CN106426106B - A kind of four-degree-of-freedom robot mechanism - Google Patents
A kind of four-degree-of-freedom robot mechanism Download PDFInfo
- Publication number
- CN106426106B CN106426106B CN201610994831.4A CN201610994831A CN106426106B CN 106426106 B CN106426106 B CN 106426106B CN 201610994831 A CN201610994831 A CN 201610994831A CN 106426106 B CN106426106 B CN 106426106B
- Authority
- CN
- China
- Prior art keywords
- pivot center
- telescopic bar
- branch
- fixed frame
- shaft
- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of symmetrical four-degree-of-freedom robot mechanisms in face, including fixed frame, moving platform, big shaft, small shaft, the first, second branch being arranged between the big shaft and small shaft and the third branch being arranged between the fixed frame and moving platform；The big shaft is rotatablely connected with fixed frame, and the small shaft is rotatablely connected with moving platform；Three branches include telescopic rod and conversion fork, and the telescopic rod of first and second branch is connect with big shaft by revolute pair, connect with small shaft by conversion fork；The telescopic rod of the third branch is connect by Hooke's hinge with silent flatform, is connect with moving platform by conversion fork.Structure of the invention is compact, ingenious in design, and complete machine good rigidity, precision are high, has big working space rack volume ratio.
Description
Technical field
The present invention relates to a kind of robot mechanism, more particularly to it is a kind of have two flat two turns four-degree-of-freedom machine it is man-machine
Structure.
Background technology
Existing patent CN1170658C discloses a kind of four-freedom parallel connection robot mechanism, and there are four divide for mechanism tool
Branch, two of which branch is composed in series by revolute pair, prismatic pair and ball pair, Liang Ge branches are by Hooke's hinge, prismatic pair and ball pair string
Connect composition.Patent CN100354068C is disclosed by a proper constrained branched chain and four four freedom formed without constraint active branched chain
Parallel robot mechanism is spent, wherein two degree of freedom of proper constrained branched chain limiting mechanism, making mechanism tool, there are four degree of freedom, without about
Beam active branched chain provides driving.Patent CN102601793B discloses Novel spatially-symmetricafour-degree-of-freedparallel four-degree-of-freedparallel parallel mechanism, by four
It is a without constraint active branched chain and 1 centre passive branch composition, and lead to and realize that end is executed 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
It is composed in series by Hooke's hinge, prismatic pair and revolute pair, Liang Ge branches are composed in series by Hooke's hinge, prismatic pair and ball pair, the mechanism
Two constraints are provided by the first two branch, to realize 4DOF.
It follows that above-mentioned patent be realize 4 degree of freedom, mechanism at least have 4 movement branches, even 5
Branch, manufacturing cost are higher.
Invention content
Technical problem solved by the invention is to provide a kind of four-degree-of-freedom robot mechanism being made of three branches.
