CN115741638A - Six-branched-chain five-degree-of-freedom parallel machining robot - Google Patents
Six-branched-chain five-degree-of-freedom parallel machining robot Download PDFInfo
- Publication number
- CN115741638A CN115741638A CN202211430961.7A CN202211430961A CN115741638A CN 115741638 A CN115741638 A CN 115741638A CN 202211430961 A CN202211430961 A CN 202211430961A CN 115741638 A CN115741638 A CN 115741638A
- Authority
- CN
- China
- Prior art keywords
- branched chain
- chain
- branched
- platform
- movable platform
- 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.)
- Pending
Links
- 238000003754 machining Methods 0.000 title description 7
- 230000003068 static effect Effects 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 32
- 230000008859 change Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000306 component Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a six-branched-chain five-degree-of-freedom parallel processing robot, which comprises a static platform as an assembly foundation, a branched chain group as a pose adjustment function and a movable platform as an output assembly function, wherein an electric spindle as an output unit is arranged in the movable platform, the branched chain group comprises a non-restraint branched chain group and a sixth branched chain, the sixth branched chain is connected with the static platform through a third moving pair, and the moving direction of the third moving pair is parallel to the static platform. The invention has six parallel branched chains, and the rigidity of the whole machine is high; the independent connection of the unconstrained branch chain and the output assembly can realize the six-degree-of-freedom change of the output assembly in space, and the output assembly and the sixth branch chain are connected by using a second hook hinge, so that the output assembly has good flexibility; a third moving pair in the sixth branched chain is connected with the static platform in parallel, and the sixth branched chain slides along the static platform, so that large working space can be realized for output assembly; the invention has the advantages of high rigidity, good flexibility, large working space and low cost of the whole machine.
Description
Technical Field
The invention belongs to the technical field of processing robots, and particularly relates to a six-branched-chain five-degree-of-freedom parallel processing robot.
Background
At present, a processing robot plays an important role in manufacturing industry, and particularly, a parallel robot plays a role in lifting the weight in manufacturing a core component and a complex structural member with a space free-form surface characteristic in key equipment in the high-tech field. Advanced manufacturing processes are applied to complex curved surfaces and large dynamic load-type components, such as: the processing requirements of steel structural members, aerospace members and the like are increasingly wide, so that the design and development of a high-performance robot with five-axis processing capability is an inevitable trend of important industrial development.
At present, most five-degree-of-freedom processing robots mainly have the following defects:
firstly, the mechanism flexibility is not enough, for example, in the five-degree-of-freedom parallel processing robot structure disclosed in chinese patent CN113319828A, due to the characteristics of the mechanism arrangement form, the swing range of the end executing mechanism is limited, and it is difficult to meet the requirement of efficient processing of complex curved surfaces.
Secondly, the working space of the mechanism is small, for example, in the five-degree-of-freedom parallel processing robot structure disclosed in the chinese patent CN102490187A, due to the characteristics of the mechanism arrangement form, the working range of the end executing mechanism is limited, and the requirement for efficient processing of large structural members is difficult to meet.
Thirdly, the cost of the adopted motor is high, for example, in the five-degree-of-freedom parallel processing robot structure disclosed in the chinese patent CN103753235B, the manufacturing cost of the robot is high because the driving pair is a hollow brushless motor.
In order to solve the defects of the five-degree-of-freedom parallel machining robot and better meet the machining requirements for large complex parts, the invention provides a five-degree-of-freedom parallel machining robot which has high rigidity, high precision, good flexibility, large working space and low cost, and provides a solution for high-efficiency and high-quality machining of complex curved surface structural parts in high-tech equipment.
Disclosure of Invention
The invention provides a six-branched-chain five-degree-of-freedom parallel processing robot, which aims to solve the problems in the prior art.
The technical scheme of the invention is as follows: a six-branched-chain five-degree-of-freedom parallel processing robot comprises a static platform serving as an assembly foundation, a branched chain group serving as pose adjustment and a movable platform serving as output assembly, wherein an electric spindle serving as an output unit is arranged in the movable platform, the branched chain group comprises an unconstrained branched chain group and a sixth branched chain, the sixth branched chain is connected with the static platform through a third moving pair, and the moving direction of the third moving pair is parallel to that of the static platform.
