CN1864943A - Four-freedom parallel mechanical arm - Google Patents
Four-freedom parallel mechanical arm Download PDFInfo
- Publication number
- CN1864943A CN1864943A CN 200610012824 CN200610012824A CN1864943A CN 1864943 A CN1864943 A CN 1864943A CN 200610012824 CN200610012824 CN 200610012824 CN 200610012824 A CN200610012824 A CN 200610012824A CN 1864943 A CN1864943 A CN 1864943A
- Authority
- CN
- China
- Prior art keywords
- rods
- wrist
- constant lengh
- mechanical arm
- branched chain
- 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
Images
Abstract
The invention relates to a four-freedom parallel mechanical arm, which is characterized in that: the base (1) and wrist (5) are connected by the motion branched chains (2, 3, 4); the straight motors (8, 9) and track (10) are mounted on the base (1); the movable slide blocks (11, 12) are independently connected to one end of handspikes of straight motors (8, 9); the movable slide blocks (11, 12) via two running couple hinges are independently connected to one end of handspike (19) and one end of constant-length rod; another end of constant-length rod (13) is connected to the wrist (5) via hook hinge; the motion branched chains (3, 4) are symmetry arranged at two sides of motion branched chain (2); the straight motors (6, 7) and tracks (21, 20) are mounted on the base (1); the movable slide blocks (18, 17) are independently connected to one end of handspikes of straight motors (6, 7); the constant-length rods (16, 14) are connected to the wrist (50 via two hook hinges; the invention can realize straight motion and rotation at two freedoms via using straight motors (6, 7, 8, 9) to drive the movable slide blocks. The invention has compact structure, high rigidity, high supporting ability, lower inertia and better motion decouple property, which can be used in vehicle, ship and aviation industries.
Description
Technical field
The present invention relates to the industrial robot field, particularly relate to a kind of four-freedom parallel mechanical arm.
Background technology
Continuous development along with advanced industrial technologies such as automobile, shipbuilding and aviations, people more and more recognize the importance of mechanical arm, at present, mechanical arm adopts cascaded structure more, four-degree-of-freedom robotic arm as BJ University of Aeronautics ﹠ Astronautics's development, the four-degree-of-freedom tandem type teaching robot of Boshi Accurate Test Control Co Ltd, Harbin pllytechnical Univ's development, or the like.But there are problems such as complex structure, rigidity difference and inertia are big in this series connection mechanical arm, majority.
Summary of the invention
The object of the present invention is to provide a kind of four-freedom parallel mechanical arm, that this mechanical arm has is simple in structure, rigidity is high, bearing capacity is strong and advantage such as mobile decoupling, applicable to modern industry fields such as automobile, shipbuilding and aviations.
The technical solution adopted for the present invention to solve the technical problems is: pedestal 1 and wrist 5 are linked by movement branched chain 2,3 and 4, wherein, movement branched chain 2 comprises parts such as two linear electric motors 8 and 9, guide rail 10, moving slider 11 and 12, connecting-rods with constant lengh 13, support bar 15, push rod 19.Linear electric motors 8 and 9 and guide rail 10 be installed on the pedestal 1, moving slider 11 and 12 is connected with an end of the push rod of line correspondence motor respectively, moving slider 11 links to each other with an end of push rod 19 and an end of connecting-rods with constant lengh 13 respectively by two revolute pair hinges with 12, the other end of push rod 19 links to each other with an end of support bar 15 by the revolute pair hinge, the other end of support bar 15 links to each other with connecting-rods with constant lengh 13 by the revolute pair hinge, and, connect 15 and do not overlap with the center that is connected 12 and 13 revolute pair hinge with the center of 13 revolute pair hinge, the other end of connecting-rods with constant lengh 13 links to each other with wrist 5 by Hooke's hinge.
Movement branched chain 3 is identical with 4, and movement branched chain 3 and 4 comprises parts such as linear electric motors 6 and 7, guide rail 21 and 20, moving slider 18 and 17, connecting-rods with constant lengh 16 and 14 respectively.Linear electric motors 6 and 7 and guide rail 21 and 20 be installed on the pedestal 1, moving slider 18 and 17 is connected with an end of the push rod of line correspondence motor respectively, moving slider 18 links to each other with 14 with connecting-rods with constant lengh 16 by two ball pivots respectively with 17, connecting-rods with constant lengh 16 links to each other with wrist 5 by two Hooke's hinges respectively with 14, and the center of three Hooke's hinges of connection wrist 5 and connecting-rods with constant lengh 13,14 and 16 is conllinear not.Movement branched chain 3 and 4 is arranged in the both sides of movement branched chain 2.Respectively to the driving of each moving slider, the straight line that can realize two frees degree of wrist 5 moves the rotation with two frees degree to this mechanical arm by linear electric motors 6,7,8 and 9.
The invention has the beneficial effects as follows: advantages such as this mechanical arm has compact conformation, rigidity height, bearing capacity is strong, inertia is little and mobile decoupling is good, be suitable for fields such as industrial operation, can finish some complicated industrial operations.
Description of drawings
Fig. 1 is the structure chart of four-freedom parallel mechanical arm;
Fig. 2 is the stereogram of four-freedom parallel mechanical arm.
In Fig. 1, Fig. 2,1. pedestal, 2,3 and 4. movement branched chain, 5. wrist, 6,7,8 and 9. linear electric motors, 10,20 and 21. guide rails, 11,12,17 and 18. moving sliders, 13,14 and 16. connecting-rods with constant lenghs, 15. support bars, 19. push rods.
The specific embodiment
Fig. 1 is an embodiment disclosed by the invention, and this four-freedom parallel mechanical arm comprises pedestal 1, wrist 5 and is connected between the two movement branched chain 2,3 and 4 etc.Wherein, movement branched chain 2 comprises parts such as two linear electric motors 8 and 9, guide rail 10, moving slider 11 and 12, connecting-rods with constant lengh 13, support bar 15, push rod 19.Linear electric motors 8 and 9 and guide rail 10 be installed on the pedestal 1, moving slider 11 and 12 is connected with an end of the push rod of line correspondence motor respectively, that is to say, under the driving of each linear electric motors, moving slider 11 and 12 can (be respectively the outside and inboard) respectively and slide on guide rail 10, moving slider 11 links to each other with an end of push rod 19 and an end of connecting-rods with constant lengh 13 respectively by two revolute pair hinges with 12, the other end of push rod 19 links to each other with an end of support bar 15 by the revolute pair hinge, the other end of support bar 15 links to each other with connecting-rods with constant lengh 13 by the revolute pair hinge, and, connect 15 and do not overlap with the center that is connected 12 and 13 revolute pair hinge with the center of 13 revolute pair hinge, the other end of connecting-rods with constant lengh 13 links to each other with wrist 5 by Hooke's hinge.Movement branched chain 3 is identical with 4, and movement branched chain 3 and 4 comprises parts such as linear electric motors 6 and 7, guide rail 21 and 20, moving slider 17 and 15, connecting-rods with constant lengh 16 and 14 respectively.Linear electric motors 6 and 7 and guide rail 21 and 20 be installed on the pedestal 1, moving slider 18 and 17 is connected with an end of the push rod of line correspondence motor respectively, that is to say, under the driving of linear electric motors 6 and 7, moving slider 18 and 17 can slide on guide rail 21 and 20 respectively, moving slider 18 links to each other with 14 with connecting-rods with constant lengh 16 by two ball pivots respectively with 17, connecting-rods with constant lengh 16 links to each other with wrist 5 by two Hooke's hinges respectively with 14, and the center of three Hooke's hinges of connection wrist 5 and connecting-rods with constant lengh 13,14 and 16 is conllinear not.Movement branched chain 3 and 4 is arranged in the both sides of movement branched chain 2.Respectively to the driving of each moving slider, the straight line that can realize two frees degree of wrist 5 moves the rotation with two frees degree to this mechanical arm by linear electric motors 6,7,8 and 9.
Claims (3)
1. four-freedom parallel mechanical arm, comprise pedestal (1), wrist (5), movement branched chain (2,3,4), linear electric motors (6,7,8,9), guide rail (10,20,21), moving slider (11,12,17,18), connecting-rods with constant lengh (13,14,16), support bar (15) and push rod (19) are formed, and it is characterized in that: pedestal (1) and wrist (5) are linked by movement branched chain (2), (3) and (4); In the movement branched chain (2), linear electric motors (8) and (9) and guide rail (10) all are installed on the pedestal (1), moving slider (11) and (12) are connected with an end of the push rod of line correspondence motor (8) and (9) respectively, moving slider (11) links to each other with an end of push rod (19) and an end of connecting-rods with constant lengh (13) respectively by two revolute pair hinges with (12), the other end of catch bar (19) links to each other with an end of support bar (15) by the revolute pair hinge, the other end of support bar (15) links to each other with connecting-rods with constant lengh (13) by the revolute pair hinge, and the other end of connecting-rods with constant lengh (13) links to each other with wrist (5) by Hooke's hinge; Movement branched chain (3) is identical with the structure of (4), they are arranged in the both sides of movement branched chain (2) symmetrically, linear electric motors (6) and (7) and guide rail (21) and (20) all are installed on the pedestal (1), moving slider (18) and (17) are connected with an end of the push rod of line correspondence motor (6) and (7) respectively, moving slider (18) links to each other with (14) with connecting-rods with constant lengh (16) by two ball pivots respectively with (17), and connecting-rods with constant lengh (16) and (14) link by two Hooke's hinges and wrist (5) respectively.
