CN1544209A - Three-branched chain scaling type mixed parallel robot with six degrees of freedom - Google Patents
Three-branched chain scaling type mixed parallel robot with six degrees of freedom Download PDFInfo
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- CN1544209A CN1544209A CNA2003101076762A CN200310107676A CN1544209A CN 1544209 A CN1544209 A CN 1544209A CN A2003101076762 A CNA2003101076762 A CN A2003101076762A CN 200310107676 A CN200310107676 A CN 200310107676A CN 1544209 A CN1544209 A CN 1544209A
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Abstract
The invention is a six freedom-three branch pantograph mixed parallel robot, relating to structural improvement of a robot, composed of top platform, bottom platform and three branches, where the three branches are uniformed distributed in the circumferential direction of the bottom platform and the bottom ends of the three branches are fixed on the top planes of the bottom platform, respectively; the tops of the three branches are connected with the bottom ends of the top platform, respectively. It adopts the connecting form that three rotating auxiliaries are equivalent to a spherical auxiliary, where the axes of the three rotating auxiliaries intersects at one point but are not coplanar, enlarges swinging range of the link rod, further increases working space of mechanism. Compared with a parallel robot of a size, it enlarges working range, enhances moving flexibility and more suitable for operating space of human beings on consideration of human boy engineering science. In comparison with existing techniques, it has the advantage of compact structure, small inertia of movement, no return gap, low friction and good operability.
Description
Technical field: the present invention relates to the improvement of parallel robot structure.
Background technology: main operating hand (main hand) is a kind of robot remote control equipment, and high performance main operating hand is to finishing the straighforward operation task, and it is most important to improve operational quality.For the main operating hand performance demands in principal and subordinate's straighforward operation be: low inertia, low friction, high accuracy, high rigidity, big working space, flexible operation, no backhaul gap.It is a kind of development trend that main mobile phone structure adopts parallel form, and the drive unit of parallel robot generally is installed near the base position, maintain static or movement velocity very low, make that motion of mechanism inertia is little; The moving platform of robot is connected with base by parallel way, its bearing capacity height, and good rigidity, compact conformation, kinematic chain is short, and the accumulation of error is few, the positional precision height, dynamic property is good.Aspect control, contrary the separating of the kinematics of parallel robot found the solution simply, and Position Control is easy.Therefore parallel robot has been widely used in aspects such as space flight, aviation, seabed operation, underground development, industrial production manufacturing, computer aided medicine, bioengineering and microelectromechanical-systems in recent years.Yet the shortcoming of parallel robot is a working space little (with respect to the robot construction size), describes complexity, and coupling causes poor operability greatly between the motion.Being used as main operating hand in principal and subordinate's straighforward operation is greatly limited.
Summary of the invention: the objective of the invention is to develop a kind of six degree of freedom---three side chain pantographic mixing parallel robots, it has compact conformation, and movement inertia is little, no backhaul gap, low friction, the characteristics that flexibility and operability are good.The present invention is made up of upper mounting plate 1, lower platform 6, three side chains 11, and three side chains 11 are along the uniform setting of lower platform 6 circumference, and the lower end of three side chains 11 is separately fixed on the last plane of lower platform 6; The upper end of three side chains 11 is connected with the lower end of upper mounting plate 1 respectively; Side chain 11 is made up of a connecting rod in rotary motion pair 10, connecting rod 2, the parallelogram 4, No. two connecting rods 12, No. three connecting rods 13, No. four connecting rods 14, interior motor 15, outer motor 5, motor cabinet 16, the little montant 7 of equivalent sphere pair, cross bar 8, universal joint 3, A bearing 18, B bearings 9; A connecting rod 4 in the parallelogram and the upper end of No. two connecting rods 12 are connected with its axle by the little axle 17 of cross bar 8 one ends, the lower end of a connecting rod 4 in the parallelogram is connected by axle with the upper end of No. three connecting rods 13, the lower end of No. two connecting rods 12 in the parallelogram is connected by axle with the upper end of No. four connecting rods 14, the lower end of No. three connecting rods 13 in the parallelogram is connected by axle with the output shaft of outer motor 5, the lower end of No. four connecting rods 14 in the parallelogram is connected by axle with the output shaft of interior motor 15, outer motor 5 and interior motor 15 are separately fixed on the