Furthermore, the movable platform comprises a first movable platform layer, a second movable platform layer and a third movable platform layer, and the first movable platform layer, the second movable platform layer and the third movable platform layer are fixed.
Furthermore, a rotating pair is arranged in the sixth branched chain, and the axial direction of a rotating shaft in the rotating pair is parallel to the moving direction of the third moving pair.
Furthermore, a second moving pair is arranged in the sixth branched chain, one end of the second moving pair is connected with the rotating pair, and the other end of the rotating pair is connected with a second hook hinge.
Furthermore, the second hook joint is movably hinged with a third layer of movable platform in the movable platform.
Furthermore, the unconstrained branch chain group comprises an upper layer branch chain and a middle layer branch chain, and the tops of the upper layer branch chain, the middle layer branch chain and the sixth branch chain are movably connected with the movable platform in a multilayer manner.
Furthermore, one end of the upper layer of branched chain is connected with the outer wall joint of the first layer of movable platform, and the other end of the upper layer of branched chain is connected with the joint of the static platform.
Furthermore, the middle layer branched chain is connected with the outer wall joint of the second layer movable platform, and the other end of the middle layer branched chain is connected with the static platform joint.
Furthermore, the joint connection is a spherical hinge connection or a Hooke hinge connection.
Furthermore, the upper layer branched chain and the middle layer branched chain are respectively provided with a first moving pair, and the first moving pairs drive the first moving pairs to extend and retract along the length direction.
The invention has the following beneficial effects:
the robot is formed by gathering six branched chains, the branched chain structure of the unconstrained branched chain and the plane installation of the parallel processing robot with five degrees of freedom can be realized, and the cost is lower; the sixth branched chain is a constraint branched chain, and under the constraint of the sixth branched chain, five-degree-of-freedom motion of the movable platform is realized by controlling the stretching motion of five unconstrained branched chains.
The invention has six parallel branched chains, and the rigidity of the whole machine is high; the independent connection of the unconstrained branched chain and the output assembly can realize the six-degree-of-freedom change of the output assembly in space, and the output assembly and the sixth branched chain are connected by using a second hook hinge, so that the output assembly has good flexibility; a third moving pair in the sixth branched chain is connected with the static platform in parallel, and the sixth branched chain slides along the static platform, so that large working space can be realized for output assembly; therefore, the five-degree-of-freedom parallel processing robot has the advantages of high rigidity of the whole machine, good flexibility, large working space and low cost.
Drawings
FIG. 1 is a schematic structural diagram of a five-degree-of-freedom parallel robot according to the present invention
FIG. 2 is a schematic diagram of the structure of a first branch chain according to the present invention;
FIG. 3 is another schematic diagram of the structure of the first branch chain of the present invention;
FIG. 4 is a schematic diagram of the structure of a sixth branch chain in the present invention;
FIG. 5 is a schematic structural diagram of a second embodiment of a five-DOF parallel robot according to the present invention;
FIG. 6 is a schematic structural diagram of a five-DOF parallel robot according to a third embodiment of the present invention;
wherein:
1 static platform 2 electric main shaft
3 moving platform 4 spherical hinge
5 revolute pair
31. First layer moves platform 32 second layer and moves platform
33. Third layer moving platform
L1 first branch and L2 second branch
L3 third branch L4 fourth branch
L5 fifth branch L6 sixth branch
P1 first moving pair P2 second moving pair
P3 third moving pair U1 first hook joint
U2 second hook hinge.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings and examples:
as shown in fig. 1 to 6, the parallel processing robot with six branched chains and five degrees of freedom comprises a static platform 1 serving as an assembly foundation, a branched chain group serving as pose adjustment, and a movable platform 3 serving as output assembly, wherein an electric spindle 2 serving as an output unit is arranged in the movable platform 3, the branched chain group comprises an unconstrained branched chain group and a sixth branched chain L6, the sixth branched chain L6 is connected with the static platform 1 through a third moving pair P3, and the moving direction of the third moving pair is parallel to the static platform.
The movable platform 3 comprises a first movable platform 31, a second movable platform 32 and a third movable platform 33, and the first movable platform 31, the second movable platform 32 and the third movable platform 33 are fixed mutually.
And a rotating pair 5 is arranged in the sixth branched chain, and the axial direction of a rotating shaft in the rotating pair 5 is parallel to the moving direction of the third moving pair P3.
