2, intermediate restraint bar 3 of moving platform and three structure phases
Same side chain 4,3 upper end of intermediate restraint bar is hinged by ball pivot and 2 center of moving platform, and lower end is fixedly connected with 1 center of fixed platform,
Side chain 4 includes driving means 41, drive link 42 and rotates telescoping mechanism 43, and rotation 43 upper end of telescoping mechanism is in moving platform
Arrange on circumferencial direction on 2 centered on intermediate restraint bar 3, driving means 41 are fixed on fixed platform 1, the drive link
42 one end are connected to form rotation pair with 41 output shaft of driving means, and the other end is rotated with the lower end for rotating telescoping mechanism 43 and is connected shape
Become and pair is rotated, the upper end for rotating telescoping mechanism 43 is cut with scissors by cross-axle universal shaft or ball pivot is connected with moving platform 2.Moving platform 2
Positioned at the upper end of Three Degree Of Freedom robot architecture, fixed platform 1 is located at the lower end of the mechanism, is provided with therebetween three structure phases
Same side chain 4, the two ends per bar side chain 4 are connected with fixed platform 1, moving platform 2 respectively, and the upper end of side chain 4 is with intermediate restraint bar 3
Centered on circumferential directions on moving platform 2, three is can be located on the different concentric circular of diameter.Side chain 4 includes driving means
41st, drive link 42 and rotation telescoping mechanism 43, driving means 41 are fixed on fixed platform 1, and by the defeated of driving means 41
Shaft drives drive link 42 to rotate, and is formed and rotates pair, and drive link 42 is connected with the lower end for rotating telescoping mechanism 43, is formed
Rotate secondary, the upper end for rotating telescoping mechanism 43 is cut with scissors by cross-axle universal shaft or ball pivot is connected with moving platform 2, using cross axle ten thousand
Two degree of freedom motions or three-degree-of-freedom motion be can achieve to when being hinged, rotating between telescoping mechanism 43 and moving platform, adopt
When being connected with ball pivot, formed between rotation telescoping mechanism 43 and moving platform is three-degree-of-freedom motion, two kinds of connected modes
With the action needed for realizing, action effect is consistent, so optionally one.
Preferably, rotating telescoping mechanism 43 to include curved rod 432 and tubulose arc lower connecting rod 431, upper arc is even
Bar 431 and the concyclic heart of arc lower connecting rod 432, and upper curved rod 432 is embedded in 431 inner chamber of tubulose arc lower connecting rod being capable of edge
The arc track motion of arc lower connecting rod 431.Telescoping mechanism 43 is rotated for its required function is realized, preferably go up curved rod
432 and the form that matches of arc lower connecting rod 431, the concyclic heart of the circular arc of upper curved rod 432 and arc lower connecting rod 431, adopt
Upper curved rod 432 is embedded in the form of 431 inner chamber of tubulose arc lower connecting rod, and upper curved rod 432 can adopt tubulose or reality
The form of scapus, arc lower connecting rod 431 is easy to upper curved rod 432 to be embedded in pipe in the form of cannulated, the two
Cross sectional shape is not limited, and can be pipe, rectangular tube or other section forms.Under the drive of driving means 41, drive link 2 is carried
Dynamic arc lower connecting rod 431 is rotated, and under the drive of arc lower connecting rod 431, upper curved rod 432 can be with tubulose arc lower connecting rod
The arc track of 431 inner chambers is moved for track, forms therebetween moving sets, upper curved rod 432 and arc lower connecting rod
Moving telescopic motion can be formed between 431.The connection of cross-axle universal shaft hinge can be adopted between upper curved rod 432 and moving platform 2
Form, to produce the motion at least two degree of freedom directions, three 4 collective effects of side chain drive moving platform 2 to carry out three freely
Degree motion.Due to the upper end of upper curved rod 432 with the connection of moving platform 2 for the connection of two to three degree of freedom so can use
Ball pivot with three degree of freedom is replacing, it is also possible to play same effect.
Preferably, rotating same circle of 43 upper end of telescoping mechanism on moving platform 2 centered on intermediate restraint bar 3
It is evenly arranged on circumference.The upper end of the rotation telescoping mechanism 43 on side chain 4 and moving platform 2 are using cross-axle universal shaft hinge or ball
Hinge form is connected, and rotates telescoping mechanism and has three, and preferred arrangement is in the circle of the same circle centered on intermediate restraint bar 3
For Zhou Shang, and relative intermediate restraint bar 3, each angle for rotating between telescoping mechanism 43 is 120 ° and is evenly arranged, and realizes motion
Regularity, be easy to motor control, can effectively avoid the generation of associated movement, can more easily set its running orbit, real
The function of reaching needed for existing.
Preferably, driving means 41 are motor.Driving means 41 can adopt some indirect power resources, such as some and
The connected driving member of motor, it is also possible to directly using motor as power resources, directly originated using motor as power, can be square
The input and output of control power just, it is to avoid the introducing of more mechanisms, application is convenient, and structure is also simpler, compact.
As shown in figure 3, being an alternative embodiment of the invention, in the embodiment, rotating telescoping mechanism 43 and adopting a water
Flat moving sets and vertical shift pair collective effect are realizing, and action mode is simple, and effect is obvious, can equally realize arc
Shape connecting rod 432 and the connection effect of arc lower connecting rod 431, complete identical forms of motion.