inside and outside two sides of motor cabinet 16, motor cabinet 16 is fixedlyed connected with lower platform 6, the other end of cross bar 8 is connected with universal joint 3, the upper end of little montant 7 is connected with the lower end of connecting rod 2, the lower end of little montant 7 is connected with universal joint 3, the upper end of connecting rod 2 is connected with rotary motion pair 10, the upper end of rotary motion pair 10 is connected with the lower end of upper mounting plate 1, is provided with A bearing 18 between the junction of the upper end of little montant 7 and connecting rod 2 lower ends; Be provided with B bearing 9 between the little axle 17 of cross bar 8 one ends and the junction of a connecting rod 4 in the parallelogram and No. two connecting rod 12 upper ends.The present invention adopts three groups of side chains to connect and goes up lower platform, every group of side chain is that parallelogram passes through the secondary connection in series-parallel mixed form of forming the pantographic structure with connecting rod of equivalent sphere and improved rigidity, reduced kinematic error, adopt in any but the not type of attachment of three of coplane revolute pair equivalent sphere pairs of axes intersect, enlarged the hunting range of connecting rod, and then increased the working space of mechanism, and drive motors is fixed on the lower platform (base), and movement inertia is little; The side chain number is few, has reduced the interference between the connecting rod.Technical indicator of the present invention: number of degrees of freedom: six; Rectilinear path along three of X, Y, Z: ± 40 °; Displacement repetitive positioning accuracy: 0.1mm.Overall dimensions: be not more than 500mm * 500mm * 500mm (length * wide * height).The present invention compares with the parallel robot of same size, has increased working range, has improved kinematic dexterity, considers from ergonomics, is more suitable for people's operating space.Compare with existing technology, have compact conformation, movement inertia is little, no backhaul gap, low friction, the advantage that operability is good.
Description of drawings: Fig. 1 is a plan structure schematic diagram of the present invention, and Fig. 2 is the structural representation of a side chain 11 of the present invention, Fig. 3 be the S of Fig. 2 to view, Fig. 4 is the M place cutaway view of Fig. 2.
The specific embodiment: present embodiment is made up of upper mounting plate 1, lower platform 6, three side chains 11, and three side chains 11 are along the uniform setting of lower platform 6 circumference, and the lower end of three side chains 11 is separately fixed on the last plane of lower platform 6; The upper end of three side chains 11 is connected with the lower end of upper mounting plate 1 respectively; Side chain 11 is made up of a connecting rod in rotary motion pair 10, connecting rod 2, the parallelogram 4, No. two connecting rods 12, No. three connecting rods 13, No. four connecting rods 14, interior motor 15, outer motor 5, motor cabinet 16, the little montant 7 of equivalent sphere pair, cross bar 8, universal joint 3, A bearing 18, B bearings 9; A connecting rod 4 in the parallelogram and the upper end of No. two connecting rods 12 are connected with its axle by the little axle 17 of cross bar 8 one ends, the lower end of a connecting rod 4 in the parallelogram is connected by axle with the upper end of No. three connecting rods 13, the lower end of No. two connecting rods 12 in the parallelogram is connected by axle with the upper end of No. four connecting rods 14, the lower end of No. three connecting rods 13 in the parallelogram is connected by axle with the output shaft of outer motor 5, the lower end of No. four connecting rods 14 in the parallelogram is connected by axle with the output shaft of interior motor 15, outer motor 5 and interior motor 15 are separately fixed on the inside and outside two sides of motor cabinet 16, motor cabinet 16 is fixedlyed connected with lower platform 6, the other end of cross bar 8 is connected with universal joint 3, the upper end of little montant 7 is connected with the lower end of connecting rod 2, the lower end of little montant 7 is connected with universal joint 3, the upper end of connecting rod 2 is connected with rotary motion pair 10, the upper end of rotary motion pair 10 is connected with the lower end of upper mounting plate 1, is provided with A bearing 18 between the junction of the upper end of little montant 7 and connecting rod 2 lower ends; Be provided with B bearing 9 between the little axle 17 of cross bar 8 one ends and the junction of a connecting rod 4 in the parallelogram and No. two connecting rod 12 upper ends.A bearing 18 and B bearing 9 all are ball bearings.
Claims (3)
1, six degree of freedom---three side chain pantographic mixing parallel robots, it is made up of upper mounting plate (1), lower platform (6), three side chains (11), it is characterized in that three side chains (11) are along the uniform setting of lower platform (6) circumference, the lower end of three side chains (11) is separately fixed on the last plane of lower platform (6), and the upper end of three side chains (11) is connected with the lower end of upper mounting plate (1) respectively.
