CN106945011A - A kind of orthogonal parallel institution of four-degree-of-freedom - Google Patents
A kind of orthogonal parallel institution of four-degree-of-freedom Download PDFInfo
- Publication number
- CN106945011A CN106945011A CN201710151382.1A CN201710151382A CN106945011A CN 106945011 A CN106945011 A CN 106945011A CN 201710151382 A CN201710151382 A CN 201710151382A CN 106945011 A CN106945011 A CN 106945011A
- Authority
- CN
- China
- Prior art keywords
- side chain
- slave arm
- driver element
- moving platform
- guide rail
- 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.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 abstract description 30
- 230000008859 change Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000631 nonopiate Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of orthogonal parallel institution of four-degree-of-freedom, including base framework, on two side walls of base framework back timber, on the side wall of base framework front portion column, base framework bottom upper side wall is installed with four guide rails altogether, one end of four side chains is slidably connected by four guide rails with base framework respectively, and provide power by four driver elements, the other end of four side chains is rotated with moving platform and is connected, four side chains are two section movable connection structures, and be quadrature arrangement, when the driving stepper motor sliding block of a certain driver element drives connected side chain to do translation, it will not be influenceed to change original direction of motion by other branch chain movements, realize the one-way movement of moving platform in this direction, reach full decoupled purpose, and stable movement, it is good with kinematic decoupling, simple and compact for structure the characteristics of.
Description
Technical field
The present invention relates to a kind of mechanical device processed for sheet metal, more particularly to a kind of orthogonal parallel connection of four-degree-of-freedom
Mechanism.
Background technology
Minority carrier generation lifetime can meet the carrying operation of space object, can be widely used in microoperation manipulator
And Automatic manual transmission, modern logistics, electronic information and food medicine and other fields automatic production line high speed light loading transport operation are worked as
In.
At present, common few free parallel institution is generally nonopiate mechanism, such as most common Delta parallel robots
Structure and Stweart parallel robot mechanisms, and derive the parallel institution of other forms that developed according to their structure,
Motion coupling between each movement branched chain of these parallel institutions is all relatively strong, causes its control process relative complex.United States Patent (USP)
US6729202B2 discloses a kind of three orthogonal dimensional translation and one one-rotation parallel mechanism, including three structure identical side chains, and this three
Bar side chain limits the Three dimensional rotation of moving platform jointly, by constraint cause moving platform only have three translational degree of freedom and one by
The rotational freedom of limitation.This mechanism drives each movement branched chain by controlling rack-mounted Timing Belt, final to realize
Control to translation or the rotation of moving platform.
Above-mentioned parallel institution is the parallel institution of partly decoupled, and the mode by the use of motor direct-drive Timing Belt is used as driving
Device, adds assembly difficulty, and be difficult to the high-precision control to moving platform.Domestic scholars are ground in orthogonal parallel institution
Study carefully aspect and also achieve some achievements, a kind of " three-translation orthogonal decoupling parallel as disclosed in Chinese patent 200610170999.X
Micromotion platform ", can overcome part drawbacks described above, with higher rigidity and decoupling performance, but can't make parallel institution
Reach full decoupled purpose.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of orthogonal parallel machine of four-degree-of-freedom
Structure, the problem of to solve the not strong decoupling of parallel robot mechanism of the prior art, complex structure, with kinematic decoupling
The good, stable movement of property, it is simple and compact for structure the characteristics of.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of side wall of the orthogonal parallel institution of four-degree-of-freedom, including base framework 1, the left back timber of base framework 1 and right back timber
On be installed with the first guide rail 2-1 and the second guide rail 2-2, the side wall of the right front column of base framework 1 respectively along its length
On be installed with bottom girder upper side wall after the 3rd guide rail 2-3, base framework 1 along its length and be fixedly mounted along its length
There is the 4th guide rail 2-4；
First driver element 3-1 is installed on the first guide rail 2-1 and is slidably connected with it, is provided with the second guide rail 2-2
Second driver element 3-2 is simultaneously slidably connected with it, be provided with the 3rd guide rail 2-3 the 3rd driver element 3-3 and with its company of slip
Connect, the 4th driver element 3-4 is installed on the 4th guide rail 2-4 and is slidably connected with it；
First side chain 4-1 one end is fixedly mounted on by the first fixed block 5-1 on the first driver element 3-1 sliding block,
The first side chain 4-1 other end is rotated with moving platform 6 and is connected, and the second side chain 4-2 one end is fixed by the second fixed block 5-2 pacifies
On the second driver element 3-2 sliding block, the second side chain 4-2 other end is rotated with moving platform 6 to be connected, the 3rd side chain 4-3
One end be fixedly mounted on by the 3rd fixed block 5-3 on the 3rd driver element 3-3 sliding block, the 3rd side chain 4-3 other end
Rotate and be connected with moving platform 6；4th side chain 4-4 one end is fixedly mounted on the 4th driver element 3-4 by the 4th fixed block 5-4
Sliding block on, the 3rd side chain 4-3 other end is rotated with moving platform 6 and is connected；
The first side chain 4-1, the second side chain 4-2, the 3rd side chain 4-3 and the 4th side chain 4-4 are the flexible connection of two sections
Structure, and be quadrature arrangement.
