CN110545963A - 多自由度并联机构 - Google Patents

多自由度并联机构 Download PDF

Info

Publication number
CN110545963A
CN110545963A CN201880027949.7A CN201880027949A CN110545963A CN 110545963 A CN110545963 A CN 110545963A CN 201880027949 A CN201880027949 A CN 201880027949A CN 110545963 A CN110545963 A CN 110545963A
Authority
CN
China
Prior art keywords
main
rod
guide
primary
rotatably connected
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
Application number
CN201880027949.7A
Other languages
English (en)
Other versions
CN110545963B (zh
Inventor
周啸波
蓝青
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou mailan Technology Co.,Ltd.
Original Assignee
Suzhou Mailan Medical Technologies Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Mailan Medical Technologies Co ltd filed Critical Suzhou Mailan Medical Technologies Co ltd
Publication of CN110545963A publication Critical patent/CN110545963A/zh
Application granted granted Critical
Publication of CN110545963B publication Critical patent/CN110545963B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

一种多自由度并联机构，包括桥组件(2)、主支撑组件(3)和两个次支撑组件(4)；主支撑组件(3)包括至少一个平行四边形机构；桥组件(2)与主支撑块(30)转动连接，使得桥组件(2)能够相对于主支撑块(30)绕两个彼此不平行的轴线转动，桥组件(2)还分别与两个次支撑块(40)转动连接，使得桥组件(2)能够相对于次支撑块(40)绕两个彼此不平行的轴线转动；桥组件(2)具有至少两个平动自由度和两个转动自由度。该多自由度并联机构控制精度高、结构简单、空间利用率高。

Description

PCT国内申请，说明书已公开。

Claims (11)

  1. PCT国内申请，权利要求书已公开。
CN201880027949.7A 2018-04-10 2018-11-27 多自由度并联机构 Active CN110545963B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201810316146.5A CN110355737B (zh) 2018-04-10 2018-04-10 平移机构和具有该平移机构的多自由度导向机构
CN2018103161465 2018-04-10
PCT/CN2018/117672 WO2019196422A1 (zh) 2018-04-10 2018-11-27 多自由度并联机构

Publications (2)

Publication Number Publication Date
CN110545963A true CN110545963A (zh) 2019-12-06
CN110545963B CN110545963B (zh) 2021-04-13

Family

ID=68163052

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201810316146.5A Active CN110355737B (zh) 2018-04-10 2018-04-10 平移机构和具有该平移机构的多自由度导向机构
CN201880027949.7A Active CN110545963B (zh) 2018-04-10 2018-11-27 多自由度并联机构
CN201880027944.4A Active CN110573306B (zh) 2018-04-10 2018-11-27 多自由度并联机构

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201810316146.5A Active CN110355737B (zh) 2018-04-10 2018-04-10 平移机构和具有该平移机构的多自由度导向机构

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201880027944.4A Active CN110573306B (zh) 2018-04-10 2018-11-27 多自由度并联机构

Country Status (2)

Country Link
CN (3) CN110355737B (zh)
WO (2) WO2019196422A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114738551A (zh) * 2022-05-13 2022-07-12 徐州徐工基础工程机械有限公司 一种可变径自锁式顶管机机头支撑结构

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021081978A1 (zh) * 2019-11-01 2021-05-06 苏州迈澜医疗科技有限公司 多自由度并联机构
CN114786883A (zh) * 2019-12-05 2022-07-22 苏州迈澜科技有限公司 多自由度并联机构
WO2021109062A1 (zh) * 2019-12-05 2021-06-10 苏州迈澜医疗科技有限公司 多自由度并联机构
CN115175789A (zh) * 2020-03-11 2022-10-11 苏州迈澜科技有限公司 多自由度并联机构和并联机构组件
WO2021179210A1 (zh) * 2020-03-11 2021-09-16 苏州迈澜医疗科技有限公司 多自由度并联机构和并联机构组件
CN111702748A (zh) * 2020-07-07 2020-09-25 上海大学 一种适用于特殊环境下抓取的柔性并联机构
WO2022198587A1 (zh) * 2021-03-25 2022-09-29 苏州迈澜医疗科技有限公司 六自由度运动机构
CN117940253A (zh) * 2021-06-18 2024-04-26 苏州迈澜科技有限公司 多自由度导向机构和多自由度导向装置
CN114750231B (zh) * 2022-04-25 2024-02-06 淮阴工学院 一种杏鲍菇根部切削装置及其切割轨迹控制方法
CN115043157B (zh) * 2022-06-10 2023-04-07 南京航空航天大学 一种多功能的多滑块轨道输送系统