Present configuration is compact, takes up room little, and structural bearing is good, and driven nature is strong, moving platform stable movement, flexibility ratio
Height, is easy to the motor control of mechanism, can need to be applied to the various fields such as lathe, athletic rehabilitation, robot detection according to difference.
Claims (4)
1. a kind of Three Degree Of Freedom robot, it is characterised in that：Including fixed platform（1）, moving platform（2）, an intermediate restraint bar（3）
With three structure identical side chains（4）, the intermediate restraint bar（3）Upper end is by ball pivot and moving platform（2）Center is hinged, lower end
With fixed platform（1）Center is fixedly connected, the side chain（4）Including driving means（41）, drive link（42）With rotation telescopic machine
Structure（43）, the rotation telescoping mechanism（43）Upper end is in moving platform（2）On with intermediate restraint bar（3）Centered on circumferencial direction on
Arrangement, the driving means（41）It is fixed on fixed platform（1）On, the drive link（42）One end and driving means（41）Output
Axle connects that to form rotation secondary, the other end and rotates telescoping mechanism（43）Lower end rotate connection and formed and rotate secondary, the rotation is stretched
Contracting mechanism（43）Upper end cut with scissors by cross-axle universal shaft or ball pivot and moving platform（2）It is connected.
2. a kind of Three Degree Of Freedom robot according to claim 1, it is characterised in that：The rotation telescoping mechanism（43）Bag
Include curved rod（432）With tubulose arc lower connecting rod（431）, upper curved rod（432）With arc lower connecting rod（431）Concyclic
The heart, and upper curved rod（432）It is embedded in tubulose arc lower connecting rod（431）Inner chamber simultaneously can be along arc lower connecting rod（431）'s
Arc track moves.
3. a kind of Three Degree Of Freedom robot according to claim 1 and 2, it is characterised in that：The rotation telescoping mechanism
（43）Upper end is in moving platform（2）On with intermediate restraint bar（3）Centered on same circle circumference on be evenly arranged.
4. a kind of Three Degree Of Freedom robot according to claim 1, it is characterised in that：The driving means（41）For electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879835.8A CN106426091A (en) | 2016-10-09 | 2016-10-09 | Three-freedom-degree robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879835.8A CN106426091A (en) | 2016-10-09 | 2016-10-09 | Three-freedom-degree robot |
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| CN106426091A true CN106426091A (en) | 2017-02-22 |
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| CN201610879835.8A Pending CN106426091A (en) | 2016-10-09 | 2016-10-09 | Three-freedom-degree robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671067A (en) * | 2017-03-13 | 2017-05-17 | 河北工业大学 | Three-branched-chain six-degree-of-freedom parallel connection mechanism provided with arc-shaped movement pair |
| CN106903671A (en) * | 2017-03-21 | 2017-06-30 | 中国科学院深圳先进技术研究院 | A kind of 3-freedom parallel mechanism with arc prismatic pair |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| WO2018170716A1 (en) * | 2017-03-21 | 2018-09-27 | 中国科学院深圳先进技术研究院 | Three-degree-of-freedom parallel mechanism having curved prismatic pair |
| WO2018176251A1 (en) * | 2017-03-29 | 2018-10-04 | 中国科学院深圳先进技术研究院 | Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches |
| WO2018223362A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Two-degrees-of-freedom decoupled parallel mechanism |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| CN109973784A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of channel bend inspection machine people |
| CN112264986A (en) * | 2020-11-03 | 2021-01-26 | 湖北理工学院 | Three-degree-of-freedom decoupling parallel mechanism driven by arc spring |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671067A (en) * | 2017-03-13 | 2017-05-17 | 河北工业大学 | Three-branched-chain six-degree-of-freedom parallel connection mechanism provided with arc-shaped movement pair |
| CN106903671B (en) * | 2017-03-21 | 2019-12-24 | 中国科学院深圳先进技术研究院 | Three-degree-of-freedom parallel mechanism with arc-shaped moving pair |
| CN106903671A (en) * | 2017-03-21 | 2017-06-30 | 中国科学院深圳先进技术研究院 | A kind of 3-freedom parallel mechanism with arc prismatic pair |
| WO2018170716A1 (en) * | 2017-03-21 | 2018-09-27 | 中国科学院深圳先进技术研究院 | Three-degree-of-freedom parallel mechanism having curved prismatic pair |
| US10864626B2 (en) | 2017-03-29 | 2020-12-15 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches |
| WO2018176251A1 (en) * | 2017-03-29 | 2018-10-04 | 中国科学院深圳先进技术研究院 | Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches |
| US20200189093A1 (en) * | 2017-03-29 | 2020-06-18 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| WO2018223362A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Two-degrees-of-freedom decoupled parallel mechanism |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| US11331791B2 (en) | 2017-06-09 | 2022-05-17 | Shenzhen Institute Of Advanced Technology | 3 degree-of-freedoms decoupling spherical parallel mechanism |
| US11458614B2 (en) | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
| CN109973784A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of channel bend inspection machine people |
| CN112264986A (en) * | 2020-11-03 | 2021-01-26 | 湖北理工学院 | Three-degree-of-freedom decoupling parallel mechanism driven by arc spring |
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Application publication date: 20170222 |