CN106426106A - Plane symmetric four-degree of freedom robot mechanism - Google Patents
Plane symmetric four-degree of freedom robot mechanism Download PDFInfo
- Publication number
- CN106426106A CN106426106A CN201610994831.4A CN201610994831A CN106426106A CN 106426106 A CN106426106 A CN 106426106A CN 201610994831 A CN201610994831 A CN 201610994831A CN 106426106 A CN106426106 A CN 106426106A
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- China
- Prior art keywords
- rotating shaft
- pivot center
- telescopic bar
- side chain
- conversion
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a plane symmetric four-degree of freedom robot mechanism which comprises a fixing frame, a moveable platform, a big rotating shaft, a small rotating shaft, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain and the second branch chain are arranged between the big rotating shaft and the small rotating shaft; the third branch chain is arranged between the fixing frame and the moveable platform; the big rotating shaft is in rotatable connection with the fixing frame; the small rotating shaft is in rotatable connection with the moveable platform; the three branch chains all include expansion links and conversion forks; the expansion links of the first branch chain and the second branch chain are both connected with the big rotating shaft through rotating pairs and are connected with the small rotating shaft through the conversion forks; the expansion link of the third branch chain is connected with a static platform through a hook joint and is connected with the moveable platform through the conversion fork. The plane symmetric four-degree of freedom robot mechanism has the advantages of compact structure, smart design, high overall rigidity, high precision and high volume ratio of work space frame.
Description
Technical field
The present invention relates to a kind of robot mechanism, more particularly to a kind of to have two flat two turns of four-degree-of-freedom machines man-machine
Structure.
Background technology
Existing patent CN1170658C discloses a kind of four-freedom parallel connection robot mechanism, and this mechanism has four points
, by rotating, pair, moving sets and ball pair compose in series, Liang Ge branch is gone here and there by Hooke's hinge, moving sets and ball are secondary for two of which branch
Connect composition.Patent CN100354068C discloses by a proper constrained branched chain and four four freedom that no constraint active branched chain forms
Degree parallel robot mechanism, two frees degree of wherein proper constrained branched chain limiting mechanism, make mechanism have four frees degree, no about
Bundle active branched chain provides and drives.Patent CN102601793B discloses Novel spatially-symmetricafour-degree-of-freedparallel four-degree-of-freedparallel parallel mechanism, by four
Individual no constraint active branched chain and 1 centre passive branch composition, and lead to and realize end execution crossing setting gear pair in moving platform
Device moving Platform center axis rotates.Patent CN100513062 discloses a kind of four-freedom parallel mechanism, two of which branch
By Hooke's hinge, moving sets and rotation, pair composes in series, Liang Ge branch is composed in series by Hooke's hinge, moving sets and ball pair, this mechanism
There is provided two constraints by the first two branch, thus realizing 4DOF.
It follows that above-mentioned patent be realize 4 frees degree, mechanism all at least have 4 motion branches, even 5
Branch, manufacturing cost is higher.
Content of the invention
Technical problem solved by the invention is to provide a kind of face being made up of three side chains symmetrical four-degree-of-freedom machine
Robot mechanism.