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5787758A (en) * 1996-09-03 1998-08-04 Sheldon/Van Someren, Inc. Three-axis machine for rapid and rigid manipulation of components
EP1084802A2 (en) * 1999-09-17 2001-03-21 Toyoda Koki Kabushiki Kaisha Four-degree-of-freedom parallel robot
WO2002098603A1 (de) * 2001-06-01 2002-12-12 Siemens Aktiengesellschaft Produktionsmaschine
TW201121742A (en) * 2009-12-28 2011-07-01 Hon Hai Prec Ind Co Ltd Parallel robot
CN202534249U (zh) * 2011-12-16 2012-11-14 深圳职业技术学院 多手臂传送机器人实训装置
CN104690716A (zh) * 2015-01-21 2015-06-10 江南大学 一种(2t1r)&1r四自由度解耦混联机构
CN104354154B (zh) * 2014-09-19 2016-05-11 深圳职业技术学院 三平动并联机器人机构
CN105729450A (zh) * 2016-05-09 2016-07-06 中国科学院宁波材料技术与工程研究所 四自由度并联机构
CN106625600A (zh) * 2016-12-23 2017-05-10 南京理工大学 一种附加支链座转动的四自由度并联机构
CN106695766A (zh) * 2017-03-01 2017-05-24 东莞松山湖国际机器人研究院有限公司 一种基于抓取并联机构的六自由度并联装置

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
HUP0102431A3 (en) * 1998-04-29 2001-12-28 Fci S Hertogenbosch B V Device comprising two parallel linkage mechanisms
JP2005066723A (ja) * 2003-08-21 2005-03-17 Osaka Kiko Co Ltd ４自由度パラレルロボット
CN100364729C (zh) * 2003-12-16 2008-01-30 广东工业大学 一种二自由度移动平面并联机构
CA2633395C (en) * 2007-06-01 2016-05-31 Socovar, Societe En Commandite Parallel manipulator
CN100488735C (zh) * 2007-08-16 2009-05-20 上海交通大学 二自由度平面并联机器人机构
ES2333930B1 (es) * 2007-10-24 2010-12-28 Universidad Del Pais Vasco Euskal Herriko Unibertsitatea Robot paralelo con cuatro grados de libertad.
CN102152300A (zh) * 2011-02-25 2011-08-17 天津大学 线性驱动高速平面并联机械手
CN102615514B (zh) * 2012-04-10 2013-08-14 清华大学 一种平面两自由度冗余驱动并联机构及采用该机构的机床
CN102922512A (zh) * 2012-11-02 2013-02-13 清华大学 一种可实现三平动一转动的四自由度单动平台并联机构
CN103223667B (zh) * 2012-12-27 2015-04-01 广西大学 一种含prr开环子链和prrrp闭环子链的并联机构
CN103056871A (zh) * 2012-12-27 2013-04-24 广西大学 一种运动副组合为rprrr-prrrp的两闭环子链并联机构
CN203557381U (zh) * 2013-10-12 2014-04-23 浙江理工大学 一种三自由度并联机构
GB2520983A (en) * 2013-12-06 2015-06-10 Huber Diffraktionstechnik Gmbh & Co Kg Redundant parallel positioning table
CN104972456B (zh) * 2015-07-16 2017-03-08 哈尔滨工业大学 一种可实现平面二维定位和空间二维定向的双平面并联机构
WO2017167349A1 (en) * 2016-03-31 2017-10-05 Aalborg Universitet Spherical joint mechanism with a double parallelogram mechanism
CN105798892B (zh) * 2016-05-31 2019-02-19 珠海格力智能装备有限公司 一种三轴Delta机械手以及机器人
CN105904441B (zh) * 2016-06-07 2017-11-17 浙江理工大学 一种两移动两转动四自由度全对称并联机构
CN106272354A (zh) * 2016-09-13 2017-01-04 浙江理工大学 一种大行程高精度的平面两移动自由度柔顺并联机构

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5787758A (en) * 1996-09-03 1998-08-04 Sheldon/Van Someren, Inc. Three-axis machine for rapid and rigid manipulation of components
EP1084802A2 (en) * 1999-09-17 2001-03-21 Toyoda Koki Kabushiki Kaisha Four-degree-of-freedom parallel robot
WO2002098603A1 (de) * 2001-06-01 2002-12-12 Siemens Aktiengesellschaft Produktionsmaschine
TW201121742A (en) * 2009-12-28 2011-07-01 Hon Hai Prec Ind Co Ltd Parallel robot
CN202534249U (zh) * 2011-12-16 2012-11-14 深圳职业技术学院 多手臂传送机器人实训装置
CN104354154B (zh) * 2014-09-19 2016-05-11 深圳职业技术学院 三平动并联机器人机构
CN104690716A (zh) * 2015-01-21 2015-06-10 江南大学 一种(2t1r)&1r四自由度解耦混联机构
CN105729450A (zh) * 2016-05-09 2016-07-06 中国科学院宁波材料技术与工程研究所 四自由度并联机构
CN106625600A (zh) * 2016-12-23 2017-05-10 南京理工大学 一种附加支链座转动的四自由度并联机构
CN106695766A (zh) * 2017-03-01 2017-05-24 东莞松山湖国际机器人研究院有限公司 一种基于抓取并联机构的六自由度并联装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114738551A (zh) * 2022-05-13 2022-07-12 徐州徐工基础工程机械有限公司 一种可变径自锁式顶管机机头支撑结构
CN114738551B (zh) * 2022-05-13 2023-09-05 徐州徐工基础工程机械有限公司 一种可变径自锁式顶管机机头支撑结构

Also Published As

Publication number Publication date
CN110355737B (zh) 2022-06-10
CN110545963B (zh) 2021-04-13
CN110573306B (zh) 2021-04-13
WO2019196421A1 (zh) 2019-10-17
WO2019196422A1 (zh) 2019-10-17
CN110355737A (zh) 2019-10-22
CN110573306A (zh) 2019-12-13

Similar Documents

Publication Publication Date Title
CN110545963B (zh) 多自由度并联机构
ES2323852T3 (es) Robot industrial.
US7337691B2 (en) Parallel kinematics mechanism with a concentric spherical joint
CN108555889B (zh) 含冗余约束的空间五自由度混联加工装备及其使用方法
CN110680505B (zh) 一种含闭环连杆的八自由度手术机械臂
CN108621130B (zh) 具有2r1t和2t1r两种运动模式的并联机构
KR101606075B1 (ko) 병렬형 마이크로 로봇 및 이를 갖는 수술 로봇 시스템
JP2008506545A (ja) ２つのサブアセンブリ手段から構成される可動要素を移動させる手段を備えるパラレルロボット
CN102528817A (zh) 一种三自由度并联机械手腕
CN115175790A (zh) 多自由度并联机构和并联机构组件
CN104942796A (zh) 三移动二转动五自由度转动移动完全解耦并联机构
RU2721485C1 (ru) Комбинированный манипулятор роботохирургического комплекса
CN109079761B (zh) 一种含闭环支链的两转一移的并联机器人
CN108858141B (zh) 一种空间两转动一平动的冗余约束并联机构及其工作方法
EP3911477A1 (en) A device for control of a spherical motion of a body
CN110480603B (zh) 一种具有8m形底座的多自由度并联机械手
CN110355738B (zh) 多自由度导向机构
CN104942795A (zh) 一移动二转动三自由度转动移动完全解耦并联机构
CN114888780B (zh) 一种三分支6+3自由度运动冗余并联机构
CN112621717B (zh) 一种基于环形导轨的冗余支链并联机构
CN112428257B (zh) 一种具有复合驱动支链的六自由度并联机构
CN1256220C (zh) 六自由度—三支链缩放式混合并联机器人
CN111438681A (zh) 具有六个自由度的混合运动学机构和方法
CN106826775B (zh) 一种各向同性空间二自由度转动并联机器人
CN111604884A (zh) 一种具有两平三转的五自由度混联机器人

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
CP01 Change in the name or title of a patent holder
CP01 Change in the name or title of a patent holder

Address after: 215123 unit 410, B1 / F, 218 Xinghu street, Suzhou Industrial Park, Jiangsu Province

Patentee after: Suzhou mailan Technology Co.,Ltd.

Address before: 215123 unit 410, B1 / F, 218 Xinghu street, Suzhou Industrial Park, Jiangsu Province

Patentee before: SUZHOU MAILAN MEDICAL TECHNOLOGIES Co.,Ltd.