The section bar that the bottom of base framework 1 is arranged by four rectangular frame formula structures is constituted, the side wall of base framework 1
It is that structure identical the first portal frame 7 and the Symmetrical vertical of the second portal frame 8 are installed, between the first portal frame 7 and the second portal frame 8
It is connected, is fixed respectively along its length on the back timber side wall of 7 and second portal frame of the first portal frame 8 by section bar 9
First guide rail 2-1 and the second guide rail 2-2 are installed.
The first driver element 3-1, the second driver element 3-2, the 3rd driver element 3-3 and the 4th driver element 3-4
Straight line slide unit structure is, wherein the second driver element 3-2 is identical with the 3rd driver element 3-3 effective travel.
The first side chain 4-1 includes the first slave arm 10-1 and the second slave arm 10-2, the first slave arm 10-1 and the
Two slave arm 10-2 are rotated by the first joint 11-1 and connected, and the first slave arm 10-1 end is rotated with the first fixed block 5-1
Connection, the second slave arm 10-2 is rotated with moving platform 6 by pin and is connected, the first side chain 4-1 and the second side chain 4-2 structure phases
Together.
The 3rd side chain 4-3 includes the 3rd slave arm 10-3 and the 4th slave arm 10-4, the 3rd slave arm 10-3 and the
Four slave arm 10-4 are rotated by second joint 11-2 and connected, and the 3rd slave arm 10-3 end and the 3rd fixed block 5-3 are rotated
Connection, the 4th slave arm 10-4 is rotated with moving platform 6 by pin and is connected.
The 4th side chain 4-4 includes the 5th slave arm 10-5 and the 6th slave arm 10-6, the 5th slave arm 10-5 and the
Six slave arm 10-6 are rotated by the 3rd joint 11-3 and connected, and the 5th slave arm 10-5 end and the 4th fixed block 5-4 are rotated
Connection, the 6th slave arm 10-6 is rotated with moving platform 6 by axle 12 and is connected.
Peace is provided with the upper side keeping parallelism of the upper side of the moving platform 6 all the time with base framework 1, moving platform 6
Hole is filled, for installing end performs device.
The present invention using by four side chains of quadrature arrangement by track installation on base framework, by driver element be four
Bar side chain provides power, and four side chains are two section movable connection structures, therefore when the branch chain movement in a direction, Bu Huishou
To the influence of other branch chain movements the direction is depended only on so as to change original direction of motion, the i.e. translation in some direction
On driver element action, and the driver element on other directions need not do the motion of effective action, reach full decoupled
Purpose, mechanism belongs to a kind of full decoupled parallel institution；Set in the X direction using two mutually isostructural unbranched symmetrics
Put, it is steady to ensure mechanism kinematic, with kinematic decoupling it is good, it is simple and compact for structure the characteristics of.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 (a) is the first side chain 4-1 of the invention structural representation, and (b) shows for the second side chain 4-2 of the invention structure
It is intended to.
Fig. 3 is the 3rd side chain 4-3 of present invention structural representation.
Fig. 4 is the 4th side chain 4-4 of present invention structural representation.
Fig. 5 is the structural representation of axle 12 of the present invention.