Realize that the technical solution of the object of the invention is：A kind of four-degree-of-freedom robot mechanism, including fixed frame, rotation
The big shaft that is connected on fixed frame, first bevel gear, second bevel gear, the big shaft driving device being fixed on fixed frame,
Moving platform, the small shaft being rotatably connected on moving platform, the first branch being arranged between the big shaft and small shaft and
Two branches, the third branch being arranged between the fixed frame and moving platform, the second bevel gear are rotatablely connected with fixed frame,
And it is affixed with the driving end of the big shaft driving device, the first bevel gear is connected in big shaft, the first cone tooth
Wheel and second bevel gear are meshed；
First branch is identical with the second branched structure, and every branch includes driving device, telescopic bar
And conversion fork；The telescopic bar of two branches is rotatablely connected with big shaft, connects the telescopic bar and big shaft
Pivot center intersects vertically with the pivot center for connecting the fixed frame and big shaft；One end of the telescopic bar is affixed
Have driving device, the telescopic bar made to become active moving sets, the other end of the telescopic bar with corresponding turn
It is affixed to change fork, the conversion fork is rotatablely connected with small shaft；
Connect the conversion of the telescopic bar of first branch and the pivot center of big shaft, connection first branch
The fork and pivot center of small shaft, the pivot center of the telescopic bar of connection second branch and big shaft and connection
Totally four axis are mutually parallel for the conversion fork of second branch and the pivot center of small shaft；
The third branch includes third driving device, third telescopic bar, third turning collar, third conversion fork；Institute
It states third turning collar to be rotatablely connected with fixed frame, the third telescopic bar is rotatablely connected with third turning collar, the third
One end of telescopic bar is connected with third driving device, and the third telescopic bar is made to become active moving sets, and described the
The other end of three telescopic bars is rotatablely connected with third conversion fork, and the third conversion fork is rotatablely connected with moving platform；
It connects the pivot center of the third turning collar and fixed frame and connect the third telescopic bar and third turns
The pivot center of moving-coil intersects vertically；Connect pivot center and third length of the third telescopic bar with third conversion fork
The telescopic direction of telescopic rod is parallel；Connect the pivot center of the third turning collar and fixed frame, the connection third length is stretched
The pivot center totally three of the pivot center of contracting bar and third turning collar, connection the third telescopic bar and third conversion fork
Axis is not conllinear, connect the pivot center of the third telescopic bar and third conversion fork with connect the third conversion fork and
Moving platform pivot center intersects vertically；
It connects the pivot center of the small shaft and moving platform and connect the third conversion fork and moving platform pivot center
It is mutually parallel.
Connect the pivot center of the big shaft and fixed frame and the rotation axis for connecting the third turning collar and fixed frame
Line is mutually parallel.
Compared with prior art, the present invention its remarkable advantage is：The mechanism is face symmetrical mechanism, the processing of fixed frame and peace
Surface is filled in horizontal or vertical direction, thus there is good manufacture and assembly process process, and the second branch and third branch
Only tool can be used in chain, and there are one the hinges of rotational freedom to be connected with moving platform, reduces 4 rotating hinges compared with prior art
Chain, thus advantageously reduce manufacturing cost.
Description of the drawings
Fig. 1 is one of the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the T shape axis in the embodiment of the present invention.
Fig. 3 is the second structural representation of the embodiment of the present invention.
Number explanation is as follows in figure：
1, fixed frame, 2, big shaft, 3, first bevel gear, 4, second bevel gear, 5, big shaft driving device, 6, small turn
Axis, 7, moving platform, I, the first branch, II, the second branch, III, third branch；11, the driving device of the first branch, 12, first
The telescopic bar of branch, the conversion fork of the 13, first branch；21, the driving device of the second branch, the length of the 22, second branch
Telescopic rod, the conversion fork of the 23, second branch；31, third driving device, 32, third telescopic bar, 33, third turning collar,
34, third conversion fork.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows：
Embodiment
A kind of four-degree-of-freedom robot mechanism, including fixed frame 1, the big shaft 2, first that is rotatably connected on fixed frame 1