2, four-freedom parallel mechanical arm according to claim 1 is characterized in that: the center that connects the support bar (15) and the revolute pair hinge of connecting-rods with constant lengh (13) does not overlap with the center of the revolute pair hinge that is connected moving slider (12) and connecting-rods with constant lengh (13).
3, four-freedom parallel mechanical arm according to claim 1 and 2 is characterized in that: the center of three Hooke's hinges of connection wrist (5) and connecting-rods with constant lengh (13), (14) and (16) is conllinear not.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100128246A CN100384599C (en) | 2006-06-09 | 2006-06-09 | Four-freedom parallel mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100128246A CN100384599C (en) | 2006-06-09 | 2006-06-09 | Four-freedom parallel mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1864943A true CN1864943A (en) | 2006-11-22 |
| CN100384599C CN100384599C (en) | 2008-04-30 |
Family
ID=37424162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100128246A Expired - Fee Related CN100384599C (en) | 2006-06-09 | 2006-06-09 | Four-freedom parallel mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100384599C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1081970C (en) * | 1999-07-16 | 2002-04-03 | 清华大学 | Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets |
| CN1075418C (en) * | 1999-04-29 | 2001-11-28 | 清华大学 | Structure of machine tool with plane double-slider three-freedom virtual axle |
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| JP2002096281A (en) * | 2000-09-14 | 2002-04-02 | Yoshi Marukawa | Bipedal walking robot |
| EP1234632A1 (en) * | 2001-02-23 | 2002-08-28 | Willemin Machines S.A. | Kinematic device for programmably supporting and positioning an end element in a machine or an instrument |
| CN2484153Y (en) * | 2001-05-30 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Four-free-degree parallel machanism to achieve two-dimensional rotation and two-dimension translation |
| CN1212221C (en) * | 2003-03-06 | 2005-07-27 | 天津大学 | Four dimension mixed linking robot |
| JP2004351544A (en) * | 2003-05-28 | 2004-12-16 | Taiyo Kogyo Kk | Radio control bipedal walking robot |
| CN100411826C (en) * | 2005-11-11 | 2008-08-20 | 华南理工大学 | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions |
-
2006
- 2006-06-09 CN CNB2006100128246A patent/CN100384599C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100384599C (en) | 2008-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110450141B (en) | Four-branch-chain six-degree-of-freedom hybrid mechanism | |
| CN101407059A (en) | Four-freedom degree industrial robot | |
| CN110653797B (en) | Three-degree-of-freedom pneumatic translation parallel mechanism | |
| CN101104269A (en) | Robot shoulder joint | |
| CN100522506C (en) | Two degrees of freedom translation parallel mechanism | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN113970418A (en) | Variable attack angle device for wind tunnel test | |
| CN101444914A (en) | Three-DOF personified parallel manipulator | |
| CN1864943A (en) | Four-freedom parallel mechanical arm | |
| CN113459069A (en) | Three-degree-of-freedom parallel mechanism capable of reconstructing degree-of-freedom form | |
| CN107471201B (en) | Structure redundancy parallel robot mechanism with three relative degrees of freedom | |
| CN203254416U (en) | Three-degree-of-freedom parallel mechanism | |
| CN210161145U (en) | Planar two-degree-of-freedom parallel mechanism | |
| CN210878566U (en) | Parallel supporting platform | |
| CN109108950B (en) | Space three-degree-of-freedom parallel mechanism with low motion quality and use method | |
| CN110154002A (en) | A kind of planar two-DOF mechanism | |
| CN202583413U (en) | Test device of automobile toggle switch | |
| CN109227519A (en) | A kind of fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving | |
| CN201325062Y (en) | 3-DOF anthropomorphic parallel mechanical arm | |
| CN208867171U (en) | A kind of parallel connection six degree of freedom structure | |
| CN210029129U (en) | Alternate transfer mechanism and alternate conveying system | |
| CN200954628Y (en) | Six-freedom series-parallel mixed connection structure mechanical arm | |
| CN1614376A (en) | Environmental experimental platform for mechanical vibration with three freedom degrees | |
| CN208345152U (en) | Trigger is returned in a kind of lifting | |
| CN103240730A (en) | Translation parallel robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Harbin Lingyun Automobile Parts Co., Ltd. Assignor: Yanshan University Contract fulfillment period: 2009.9.21 to 2015.9.21 contract change Contract record no.: 2009990001126 Denomination of invention: Four-freedom parallel mechanical arm Granted publication date: 20080430 License type: Exclusive license Record date: 2009.10.9 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.9.21 TO 2015.9.21; CHANGE OF CONTRACT Name of requester: HARBIN LINGYUN CAR PARTS CO., LTD. Effective date: 20091009 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080430 Termination date: 20130609 |