Reference is as follows：Base framework 1, the first guide rail 2-1, the second guide rail 2-2, the 3rd guide rail 2-3, the 4th guide rail
2-4, the first driver element 3-1, the second driver element 3-2, the 3rd driver element 3-3, the 4th driver element 3-4, the first side chain
4-1, the second side chain fixed block of 4-2, the 3rd side chain 4-3, the 4th side chain 4-4, first 5-1, the second fixed block 5-2, the 3rd fixes
Block 5-3, the 4th fixed block 5-4, moving platform 6, the first portal frame 7, the second portal frame 8, section bar 9, the first slave arm 10-1, second
Slave arm 10-2, the 3rd slave arm 10-3, the 4th slave arm 10-4, the 5th slave arm 10-5, the 6th slave arm 10-6 first are closed
Save 11-1, second joint 11-2, the 3rd joint 11-3, axle 12.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of orthogonal parallel institution of four-degree-of-freedom, including base framework 1, the bottom of base framework 1 is by four
The section bar composition of bar rectangular frame formula structure arrangement, the side wall of base framework 1 is the first portal frame of structure identical 7 and second
The Symmetrical vertical of portal frame 8 is installed, and is connected between the first portal frame 7 and the second portal frame 8 by section bar 9, first dragon
The first guide rail 2-1 and the second guide rail 2-2 is fixedly mounted respectively along its length on the back timber side wall of 7 and second portal frame of door frame 8.
It is installed with along its length on the side wall of the right front column of base framework 1 after the 3rd guide rail 2-3, base framework 1 on bottom girder
Side wall is installed with the 4th guide rail 2-4 along its length.
First driver element 3-1 is installed on the first guide rail 2-1 and is slidably connected with it, is provided with the second guide rail 2-2
Second driver element 3-2 is simultaneously slidably connected with it, be provided with the 3rd guide rail 2-3 the 3rd driver element 3-3 and with its company of slip
Connect, the 4th driver element 3-4 is installed on the 4th guide rail 2-4 and is slidably connected with it.The first driver element 3-1, second
Driver element 3-2, the 3rd driver element 3-3 and the 4th driver element 3-4 are straight line slide unit structure, wherein the second driving is single
First 3-2 is identical with the 3rd driver element 3-3 effective travel.
First side chain 4-1 one end is fixedly mounted on by the first fixed block 5-1 on the first driver element 3-1 sliding block,
The first side chain 4-1 other end is rotated with moving platform 6 and is connected, and the second side chain 4-2 one end is fixed by the second fixed block 5-2 pacifies
On the second driver element 3-2 sliding block, the second side chain 4-2 other end is rotated with moving platform 6 to be connected, the 3rd side chain 4-3
One end be fixedly mounted on by the 3rd fixed block 5-3 on the 3rd driver element 3-3 sliding block, the 3rd side chain 4-3 other end
Rotate and be connected with moving platform 6；4th side chain 4-4 one end is fixedly mounted on the 4th driver element 3-4 by the 4th fixed block 5-4
Sliding block on, the 3rd side chain 4-3 other end is rotated with moving platform 6 and is connected.
Peace is provided with the upper side keeping parallelism of the upper side of the moving platform 6 all the time with base framework 1, moving platform 6
Hole is filled, for installing end performs device.
Referring to Fig. 2, the first side chain 4-1, the second side chain 4-2, the 3rd side chain 4-3 and the 4th side chain 4-4 are two sections
Movable connection structure, and be quadrature arrangement.The first side chain 4-1 includes the first slave arm 10-1 and the second slave arm 10-2,
First slave arm 10-1 and the second slave arm 10-2 are rotated by the first joint 11-1 and be connecteds, the first slave arm 10-1 end and
First fixed block 5-1 rotates connection, and the second slave arm 10-2 is rotated by pin and moving platform 6 and is connected, the first side chain 4-1 and
Second side chain 4-2 structures are identical.
Referring to Fig. 3, the 3rd side chain 4-3 includes the 3rd slave arm 10-3 and the 4th slave arm 10-4, the 3rd slave arm
10-3 and the 4th slave arm 10-4 is rotated by second joint 11-2 and connected, the 3rd slave arm 10-3 end and the 3rd fixed block
5-3 rotates connection, and the 4th slave arm 10-4 is rotated with moving platform 6 by pin and is connected.
Referring to Fig. 4, Fig. 5, the 4th side chain 4-4 include the 5th slave arm 10-5 and the 6th slave arm 10-6, the 5th from
Swing arm 10-5 and the 6th slave arm 10-6 is rotated by the 3rd joint 11-3 and connected, and the 5th slave arm 10-5 end is consolidated with the 4th
Determine block 5-4 and rotate connection, the 6th slave arm 10-6 is rotated with moving platform 6 by axle 12 and is connected.
The present invention operation principle be：
First, by taking the motion in X-direction as an example：When receiving control instruction, the drivings of the first driver element 3-1 or second are single
Driving stepper motor sliding block on first 3-2, drives the first side chain 4-1 and the second side chain 4-2 to do translation in X direction, drives the 4th
Side chain 4-4 realizes the swing around Y-axis, realizes the one-way movement of moving platform 6 in the X direction.