Bevel gear 3, the big shaft driving device 5 being fixed on fixed frame 1, moving platform 7, is rotatably connected on moving platform at second bevel gear 4
Small shaft 6 on 7, the first branch I being arranged between the big shaft 2 and small shaft 6 and the second branch II, be arranged in it is described
Third branch III between fixed frame 1 and moving platform 7, the second bevel gear 4 and fixed frame 1 are rotatablely connected, and with it is described big
The driving end of shaft driving device 5 is affixed, and the first bevel gear 3 is connected in big shaft 2, the first bevel gear 3 and
Two bevel gears 4 are meshed；
The first branch I is identical with the second branch II structures, and every branch includes driving device, telescopic
Bar and conversion fork；The telescopic bar of two branches is rotatablely connected with big shaft 2, connects the telescopic bar and big shaft
2 pivot center intersects vertically with the pivot center for connecting the fixed frame 1 and big shaft 2；One end of the telescopic bar
Be connected with driving device, the telescopic bar made to become active moving sets, the other end of the telescopic bar with it is right
The conversion fork answered is affixed, and the conversion fork is rotatablely connected with small shaft 6；
Connect the telescopic bar 12 of the first branch I and the pivot center of big shaft 2, connection the first branch I
Conversion fork 13 and the pivot center of small shaft 6, connection the second branch II telescopic bar 22 and big shaft 2 rotation
Totally four axis are mutually parallel the pivot center of the conversion fork 23 and small shaft 6 of axis and connection the second branch II；
The third branch III includes third driving device 31, third telescopic bar 32, third turning collar 33, third
Conversion fork 34；The third turning collar 33 is rotatablely connected with fixed frame 1, the third telescopic bar 32 and third turning collar 33
Rotation connection, one end of the third telescopic bar 32 is connected with third driving device 31, makes the third telescopic bar
32 become active moving sets, and the other end and the third conversion fork 34 of the third telescopic bar 32 are rotatablely connected, the third
Conversion fork 34 is rotatablely connected with moving platform 7；
It connects the pivot center of the third turning collar 33 and fixed frame 1 and connect the third telescopic bar 32 and
The pivot center of three turning collars 33 intersects vertically；Connect the pivot center of the third telescopic bar 32 and third conversion fork 34
It is parallel with the telescopic direction of third telescopic bar 32；Connect pivot center, the connection of the third turning collar 33 and fixed frame 1
The pivot center of the third telescopic bar 32 and third turning collar 33, the connection third telescopic bar 32 and third turn
Change fork 34 pivot center totally three axis are not conllinear, connect the rotation of the third telescopic bar 32 and third conversion fork 34
Axis with connect the third conversion fork 34 and 7 pivot center of moving platform intersects vertically；
It connects the pivot center of the small shaft 6 and moving platform 7 and connect the third conversion fork 34 and moving platform 7 rotates
Axis is mutually parallel.
It connects the pivot center of the big shaft 2 and fixed frame 1 and connect turning for the third turning collar 33 and fixed frame 1
Shaft line is mutually parallel.
Structure of the invention is compact, ingenious in design, and complete machine good rigidity, precision are high, has big working space rack volume ratio.
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 (2)
1. a kind of four-degree-of-freedom robot mechanism, which is characterized in that including fixed frame (1), be rotatably connected on fixed frame (1)
Big shaft (2), second bevel gear (4), the big shaft driving device (5) being fixed on fixed frame (1), is moved first bevel gear (3)
Platform (7), is arranged between the big shaft (2) and small shaft (6) the small shaft (6) being rotatably connected on moving platform (7)
First branch (I) and the second branch (II), the third branch (III) being arranged between the fixed frame (1) and moving platform (7),
The second bevel gear (4) is rotatablely connected with fixed frame (1), and, institute affixed with the driving end of the big shaft driving device (5)
It states first bevel gear (3) to be connected in big shaft (2), the first bevel gear (3) and second bevel gear (4) are meshed；
First branch (I) is identical with the second branch (II) structure, and every branch includes driving device, telescopic
Bar and conversion fork；The telescopic bar of two branches is rotatablely connected with big shaft (2), connects the telescopic bar and big turn
The pivot center of axis (2) intersects vertically with the pivot center for connecting the fixed frame (1) and big shaft (2)；The telescopic
One end of bar is connected with driving device, make the telescopic bar become active moving sets, the telescopic bar it is another
End is affixed with corresponding conversion fork, and the conversion fork is rotatablely connected with small shaft (6)；