The technical solution realizing the object of the invention is：A kind of symmetrical four-degree-of-freedom robot mechanism in face, including fixing
Frame, the big rotating shaft being rotatably connected on fixed mount, first bevel gear, second bevel gear, the big rotating shaft being fixed on fixed mount are driven
Dynamic device, moving platform, the little rotating shaft being rotatably connected on moving platform, be arranged between described big rotating shaft and little rotating shaft first
Chain and the second side chain, the 3rd side chain being arranged between described fixed mount and moving platform, described second bevel gear and fixed mount turn
It is dynamically connected, and affixed with the drive end of described big rotating shaft driving means, described first bevel gear is connected in big rotating shaft, and described
One bevel gear and second bevel gear are meshed；
Described first side chain is identical with the second branched structure, and every side chain all includes driving means, telescopic bar
With conversion fork；The telescopic bar of two side chains is all connected with big axis of rotation, connects described telescopic bar and big rotating shaft
Pivot center is intersected vertically with the pivot center being connected described silent flatform and big rotating shaft；One end of described telescopic bar is all affixed
Have driving means, make described telescopic bar become active moving sets, the other end of described telescopic bar all with corresponding turn
Change fork affixed, described conversion fork is all connected with little axis of rotation；
Connect the telescopic bar of described first side chain and the conversion of the pivot center of big rotating shaft, described first side chain of connection
The pivot center of the pivot center of fork and little rotating shaft, the telescopic bar of described second side chain of connection and big rotating shaft and connection
Totally four axis are parallel to each other the pivot center of the conversion fork of described second side chain and little rotating shaft；
Described 3rd side chain includes the 3rd driving means, the 3rd telescopic bar, the 3rd turning collar, the 3rd conversion fork；Institute
State the 3rd turning collar and rotate with fixed mount and be connected, described 3rd telescopic bar is rotated with the 3rd turning collar and is connected, the described 3rd
One end of telescopic bar is connected with the 3rd driving means, makes described 3rd telescopic bar become active moving sets, and described
The other end of three telescopic bars is rotated with the 3rd conversion fork and is connected, and described 3rd conversion fork is rotated with moving platform and is connected；
Connect the pivot center of described 3rd turning collar and fixed mount and be connected described 3rd telescopic bar and the 3rd turn
The pivot center of moving-coil intersects vertically；Connect pivot center and the 3rd length that fork changed by described 3rd telescopic bar and the 3rd
The telescopic direction of expansion link is parallel；Connect described 3rd turning collar and the pivot center of fixed mount, described 3rd length of connection are stretched
Totally three articles of the pivot center of the pivot center of contracting bar and the 3rd turning collar, the described 3rd telescopic bar of connection and the 3rd conversion fork
Axis is not conllinear, connect described 3rd telescopic bar and the 3rd conversion fork pivot center with is connected described 3rd change pitch and
Moving platform pivot center intersects vertically；
Connect described little rotating shaft and the pivot center of moving platform is pitched and moving platform pivot center with being connected described 3rd conversion
It is parallel to each other.
Connect the pivot center of described big rotating shaft and silent flatform and the rotary shaft being connected described 3rd turning collar and silent flatform
Line is parallel to each other.
Compared with prior art, its remarkable advantage is the present invention：This mechanism is face symmetrical mechanism, the processing of fixed mount and peace
Dress surface is all in horizontal or vertical direction, thus has good manufacture and assembly process process, and the second side chain and the 3rd
Chain can be connected with moving platform using the hinge only with a rotational freedom, compared with prior art decreases 4 rotating hinges
Chain, thus advantageously reduce manufacturing cost.
Brief description
Fig. 1 is one of structural representation of the embodiment of the present invention.
Fig. 2 is the structural representation of the T-shaped axle in the embodiment of the present invention.
Fig. 3 is the two of the structural representation of the embodiment of the present invention.
In figure number explanation is as follows：
1st, fixed mount, 2, big rotating shaft, 3, first bevel gear, 4, second bevel gear, 5, big rotating shaft driving means, 6, little turn
Axle, 7, moving platform, I, the first side chain, II, the second side chain, III, the 3rd side chain；11st, the driving means of the first side chain, 12, first
The telescopic bar of side chain, the conversion fork of the 13, first side chain；21st, the driving means of the second side chain, the length of the 22, second side chain
Expansion link, the conversion fork of the 23, second side chain；31st, the 3rd driving means, the 32, the 3rd telescopic bar, the 33, the 3rd turning collar,
34th, the 3rd conversion fork.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing
Describe in detail as follows：
Embodiment
A kind of four-degree-of-freedom robot mechanism, including fixed mount 1, the big rotating shaft 2, first that is rotatably connected on fixed mount 1
Bevel gear 3, second bevel gear 4, the big rotating shaft driving means 5 being fixed on fixed mount 1, moving platform 7, it is rotatably connected on moving platform
Little rotating shaft 6 on 7, the first side chain I being arranged between described big rotating shaft 2 and little rotating shaft 6 and the second side chain II, be arranged in described
The 3rd side chain III between fixed mount 1 and moving platform 7, described second bevel gear 4 is rotated with fixed mount 1 and is connected, and big with described
The drive end of rotating shaft driving means 5 is affixed, and described first bevel gear 3 is connected in big rotating shaft 2, described first bevel gear 3 and
Two bevel gears 4 are meshed；
Described first side chain I is identical with the second side chain II structure, and every side chain all includes driving means, telescopic
Bar and conversion fork；The telescopic bar of two side chains is all rotated with big rotating shaft 2 and is connected, and connects described telescopic bar and big rotating shaft
2 pivot center is intersected vertically with the pivot center being connected described silent flatform 1 and big rotating shaft 2；One end of described telescopic bar
All be connected with driving means, make described telescopic bar become active moving sets, the other end of described telescopic bar all with right
The conversion fork answered is affixed, and described conversion fork is all rotated with little rotating shaft 6 and is connected；
Connect the telescopic bar 12 of described first side chain I and the pivot center of big rotating shaft 2, connect described first side chain I
Conversion fork 13 and little rotating shaft 6 pivot center, connect the telescopic bar 22 of described second side chain II and the rotation of big rotating shaft 2
Totally four axis are parallel to each other the pivot center of the conversion fork 23 of axis and the described second side chain II of connection and little rotating shaft 6；
Described 3rd side chain III includes the 3rd driving means 31, the 3rd telescopic bar 32, the 3rd turning collar the 33, the 3rd
Conversion fork 34；Described 3rd turning collar 33 and fixed mount 1 rotate and are connected, described 3rd telescopic bar 32 and the 3rd turning collar 33
Rotate and connect, one end of described 3rd telescopic bar 32 is connected with the 3rd driving means 31, makes described 3rd telescopic bar
32 become active moving sets, and the other end of described 3rd telescopic bar 32 is rotated with the 3rd conversion fork 34 and is connected, and the described 3rd
Conversion fork 34 is rotated with moving platform 7 and is connected；
Connect the pivot center of described 3rd turning collar 33 and fixed mount 1 and be connected described 3rd telescopic bar 32 and
The pivot center of three turning collars 33 intersects vertically；Connect the pivot center of described 3rd telescopic bar 32 and the 3rd conversion fork 34
Parallel with the telescopic direction of the 3rd telescopic bar 32；Connect pivot center, the connection of described 3rd turning collar 33 and fixed mount 1
The pivot center of described 3rd telescopic bar 32 and the 3rd turning collar 33, the described 3rd telescopic bar 32 of connection and the 3rd turn
Totally three axis are not conllinear to change the pivot center of fork 34, connect described 3rd telescopic bar 32 and the rotation of the 3rd conversion fork 34
Axis be connected described 3rd conversion fork 34 and moving platform 7 pivot center intersect vertically；
Connect the pivot center of described little rotating shaft 6 and moving platform 7 and be connected described 3rd conversion fork 34 and moving platform 7 rotates
Axis is parallel to each other.
Connect the pivot center of described big rotating shaft 2 and silent flatform 1 and turning of being connected described 3rd turning collar 33 and silent flatform 1
Shaft line is parallel to each other.
Present configuration is compact, designs ingenious, whole machine good rigidity, high precision, has big working space frame volume ratio.
Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in
The specific embodiment stated, above-mentioned specific embodiment is only schematically, is not restricted, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of forms, these belong within protection scope of the present invention.
Claims (2)
1. a kind of symmetrical four-degree-of-freedom robot mechanism in face is it is characterised in that including fixed mount (1), being rotatably connected on fixed mount
(1) the big rotating shaft (2) on, first bevel gear (3), second bevel gear (4), the big rotating shaft being fixed on fixed mount (1) drive dress
Put (5), moving platform (7), the little rotating shaft (6) being rotatably connected on moving platform (7), be arranged in described big rotating shaft (2) and little rotating shaft
(6) the first side chain (I) between and the second side chain (II), the 3rd being arranged between described fixed mount (1) and moving platform (7)
Chain (III), described second bevel gear (4) is rotated with fixed mount (1) and is connected, and the driving with described big rotating shaft driving means (5)
End is affixed, and described first bevel gear (3) is connected in big rotating shaft (2), described first bevel gear (3) and second bevel gear (4) phase
Engagement；
Described first side chain (I) is identical with the second side chain (II) structure, and every side chain all includes driving means, telescopic
Bar and conversion fork；The telescopic bar of two side chains is all rotated with big rotating shaft (2) and is connected, and connects described telescopic bar and big turn
The pivot center of axle (2) is intersected vertically with the pivot center being connected described silent flatform (1) and big rotating shaft (2)；Described telescopic
One end of bar is all connected with driving means, makes described telescopic bar become active moving sets, described telescopic bar another
End is all affixed with corresponding conversion fork, and described conversion fork is all rotated with little rotating shaft (6) and is connected；
Connect the telescopic bar (12) of described first side chain (I) and the pivot center of big rotating shaft (2), connect described first side chain
(I) conversion fork (13) and the pivot center of little rotating shaft (6), connect the telescopic bar (22) and greatly of described second side chain (II)
The pivot center of conversion fork (23) of the pivot center of rotating shaft (2) and described second side chain (II) of connection and little rotating shaft (6) is altogether
Article four, axis is parallel to each other；
Described 3rd side chain (III) include the 3rd driving means (31), the 3rd telescopic bar (32), the 3rd turning collar (33),
3rd conversion fork (34)；Described 3rd turning collar (33) and fixed mount (1) rotate and are connected, described 3rd telescopic bar (32) and
3rd turning collar (33) rotates and connects, and one end of described 3rd telescopic bar (32) is connected with the 3rd driving means (31), makes
Described 3rd telescopic bar (32) becomes active moving sets, the other end of described 3rd telescopic bar (32) and the 3rd conversion
Fork (34) rotates and connects, and described 3rd conversion fork (34) is rotated with moving platform (7) and is connected；
Connect the pivot center of described 3rd turning collar (33) and fixed mount (1) be connected described 3rd telescopic bar (32) and
The pivot center of the 3rd turning collar (33) intersects vertically；Connect described 3rd telescopic bar (32) and the 3rd conversion fork (34)
Pivot center is parallel with the telescopic direction of the 3rd telescopic bar (32)；Connect described 3rd turning collar (33) and fixed mount (1)
Pivot center, the pivot center connecting described 3rd telescopic bar (32) and the 3rd turning collar (33), connection the described 3rd
Totally three articles of axis are not conllinear for the pivot center of telescopic bar (32) and the 3rd conversion fork (34), connect described 3rd telescopic
To pitch (34) and moving platform (7) pivot center vertical with being connected described 3rd conversion for the pivot center of bar (32) and the 3rd conversion fork (34)
Directly intersect；
Connect described little rotating shaft (6) and the pivot center of moving platform (7) pitches (34) and moving platform (7) with being connected described 3rd conversion
Pivot center is parallel to each other.
2. a kind of symmetrical four-degree-of-freedom robot mechanism in face according to claim 1 is it is characterised in that connect described big turn
The pivot center of axle (2) and silent flatform (1) is mutually flat with the pivot center being connected described 3rd turning collar (33) and silent flatform (1)
OK.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994831.4A CN106426106B (en) | 2016-11-09 | 2016-11-09 | A kind of four-degree-of-freedom robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994831.4A CN106426106B (en) | 2016-11-09 | 2016-11-09 | A kind of four-degree-of-freedom robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426106A true CN106426106A (en) | 2017-02-22 |
| CN106426106B CN106426106B (en) | 2018-10-02 |
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ID=58206988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610994831.4A Active CN106426106B (en) | 2016-11-09 | 2016-11-09 | A kind of four-degree-of-freedom robot mechanism |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| EP1224055B1 (en) * | 1999-10-30 | 2006-08-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Processing machine for moving a tool or workpiece in a multiaxial manner |
| CN102699899A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Highly over-constrained high-rigidity multi-coordinate hybrid robot |
| CN102947061A (en) * | 2010-06-17 | 2013-02-27 | 爱克西茺集团公司 | A parallel-kinematical machine with gimbal holders |
| CN103252774A (en) * | 2013-05-07 | 2013-08-21 | 天津大学 | Space five-degree-of-freedom hybrid robot |
| CN104985596A (en) * | 2015-07-09 | 2015-10-21 | 天津大学 | Five-freedom hybrid robot with multi-axis rotation brackets |
-
2016
- 2016-11-09 CN CN201610994831.4A patent/CN106426106B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| EP1224055B1 (en) * | 1999-10-30 | 2006-08-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Processing machine for moving a tool or workpiece in a multiaxial manner |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN102947061A (en) * | 2010-06-17 | 2013-02-27 | 爱克西茺集团公司 | A parallel-kinematical machine with gimbal holders |
| CN102699899A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Highly over-constrained high-rigidity multi-coordinate hybrid robot |
| CN103252774A (en) * | 2013-05-07 | 2013-08-21 | 天津大学 | Space five-degree-of-freedom hybrid robot |
| CN104985596A (en) * | 2015-07-09 | 2015-10-21 | 天津大学 | Five-freedom hybrid robot with multi-axis rotation brackets |
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| Publication number | Publication date |
|---|---|
| CN106426106B (en) | 2018-10-02 |
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