A second moving pair P2 is arranged in the sixth branched chain L6, one end of the second moving pair P2 is connected with a rotating pair 5, and the other end of the rotating pair 5 is connected with a second hook joint U2.
The second hook joint U2 is movably hinged with a third layer movable platform 33 in the movable platform 3.
The unconstrained branch chain group comprises an upper layer branch chain and a middle layer branch chain, and the tops of the upper layer branch chain, the middle layer branch chain and the sixth branch chain are movably connected with the movable platform 3 in a multilayer manner.
One end of the upper layer branched chain is connected with the outer wall joint of the first layer movable platform 31, and the other end of the upper layer branched chain is connected with the joint of the static platform 1.
The middle layer branched chain is articulated with the outer wall of the second layer movable platform 32, and the other end of the middle layer branched chain is articulated with the static platform 1.
The joint connection is a spherical hinge connection or a Hooke hinge connection.
The upper-layer branched chain and the middle-layer branched chain are respectively provided with a first moving pair P1, and the first moving pairs P1 drive the first moving pairs to stretch along the length direction.
Specifically, the sixth branched chain L6 adjusts the lower end of the movable platform 3, the unconstrained branched chain group performs joint support on the outer wall of the movable platform 3, and the sixth branched chain L6 and the unconstrained branched chain group are combined to perform pose adjustment on the movable platform 3.
Specifically, the electric spindle 2 is fixed with the movable platform 3, so that the pose of the electric spindle 2 is adjusted by the combination of the sixth branched chain L6 and the unconstrained branched chain group.
The machining output in the present invention may be, but is not limited to, the motorized spindle 2.
Specifically, the first movable platform 31, the second movable platform 32, and the third movable platform 33 are fixed in a split manner or integrally formed.
Specifically, assembly holes corresponding to the upper layer branched chain and the middle layer branched chain are formed at the outer walls of the first layer movable platform 31 and the second layer movable platform 32.
Specifically, the number of the upper-layer branched chains is three, the mounting positions of the two upper-layer branched chains on the static platform 1 are bilaterally symmetrical along the third moving pair, and the mounting position of the other upper-layer branched chain on the static platform 1 is on the extension line of the third moving pair.
Specifically, the unconstrained branch group includes a first branch L1, a second branch L2, a third branch L3, a fourth branch L4, and a fifth branch L5.
Specifically, the sliding base of the third moving pair P3 is provided on the stationary platform 1.
Example one
As shown in fig. 1 to 4, a six-branched-chain five-degree-of-freedom parallel processing robot includes the following components: the device comprises a static platform 1, an electric spindle 2, a movable platform 3, a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4, a fifth branched chain L5 and a sixth branched chain L6.
As shown in fig. 1 to 3, two ends of a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4, a fifth branched chain L5 and a sixth branched chain L6 are respectively connected to a static platform 1 and a dynamic platform 3. The movable platform 3 is composed of a first layer movable platform 31, a second layer movable platform 32 and a third layer movable platform 33, the adjacent layers are fixedly connected, and the electric spindle 2 is fixedly arranged in the movable platform 3 to jointly form the five-degree-of-freedom parallel processing robot.
Specifically, the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 all have the following structures: the first kinematic pair P1, the spherical hinge 4 and the first hook hinge U1, wherein the first kinematic pair P1 is arranged between the spherical hinge 4 and the first hook hinge U1.
Specifically, the sixth branched chain L6 includes a second kinematic pair P2, a third kinematic pair P3, a second hooke joint U2, and a revolute pair 5; the second moving pair P2 is arranged between the second Hooke's joint U2 and the revolute pair 5, and the third moving pair P3 is arranged between the second moving pair P2 and the static platform 1.
Specifically, the six branched chains comprise five unconstrained branched chains, namely a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4 and a fifth branched chain L5, one end of each unconstrained branched chain is connected with the static platform 1 through a first hook hinge U1 or a ball hinge 4, the other end of each unconstrained branched chain is connected with the movable platform 3 through a ball hinge 4 or a first hook hinge U1, and a first moving pair P1 is arranged between the ball hinge 4 and the first hook hinge U1; the sixth branched chain L6 is a constraint branched chain, one end of the constraint branched chain is connected with the static platform 1 through a third moving pair P3, and the other end of the constraint branched chain is connected with the movable platform 3 through a second hook joint U2.
Specifically, the unconstrained branched chains are divided into upper branched chains and middle branched chains, the upper branched chains include a first branched chain L1, a second branched chain L2 and a third branched chain L3, and the specific structure of each branched chain of the upper branched chains is shown in fig. 2. The middle branched chain comprises a fourth branched chain L4 and a fifth branched chain L5. The specific structure of each branch of the middle layer branches is shown in fig. 3. The upper connecting joints of the upper branched chains are circumferentially arranged at intervals on the first layer movable platform 31 close to one end of the head of the electric spindle 2, and the lower joints of the upper branched chains are correspondingly connected with the three protrusions extending upwards in the circumferential direction of the static platform 1 one by one; namely, the upper layer branched chains form triangular distribution connection. The upper joints of the middle-layer branched chains are circumferentially arranged at intervals on the second movable platform 32, and the lower joints of the middle-layer branched chains are circumferentially arranged at intervals on the lower layer of the static platform 1. And a second hook joint U2 in the sixth branched chain L6 is connected with the movable third-layer platform 33.
Specifically, an extended support platform is formed on the outer wall of the static platform 1, the sliding base of the third moving pair P3 is opposite to one support platform, and the other two support platforms are symmetrical along the sliding base.
Specifically, the lower joint positions of the fourth branched chain L4 and the fifth branched chain L5 are symmetrical along the sliding base of the third sliding pair P3.
Specifically, the unconstrained branch chains are independently driven by the motor. Namely, a first moving pair P1 contained in a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4 and a fifth branched chain L5 is independently driven by a motor to complete telescopic motion, and a spherical hinge 4 and a first Hooke hinge U1 connected with the two ends of the first moving pair P1 are matched with the first moving pair to complete the preset pose of a moving platform 3; a second moving pair P2 and a third moving pair P3 contained in the sixth branched chain L6 complete sliding movement along with the movement of the platform 3, and second hooke joints U2 at two ends of the second moving pair P2 and a revolute pair 5 are matched to meet the geometrical relationship of a moving pair in the sixth branched chain L6 under a preset pose of the moving platform 3; thereby realizing five-degree-of-freedom motion of the movable platform 3.
The sleeve structure of the first moving pair P1 in the first branched chain L1, the second branched chain L2 and the third branched chain L3 is hollow, and the telescopic rod forming the first moving pair P1 is ensured to be always kept at a certain distance from the ground.
Example two
As shown in fig. 5, a six-branched-chain five-degree-of-freedom parallel processing robot has the same motion form as that of the first embodiment, and the kinematic pairs, branched chains and the like have the same composition form.
In this embodiment, five unconstrained branched chains, i.e., a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4, and a fifth branched chain L5, are divided into an upper branched chain and a middle branched chain, the upper branched chain includes the first branched chain L1 and the second branched chain L2, and each branched chain in the upper branched chain has a structure as shown in fig. 2. The middle layer branched chain comprises a third branched chain L3, a fourth branched chain L4 and a fifth branched chain L5, and the structure of each branched chain in the middle layer branched chain is shown in figure 3.
The upper connecting joints of the first branched chain L1 and the second branched chain L2 are circumferentially arranged at intervals on a first layer moving platform 31 close to the head of the electric spindle 2, and the lower connecting joints of the first branched chain L1 and the second branched chain L2 are connected with two protrusions which extend upwards in the circumferential direction of the static platform 1 in a one-to-one correspondence mode, namely the first branched chain L1 and the second branched chain L2 are triangular. The upper connecting joints of the third branched chain L3, the fourth branched chain L4 and the fifth branched chain L5 are arranged at intervals in the circumferential direction of the second layer moving platform 32, and the lower joints of the third branched chain L3, the fourth branched chain L4 and the fifth branched chain L5 are arranged at intervals on the end face of the static platform 1, namely, the adjacent branched chains in the third branched chain L3, the fourth branched chain L4 and the fifth branched chain L5 form a triangular shape, and the lower joints of the third branched chain L3, the fourth branched chain L4 and the fifth branched chain L5 also form a triangular shape. A second Hooke joint U2 in the sixth branched chain L6 is connected with a third layer of movable platform 33, the moving base of the sixth branched chain L6 is opposite to the lower joint of the fifth branched chain L5, the lower joints of the third branched chain L3 and the fourth branched chain L4 are symmetrical along the moving base, and the lower joints of the first branched chain L1 and the second branched chain L2 are symmetrical along the moving base.
The sleeve structure of the first moving pair P1 in the first branched chain L1 and the second branched chain L2 is hollow, and the telescopic rod forming the first moving pair P1 always keeps a certain distance from the ground, so that collision interference is avoided.
EXAMPLE III
As shown in fig. 6, the six-branched-chain five-degree-of-freedom parallel processing robot in this embodiment has the same motion form as that in the first embodiment, and the kinematic pairs and branched chains have the same composition.
In this embodiment, five unconstrained branched chains, i.e., a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4, and a fifth branched chain L5, have the same structure, and the unconstrained branched chains have the structure shown in fig. 3. A first branched chain L1, a second branched chain L2, a third branched chain L3 and a fourth branched chain L4 in the unconstrained branched chains are divided into two groups A and B, wherein the group A branched chain consists of the first branched chain L1 and the second branched chain L2, and the group B branched chain consists of the third branched chain L3 and the fourth branched chain L4; the upper connecting joints of the first branched chain L1 and the second branched chain L2 are arranged in groups close to the outer wall of the first movable platform 31, the upper connecting joints of the third branched chain L3 and the fourth branched chain L4 are arranged in groups close to the outer wall of the first movable platform 31, the upper connecting joints of the fifth branched chain L5 are independently arranged in groups at the outer wall of the first movable platform 31, and the three groups of connecting joints form a triangular shape; the lower connecting joints of a first branched chain L1, a second branched chain L2, a third branched chain L3, a fourth branched chain L4 and a fifth branched chain L5 are arranged at intervals on the same layer of the static platform 1, and adjacent branched chains are in a triangular shape; the top of the sixth branched chain L6 is connected with the third layer of movable platform 33, and the moving base of the sixth branched chain L6 forms the center of a graph through the joint under the unconstrained branched chain.
Having thus described the basic principles, principal features and advantages of the invention, several embodiments of the invention have been shown and described, and any changes, modifications, substitutions and alterations to these embodiments without departing from the spirit and scope of the invention are intended to be covered by the following claims.
Claims (10)
1. A six-branched-chain five-degree-of-freedom parallel processing robot is characterized in that: the parallel processing robot comprises a static platform (1) serving as an assembly foundation, a branched chain group serving as pose adjustment and a movable platform (3) serving as output assembly, wherein an electric spindle (2) serving as an output unit is arranged in the movable platform (3), the branched chain group comprises an unconstrained branched chain group and a sixth branched chain, the sixth branched chain is connected with the static platform (1) through a third moving pair, and the moving direction of the third moving pair is parallel to the static platform (1).
2. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 1, wherein: the movable platform (3) comprises a first movable platform (31), a second movable platform (32) and a third movable platform (33), and the first movable platform (31), the second movable platform (32) and the third movable platform (33) are fixed.
3. The six-branch five-degree-of-freedom parallel processing robot of claim 2, wherein: and a revolute pair (5) is arranged in the sixth branched chain, and the axial direction of a rotating shaft in the revolute pair (5) is parallel to the moving direction of the third moving pair.
4. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 3, wherein: and a second sliding pair is arranged in the sixth branched chain, one end of the second sliding pair is connected with a rotating pair (5), and the other end of the rotating pair (5) is connected with a second hook hinge.
5. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 4, wherein: the second hook joint is movably hinged with a third layer of movable platform (33) in the movable platform (3).
6. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 2, wherein: the unconstrained branch chain group comprises an upper layer branch chain and a middle layer branch chain, and the tops of the upper layer branch chain, the middle layer branch chain and the sixth branch chain are movably connected with the movable platform (3) in a multilayer manner.
7. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 6, wherein: one end of the upper layer branched chain is connected with the outer wall joint of the first layer moving platform (31), and the other end of the upper layer branched chain is connected with the joint of the static platform (1).
8. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 7, wherein: the middle layer branched chain is articulated with the outer wall of the second layer moving platform (32), and the other end of the middle layer branched chain is articulated with the static platform (1).
9. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 8, wherein: the joint connection is a spherical hinge connection or a Hooke hinge connection.
10. The six-branched-chain five-degree-of-freedom parallel processing robot of claim 8, wherein: the upper layer branched chain and the middle layer branched chain are respectively provided with a first moving pair, and the first moving pairs drive the first moving pairs to stretch along the length direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211430961.7A CN115741638A (en) | 2022-11-16 | 2022-11-16 | Six-branched-chain five-degree-of-freedom parallel machining robot |
| PCT/CN2023/103881 WO2024103758A1 (en) | 2022-11-16 | 2023-06-29 | Six-branch five-degree-of-freedom parallel machining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211430961.7A CN115741638A (en) | 2022-11-16 | 2022-11-16 | Six-branched-chain five-degree-of-freedom parallel machining robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115741638A true CN115741638A (en) | 2023-03-07 |
Family
ID=85371450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211430961.7A Pending CN115741638A (en) | 2022-11-16 | 2022-11-16 | Six-branched-chain five-degree-of-freedom parallel machining robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115741638A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024103758A1 (en) * | 2022-11-16 | 2024-05-23 | 天津大学 | Six-branch five-degree-of-freedom parallel machining robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101025248A (en) * | 2007-03-05 | 2007-08-29 | 北京航空航天大学 | Three-freedom active ball-baring |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| US20180126545A1 (en) * | 2015-05-26 | 2018-05-10 | Fangyuan HAN | Multi-motion-platform parallel robot construction method and parallel robots for same |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| US20200316770A1 (en) * | 2017-12-25 | 2020-10-08 | Shenzhen Institutes Of Advanced Technology | Three-degree-of-freedom parallel mechanism |
-
2022
- 2022-11-16 CN CN202211430961.7A patent/CN115741638A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101025248A (en) * | 2007-03-05 | 2007-08-29 | 北京航空航天大学 | Three-freedom active ball-baring |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| US20180126545A1 (en) * | 2015-05-26 | 2018-05-10 | Fangyuan HAN | Multi-motion-platform parallel robot construction method and parallel robots for same |
| US20200316770A1 (en) * | 2017-12-25 | 2020-10-08 | Shenzhen Institutes Of Advanced Technology | Three-degree-of-freedom parallel mechanism |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024103758A1 (en) * | 2022-11-16 | 2024-05-23 | 天津大学 | Six-branch five-degree-of-freedom parallel machining robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107443173B (en) | Large-stroke high-rigidity serial-parallel machine tool with reconfigurable characteristic | |
| CN100480003C (en) | Series parallel robot in five degrees of freedom | |
| CN107008602B (en) | Series-parallel type spraying robot | |
| US11583966B2 (en) | Overhead machining device based on portable five-degree-of-freedom full parallel module | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN108972509B (en) | Three-degree-of-freedom parallel mechanism with multiple operation modes | |
| CN112454336B (en) | Split type five-degree-of-freedom parallel mechanism | |
| CN112454337B (en) | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain | |
| CN113319827A (en) | Five-degree-of-freedom complete parallel machining robot | |
| CN108638031B (en) | Parallel mechanism with two motion modes of 2T1R and 3T | |
| CN110026786B (en) | Large-stroke five-degree-of-freedom series-parallel machine tool with reconfigurable characteristic | |
| CN111515926B (en) | Parallel robot | |
| CN115741638A (en) | Six-branched-chain five-degree-of-freedom parallel machining robot | |
| CN110026967A (en) | A kind of 2PRU-2PUR three freedom redundancy driven Parallel Kinematic Manipulator | |
| CN111923025A (en) | Three-branch parallel mechanism with two operation modes | |
| CN114227648A (en) | High-rigidity five-degree-of-freedom parallel drive robot | |
| CN106976070B (en) | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation | |
| CN110053026B (en) | Five-freedom-degree series-parallel robot for workpiece machining | |
| CN115890622A (en) | Multi-branch-chain five-degree-of-freedom parallel machining robot with large corner capability | |
| CN115741639A (en) | Six-branched-chain five-degree-of-freedom parallel processing robot for complex curved surface | |
| CN112060126A (en) | Three-degree-of-freedom wrist joint robot | |
| CN109108949B (en) | Parallel mechanism with three motion modes of 3T, 2T1R and 1T2R | |
| CN115889044A (en) | Multi-degree-of-freedom redundant drive spraying equipment | |
| CN115771135A (en) | Parallel processing robot with large working space, few branched chains and five degrees of freedom |
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 |