Connect the telescopic bar (12) of first branch (I) and the pivot center of big shaft (2), connection first branch
(I) pivot center of conversion fork (13) and small shaft (6), the telescopic bar (22) of connection second branch (II) and greatly
The pivot center and the conversion fork (23) of connection second branch (II) and the pivot center of small shaft (6) of shaft (2) are total
Four axis are mutually parallel；
The third branch (III) include third driving device (31), third telescopic bar (32), third turning collar (33),
Third conversion fork (34)；The third turning collar (33) and fixed frame (1) are rotatablely connected, the third telescopic bar (32) with
Third turning collar (33) is rotatablely connected, and one end of the third telescopic bar (32) is connected with third driving device (31), makes
The third telescopic bar (32) becomes active moving sets, and the other end and the third of the third telescopic bar (32) are converted
(34) rotation connection is pitched, the third conversion fork (34) is rotatablely connected with moving platform (7)；
Connect the pivot center of the third turning collar (33) and fixed frame (1) with connect the third telescopic bar (32) and
The pivot center of third turning collar (33) intersects vertically；Connect the third telescopic bar (32) and third conversion fork (34)
Pivot center is parallel with the telescopic direction of third telescopic bar (32)；Connect the third turning collar (33) and fixed frame (1)
Pivot center, the connection third telescopic bar (32) and third turning collar (33) pivot center, connect the third
Totally three axis are not conllinear for telescopic bar (32) and the pivot center of third conversion fork (34), connect the third telescopic
Bar (32) and the pivot center of third conversion fork (34) with connect the third conversion fork (34) and moving platform (7) pivot center hangs down
Straight intersection；
It connects the pivot center of the small shaft (6) and moving platform (7) and connect the third conversion fork (34) and moving platform (7)
Pivot center is mutually parallel.
2. a kind of four-degree-of-freedom robot mechanism according to claim 1, which is characterized in that the connection big shaft (2)
It is mutually parallel with the pivot center for connecting the third turning collar (33) and fixed frame (1) with the pivot center of fixed frame (1).
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 CN106426106A (en) | 2017-02-22 |
| CN106426106B true CN106426106B (en) | 2018-10-02 |
Family
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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426106B (en) |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426106A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426101B (en) | A kind of four-degree-of-freedom robot mechanism | |
| CN105250025B (en) | The end effector of endoscope is clamped in a kind of auxiliary Minimally Invasive Surgery | |
| CN108608409A (en) | A kind of automatic lifting adjustable width mechanical arm | |
| CN106426103B (en) | It is a kind of that two flat two turns of four-degree-of-freedom robot mechanisms can be achieved | |
| CN106363609B (en) | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism | |
| CN106625576B (en) | A kind of robot with five degrees of freedom mechanism | |
| CN106426102B (en) | It is a kind of that there are three flat two turns of robot with five degrees of freedom mechanisms | |
| CN104476538B (en) | One has ten connecting rod five degree of freedom controllable-mechanism type mobile mechanical arms | |
| CN104908035B (en) | A kind of long-armed industry mechanical arm | |
| CN111086571B (en) | Robot capable of rapidly crossing obstacles | |
| CN107962762A (en) | A kind of linkage of bottle-blowing machine mould opening-closing mould bases and bed die mould bases | |
| CN106378770B (en) | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved | |
| CN106426106B (en) | A kind of four-degree-of-freedom robot mechanism | |
| CN105479441B (en) | Robot hand with three under-actuated fingers connected in parallel | |
| CN102303821B (en) | Luffing tower crane with balanced type suspension arm based on traction luffing of steel rope | |
| CN102975196B (en) | Double-rotational freedom parallel mechanism | |
| CN206277386U (en) | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism | |
| CN102554917A (en) | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation | |
| CN207554757U (en) | A kind of hypodontia wheel and bevel gear cooperation linkage | |
| CN104385264A (en) | Multiple support and double platform mechanism | |
| CN106078685A (en) | A kind of multiple freedom parallel mechanism | |
| CN207495998U (en) | A kind of linkage of bottle-blowing machine mould opening-closing mould bases and bed die mould bases | |
| CN103753522B (en) | Two-degree-of-freedorotary rotary manipulator | |
| CN205928639U (en) | All -purpose robot of extension arm with can swing and to stretch | |
| CN203343682U (en) | Disc wire structure of overturning shaft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |