CN201275760Y - Plane parallel robot mechanism with two freedom degrees - Google Patents

Plane parallel robot mechanism with two freedom degrees Download PDF

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Publication number
CN201275760Y
CN201275760Y CNU2008201064208U CN200820106420U CN201275760Y CN 201275760 Y CN201275760 Y CN 201275760Y CN U2008201064208 U CNU2008201064208 U CN U2008201064208U CN 200820106420 U CN200820106420 U CN 200820106420U CN 201275760 Y CN201275760 Y CN 201275760Y
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CN
China
Prior art keywords
rod
crank
driving
small
output shaft
Prior art date
Application number
CNU2008201064208U
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Chinese (zh)
Inventor
杜宏图
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杜宏图
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Priority to CNU2008201064208U priority Critical patent/CN201275760Y/en
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Publication of CN201275760Y publication Critical patent/CN201275760Y/en

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Abstract

The utility model discloses a two-degree-of-freedom planar parallel robot mechanism, which is composed of a base, a movable platform and driving mechanisms. The driving mechanisms are arranged at the left end and the right end of the base; a left crank and a right crank are respectively arranged on output shafts of the left driving mechanism and the right driving mechanism; the left end of the right crank is fixed with the output shaft of the right driving mechanism, and the right end of the right crank is articulated with the upper end of a right connecting rod; one end of the left crank is fixed with the output shaft of the left driving mechanism, and the other end of the left crank is articulated with the left end of a left connecting rod, the lower end of a small left connecting rod and the lower end of a driven crank; the right end of the left connecting rod is articulated with the lower end of the right connecting rod and the lower end of a small right connecting rod by the same hinge shaft; the upper ends of the small left connecting rod and the small right connecting rod are respectively articulated with the left end and the right end of a transverse positioning connecting rod by the hinge shaft; a trunnion which is parallel to the output shaft of the left driving mechanism is arranged at the left end of the base; a longitudinal positioning connecting rod is articulated at the end part of the trunnion, and the other end of the longitudinal positioning connecting rod is articulated with the upper end of the driven crank by the hinge shaft; and the movable platform is arranged on the small right connecting rod.