Secondly, by taking the motion in Y-direction as an example：When receiving control instruction, the 4th driver element 3-4 stepper motor drives
Movable slider, drives the 4th side chain 4-4 to do translation along Y-direction, drives the 3rd side chain 4-3 to realize around the pendulum parallel to X-axis line direction
It is dynamic, realize the one-way movement of moving platform 6 in the Y direction.
Finally, by taking the motion in Z-direction as an example：When receiving control instruction, the 3rd driver element 3-3 stepper motor drives
Movable slider, drives the 3rd side chain 4-3 to do translation along Z-direction, drives the 4th side chain 4-4 to realize the swing around Y-axis line direction, realizes
The one-way movement of moving platform 6 in z-direction.
The pivot center of the first joint 11-1 on first side chain 4-1, the second side chain 4-2 with the first guide rail 2-1 and
Two guide rail 2-2 are parallel, and second joint 11-2 axis of movement is parallel with the 3rd guide rail 2-3, the 3rd joint 11-3 axis of movement
It is parallel with the 4th guide rail 2-4.
By taking the rotary motion of moving platform 6 as an example, when the first driver element 3-1 and the second driver element 3-2 receives motion side
To inequality control instruction when, the first side chain 4-1 and the second side chain 4-2 are done in X direction and the opposite translation of the direction of motion, now
The rotary motion of moving platform 6 within the specific limits can be realized, angle range is 0 ° -180 °.
Finally, when the first driver element 3-1, the second driver element 3-2, the 3rd driver element 3-3 and the 4th driver element
3-4 receives control instruction simultaneously, and when the characteristics of motion of each straight line module is different, the athletic meeting of each side chain is combined, most
A variety of forms of motion of the end form into moving platform 6.As long as determining movement locus of the moving platform 6 in working space, it is possible to
The characteristics of motion to driver element is configured and combined, and finally realizes moving platform 6 according to default movement locus precise motion.
Claims (7)
1. a kind of orthogonal parallel institution of four-degree-of-freedom, including base framework (1), it is characterised in that base framework (1) left back timber and
It is installed with the first guide rail (2-1) and the second guide rail (2-2), base framework on the side wall of right back timber respectively along its length
(1) the 3rd guide rail (2-3) is installed with the side wall of right front column along its length, base framework (1) is afterwards on the upside of bottom girder
Wall is installed with the 4th guide rail (2-4) along its length；
First driver element (3-1) is installed on the first guide rail (2-1) and is slidably connected with it, is installed on the second guide rail (2-2)
Have the second driver element (3-2) and be slidably connected with it, be provided with the 3rd guide rail (2-3) the 3rd driver element (3-3) and with
It is slidably connected, and the 4th driver element (3-4) is provided with the 4th guide rail (2-4) and is slidably connected with it；
One end of first side chain (4-1) is fixedly mounted on the first driver element (3-1) sliding block by the first fixed block (5-1)
On, the other end of the first side chain (4-1) is rotated with moving platform (6) to be connected, and one end of the second side chain (4-2) passes through the second fixed block
(5-2) is fixedly mounted on the second driver element (3-2) sliding block, and the other end and the moving platform (6) of the second side chain (4-2) are rotated
Connection, one end of the 3rd side chain (4-3) is fixedly mounted on the sliding block of the 3rd driver element (3-3) by the 3rd fixed block (5-3)
On, the other end of the 3rd side chain (4-3) is rotated with moving platform (6) to be connected；One end of 4th side chain (4-4) passes through the 4th fixed block
(5-4) is fixedly mounted on the sliding block of the 4th driver element (3-4), and the other end and the moving platform (6) of the 3rd side chain (4-3) are rotated
Connection；
First side chain (4-1), the second side chain (4-2), the 3rd side chain (4-3) and the 4th side chain (4-4) are the activity of two sections
Attachment structure, and be quadrature arrangement.
2. a kind of orthogonal parallel institution of four-degree-of-freedom according to claim 1, it is characterised in that the base framework (1)
The section bar that bottom is arranged by four rectangular frame formula structures is constituted, and the side wall of base framework (1) is the dragon of structure identical first
Door frame (7) and the second portal frame (8) Symmetrical vertical are installed, and section bar is passed through between the first portal frame (7) and the second portal frame (8)
(9) it is connected, it is fixed respectively along its length on first portal frame (7) and the second portal frame (8) back timber side wall to pacify
Fill the first guide rail (2-1) and the second guide rail (2-2).
3. a kind of orthogonal parallel institution of four-degree-of-freedom according to claim 1, it is characterised in that first driver element
(3-1), the second driver element (3-2), the 3rd driver element (3-3) and the 4th driver element (3-4) are straight line slide unit structure,
Wherein the second driver element (3-2) is identical with the effective travel of the 3rd driver element (3-3).
4. a kind of orthogonal parallel institution of four-degree-of-freedom according to claim 1, it is characterised in that the first side chain (4-
1) the first slave arm (10-1) and the second slave arm (10-2) are included, the first slave arm (10-1) leads to the second slave arm (10-2)
Cross the first joint (11-1) and rotate connection, the end of the first slave arm (10-1) is rotated with the first fixed block (5-1) to be connected, second
Slave arm (10-2) is rotated with moving platform (6) by pin and is connected, first side chain (4-1) and the second side chain (4-2) structure phase
Together.
5. a kind of orthogonal parallel institution of four-degree-of-freedom according to claim 1, it is characterised in that the 3rd side chain (4-
3) the 3rd slave arm (10-3) and the 4th slave arm (10-4) are included, the 3rd slave arm (10-3) and the 4th slave arm (10-4) are logical
Cross second joint (11-2) and rotate connection, the end of the 3rd slave arm (10-3) is rotated with the 3rd fixed block (5-3) to be connected, the 4th
Slave arm (10-4) is rotated with moving platform (6) by pin and is connected.
6. a kind of orthogonal parallel institution of four-degree-of-freedom according to claim 1, it is characterised in that the 4th side chain (4-
4) the 5th slave arm (10-5) and the 6th slave arm (10-6) are included, the 5th slave arm (10-5) and the 6th slave arm (10-6) are logical
Cross the 3rd joint (11-3) and rotate connection, the end of the 5th slave arm (10-5) is rotated with the 4th fixed block (5-4) to be connected, the 6th
Slave arm (10-6) is rotated with moving platform (6) by axle (12) and is connected.
7. the orthogonal parallel institution of a kind of four-degree-of-freedom according to claim 1, it is characterised in that the moving platform (6)
The upper side keeping parallelism of upper side all the time with base framework (1), moving platform is provided with mounting hole on (6), for installing end
Performs device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151382.1A CN106945011B (en) | 2017-03-14 | 2017-03-14 | A kind of orthogonal parallel institution of four-degree-of-freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151382.1A CN106945011B (en) | 2017-03-14 | 2017-03-14 | A kind of orthogonal parallel institution of four-degree-of-freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106945011A true CN106945011A (en) | 2017-07-14 |
| CN106945011B CN106945011B (en) | 2019-07-30 |
Family
ID=59467379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710151382.1A Active CN106945011B (en) | 2017-03-14 | 2017-03-14 | A kind of orthogonal parallel institution of four-degree-of-freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945011B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972620A (en) * | 2018-07-24 | 2018-12-11 | 安徽省勤业科技服务有限公司 | A kind of industrial robot positioning measuring device |
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN114303674A (en) * | 2021-12-31 | 2022-04-12 | 杭州万树生态工程有限公司 | Automatic over-and-under type gardens pruning equipment |
| CN116766267A (en) * | 2023-08-22 | 2023-09-19 | 合肥智禾科技有限公司 | Manipulator stirring structure of industrial robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1377757A (en) * | 2002-05-23 | 2002-11-06 | 河北工业大学 | Recombineable modular 3-6 freedom structure decoupling parallel micro moving robot |
| CN1462670A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | Parallel decoupling mechanism with 3 degree of freedom |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
| CN101439515A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Parallel four-bar type structure decoupling six-dimension force feedback device |
| CN101439514A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| CN104626099A (en) * | 2014-12-08 | 2015-05-20 | 燕山大学 | Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism |
| CN206536451U (en) * | 2017-01-13 | 2017-10-03 | 陕西科技大学 | A kind of orthogonal Three Degree Of Freedom translation parallel robot mechanism |
-
2017
- 2017-03-14 CN CN201710151382.1A patent/CN106945011B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1377757A (en) * | 2002-05-23 | 2002-11-06 | 河北工业大学 | Recombineable modular 3-6 freedom structure decoupling parallel micro moving robot |
| CN1462670A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | Parallel decoupling mechanism with 3 degree of freedom |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
| CN101439515A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Parallel four-bar type structure decoupling six-dimension force feedback device |
| CN101439514A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| CN104626099A (en) * | 2014-12-08 | 2015-05-20 | 燕山大学 | Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism |
| CN206536451U (en) * | 2017-01-13 | 2017-10-03 | 陕西科技大学 | A kind of orthogonal Three Degree Of Freedom translation parallel robot mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972620A (en) * | 2018-07-24 | 2018-12-11 | 安徽省勤业科技服务有限公司 | A kind of industrial robot positioning measuring device |
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110480603B (en) * | 2019-08-08 | 2022-07-01 | 中国民航大学 | Multi-degree-of-freedom parallel manipulator with 8M-shaped base |
| CN114303674A (en) * | 2021-12-31 | 2022-04-12 | 杭州万树生态工程有限公司 | Automatic over-and-under type gardens pruning equipment |
| CN116766267A (en) * | 2023-08-22 | 2023-09-19 | 合肥智禾科技有限公司 | Manipulator stirring structure of industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106945011B (en) | 2019-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106945011A (en) | A kind of orthogonal parallel institution of four-degree-of-freedom | |
| CN107352043B (en) | A kind of six axis posture adjustment platforms for the installation of aircraft engine complete machine | |
| CN101161428B (en) | Plane parallel mechanism with constrained branched chain and its extended mechanical hand | |
| CN103381601B (en) | Six degree of freedom 3-3 orthogonal type parallel robot | |
| CN207494569U (en) | A kind of truss-like lathe loading and unloading manipulator | |
| CN102152133A (en) | Five-coordinate locating mechanism | |
| CN105014663A (en) | Base-loaded modular mechanical arm capable of realizing multi-directional connection | |
| CN102897245A (en) | Robot body modularization linkage device for single-drive multi-legged robot | |
| CN208557482U (en) | The parallel institution of 2T1R with spherical rotation freedom degree | |
| CN107825417B (en) | Five-axis series-parallel robot composed of four-degree-of-freedom series-parallel mechanism | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN110524517A (en) | A kind of non-co-planar two turn of one shift redundancy driven Parallel Kinematic Manipulator of big corner | |
| CN206536451U (en) | A kind of orthogonal Three Degree Of Freedom translation parallel robot mechanism | |
| CN108858141B (en) | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof | |
| CN109571444A (en) | A kind of partly decoupled parallel institution of two translations, one rotation | |
| CN112276912A (en) | Parallel mechanism containing orthogonal double-linear driving branched chain | |
| CN209554325U (en) | A kind of sheave handling device | |
| CN202037455U (en) | Five-coordinate positioning mechanism | |
| CN107116539B (en) | A kind of mobile broad sense decoupling parallel robot mechanism of three rotation two of shaft junction | |
| CN202357164U (en) | Six-degree-of-freedom parallel mechanism including 5R closed loop sub-chains | |
| CN212717635U (en) | Precise three-axis displacement device | |
| CN209425434U (en) | It is a kind of without coupling two one-rotation parallel mechanisms | |
| CN107344359B (en) | Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting | |
| CN112338902A (en) | Four-degree-of-freedom decoupling parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210408 Address after: Room 02, 4th floor, building 8, West Yungu phase II, Fengxi new town, Xixian New District, Xi'an, Shaanxi 710000 Patentee after: Xijiao Sichuang Automation Technology Co.,Ltd. Address before: 710021 Shaanxi province Xi'an Weiyang university campus of Shaanxi University of Science and Technology Patentee before: SHAANXI University OF SCIENCE & TECHNOLOGY |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A Four Degree of Freedom Orthogonal Parallel Mechanism Granted publication date: 20190730 Pledgee: Shaanxi Qin Nong rural commercial bank Limited by Share Ltd. Lintong branch Pledgor: Xijiao Sichuang Automation Technology Co.,Ltd. Registration number: Y2024980003703 |
|
| CP03 | Change of name, title or address |
Address after: Room 02, 4th floor, building 8, West Yungu phase II, Fengxi new town, Xixian New District, Xi'an, Shaanxi 710000 Patentee after: Xi'an Airlines Sichuang (Shaanxi) Automation Technology Co.,Ltd. Country or region after: China Address before: Room 02, 4th floor, building 8, West Yungu phase II, Fengxi new town, Xixian New District, Xi'an, Shaanxi 710000 Patentee before: Xijiao Sichuang Automation Technology Co.,Ltd. Country or region before: China |