2, six degree of freedom according to claim 1---three side chain pantographic mixing parallel robots is characterized in that side chain (11) is made up of little montant (7), cross bar (8), universal joint (3), A bearing (18), the B bearing (9) of the connecting rod (4) in rotary motion pair (10), connecting rod (2), the parallelogram, No. two connecting rods (12), No. three connecting rods (13), No. four connecting rods (14), interior motor (15), outer motor (5), motor cabinet (16), equivalent sphere pair; Connecting rod (4) in the parallelogram is connected with its axle with the little axle (17) of the upper end of No. two connecting rods (12) by cross bar (8) one ends, the lower end of the connecting rod (4) in the parallelogram is connected by axle with the upper end of No. three connecting rods (13), the lower end of No. two connecting rods (12) in the parallelogram is connected by axle with the upper end of No. four connecting rods (14), the lower end of No. three connecting rods (13) in the parallelogram is connected by axle with the output shaft of outer motor (5), the lower end of No. four connecting rods (14) in the parallelogram is connected by axle with the output shaft of interior motor (15), outer motor (5) and interior motor (15) are separately fixed on the inside and outside two sides of motor cabinet (16), motor cabinet (16) is fixedlyed connected with lower platform (6), the other end of cross bar (8) is connected with universal joint (3), the upper end of little montant (7) is connected with the lower end of connecting rod (2), the lower end of little montant (7) is connected with universal joint (3), the upper end of connecting rod (2) is connected with rotary motion pair (10), the upper end of rotary motion pair (10) is connected with the lower end of upper mounting plate (1), is provided with A bearing (18) between the junction of the upper end of little montant (7) and connecting rod (2) lower end; Be provided with B bearing (9) between the junction of the little axle (17) of cross bar (8) one ends and the connecting rod (4) in the parallelogram and No. two connecting rods (12) upper end.
3, six degree of freedom according to claim 2---three side chain pantographic mixing parallel robots is characterized in that A bearing (18) and B bearing (9) are ball bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310107676 CN1256220C (en) | 2003-11-10 | 2003-11-10 | Three-branched chain scaling type mixed parallel robot with six degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310107676 CN1256220C (en) | 2003-11-10 | 2003-11-10 | Three-branched chain scaling type mixed parallel robot with six degrees of freedom |
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| Publication Number | Publication Date |
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| CN1544209A true CN1544209A (en) | 2004-11-10 |
| CN1256220C CN1256220C (en) | 2006-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200310107676 Expired - Fee Related CN1256220C (en) | 2003-11-10 | 2003-11-10 | Three-branched chain scaling type mixed parallel robot with six degrees of freedom |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100360285C (en) * | 2006-02-28 | 2008-01-09 | 浙江工业大学 | Six-degree-of-freedom steel band parallel robot mechanisw |
| CN100376363C (en) * | 2005-12-30 | 2008-03-26 | 哈尔滨工业大学 | Double-ring tribranched chain contraction and enlargement type parallel structure |
| CN100431809C (en) * | 2007-01-22 | 2008-11-12 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN104608118A (en) * | 2015-01-19 | 2015-05-13 | 天津智达机器人有限公司 | Three-branch six-degree-of-freedom robot |
| CN110678301A (en) * | 2017-05-19 | 2020-01-10 | 川崎重工业株式会社 | Operating device |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能系统研究院 | Main operating hand |
-
2003
- 2003-11-10 CN CN 200310107676 patent/CN1256220C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100376363C (en) * | 2005-12-30 | 2008-03-26 | 哈尔滨工业大学 | Double-ring tribranched chain contraction and enlargement type parallel structure |
| CN100360285C (en) * | 2006-02-28 | 2008-01-09 | 浙江工业大学 | Six-degree-of-freedom steel band parallel robot mechanisw |
| CN100431809C (en) * | 2007-01-22 | 2008-11-12 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN104608118A (en) * | 2015-01-19 | 2015-05-13 | 天津智达机器人有限公司 | Three-branch six-degree-of-freedom robot |
| CN110678301A (en) * | 2017-05-19 | 2020-01-10 | 川崎重工业株式会社 | Operating device |
| EP3626410A4 (en) * | 2017-05-19 | 2021-02-24 | Kawasaki Jukogyo Kabushiki Kaisha | Operation device |
| US11221642B2 (en) | 2017-05-19 | 2022-01-11 | Kawasaki Jukogyo Kabushiki Kaisha | Manipulating device |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能系统研究院 | Main operating hand |
| CN114052930B (en) * | 2021-11-25 | 2023-08-22 | 天津大学医疗机器人与智能系统研究院 | Main operation hand |
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|---|---|
| CN1256220C (en) | 2006-05-17 |
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