Description

Two-degree-of-freedom plane parallel robot mechanism
Technical field
The utility model relates to a kind of robot mechanism, particularly relates to the two-degree-of-freedom plane parallel robot mechanism that picks up with the place machine people.
Background technology
At present, the point-to-point transmission of using on the production line of industrial circles such as the electronics of China, packing picks up robot fast to be had dissimilar, speed is fast, and load is not enough, or the load height, speed and precision do not reach, and most of existing type or complex structure, design cost and cost of raw material height, the selling price of comparing is quite expensive, be difficult for popularizing, is a kind of restraining factors to the technological transformation of medium-sized and small enterprises.
The utility model content
The utility model technical problem to be solved provide a kind of low-cost, production domesticization, that can realize the two dimensional motion of moving platform in different range, keep the constant two degrees of freedom parallel robot mechanism of moving platform attitude simultaneously.
The technical scheme that its technical problem that solves the utility model adopts is:
1, a kind of two-degree-of-freedom plane parallel robot mechanism, by pedestal, moving platform, driving mechanism and linkage are formed, right-hand member at pedestal is equipped with right driving mechanism, left end at pedestal is equipped with left driving mechanism, on the output shaft of right driving mechanism, be mounted with right crank, the left end of right crank and the output shaft of right driving mechanism are fixed, the right-hand member of right crank and the upper end of right connecting rod are hinged, on the output shaft of left driving mechanism, be mounted with left crank, one end of left side crank and the output shaft of left driving mechanism are fixed, the other end of left side crank and the left end of left connecting rod, the lower end of left side small rod and hinged by same hinge from the lower end of crank, the right-hand member and the right connecting rod lower end of left side connecting rod, the lower end of right small rod is hinged by same hinge, hinged by holding about its hinge and horizontal positioning linkage rod respectively in the upper end of left small rod and right small rod, left end at pedestal is mounted with the gudgeon parallel with the output shaft of left driving mechanism, the end of gudgeon is hinged with vertical positioning linkage rod, the other end of vertical positioning linkage rod is hinged by hinge with the upper end from crank, and described moving platform is fixedly mounted on the right small rod.
Equal in length as described left connecting rod of preferred version of the present utility model and horizontal positioning linkage rod, the equal in length of left side small rod and right small rod, the equal in length of vertical positioning linkage rod and left crank, the distance between the axis of the axis of gudgeon and left driving mechanism output shaft with equate from the distance between the axis of the hinge at crank two ends.
As the further preferred version of the utility model, described two limits that are respectively " V " font combined member from crank and left small rod.
As the utility model further preferred version again, described vertical positioning linkage rod and gudgeon and be ball-joint from the upper end of crank.
As the further again again preferred version of the utility model, the upper end of horizontal positioning linkage rod and left small rod and the upper end of right small rod are ball-joint.
As preferred plan of the present utility model, the upper end of described right connecting rod and the right-hand member of right crank are ball-joint, the hinge of the lower end of the lower end of right connecting rod and the right-hand member of left connecting rod and right small rod for ball-joint.
The beneficial effects of the utility model are:
Well merged the composite factor of load, speed, precision and price, designed ingeniously, simple in structure, the performance brilliance is fit to the technological transformation and the technology innovation of medium-sized and small enterprises.
Description of drawings
Fig. 1 is a structural representation of the present utility model
Fig. 2 is a structure diagram of the present utility model
The specific embodiment
As shown in the figure, a kind of two-degree-of-freedom plane parallel robot mechanism, by pedestal 1, moving platform 8, driving mechanism and linkage are formed, right-hand member at pedestal 1 is equipped with right driving mechanism 11, left end at pedestal 1 is equipped with left driving mechanism 12, on the output shaft of right driving mechanism 11, be mounted with right crank 10, the left end of right crank 10 and the output shaft of right driving mechanism 11 are fixed, the right-hand member of right crank 10 and the upper end of right connecting rod 9 are hinged, on the output shaft of left driving mechanism 12, be mounted with left crank 3, one end of left side crank 3 and the output shaft of left driving mechanism 12 are fixed, the other end of left side crank 3 and the left end of left connecting rod 5, the lower end of left side small rod 13 and hinged by same hinge from the lower end of crank 4, the right-hand member and right connecting rod 9 lower ends of left side connecting rod 5, the lower end of right small rod 7 is hinged by same hinge, hinged by holding about its hinge and horizontal positioning linkage rod 6 respectively in the upper end of left small rod 13 and right small rod 7, left end at pedestal 1 is mounted with the gudgeon parallel with the output shaft of left driving mechanism 12 14, the end of gudgeon 14 is hinged with vertical positioning linkage rod 2, the other end of vertical positioning linkage rod 2 is hinged by hinge with the upper end from crank 4, and described moving platform 8 is fixedly mounted on the right small rod 7.The equal in length of left side connecting rod 5 and horizontal positioning linkage rod 6, the equal in length of left side small rod 13 and right small rod 7, the equal in length of vertical positioning linkage rod 2 and left crank 3, the distance between the axis of the axis of gudgeon 14 and left driving mechanism 12 output shafts with equate from the distance between the axis of the hinge at crank 4 two ends.Described two limits that are respectively " V " font combined member from crank 4 and left small rod 13.Vertical positioning linkage rod 2 and gudgeon 14 and be ball-joint from the upper end of crank 4.Horizontal positioning linkage rod 6 is ball-joint with the upper end of left small rod 13 and the upper end of right small rod 7.The right-hand member of the upper end of right connecting rod 9 and right crank 10 is ball-joint, the hinge of the right-hand member of the lower end of right connecting rod 9 and left connecting rod 5 and the lower end of right small rod 7 for ball-joint.

Claims (6)

1, a kind of two-degree-of-freedom plane parallel robot mechanism, by pedestal (1), moving platform (8), driving mechanism and linkage are formed, it is characterized in that: the right-hand member at pedestal (1) is equipped with right driving mechanism (11), left end at pedestal (1) is equipped with left driving mechanism (12), on the output shaft of right driving mechanism (11), be mounted with right crank (10), the left end of right crank (10) and the output shaft of right driving mechanism (11) are fixed, the right-hand member of right crank (10) and the upper end of right connecting rod (9) are hinged, on the output shaft of left driving mechanism (12), be mounted with left crank (3), one end of left side crank (3) and the output shaft of left driving mechanism (12) are fixed, the other end of left side crank (3) and the left end of left connecting rod (5), the lower end of left side small rod (13) and hinged by same hinge from the lower end of crank (4), the right-hand member and right connecting rod (9) lower end of left side connecting rod (5), the lower end of right small rod (7) is hinged by same hinge, hinged by holding about its hinge and horizontal positioning linkage rod (6) respectively in the upper end of left small rod (13) and right small rod (7), left end at pedestal (1) is mounted with the gudgeon (14) parallel with the output shaft of left driving mechanism (12), the end of gudgeon (14) is hinged with vertical positioning linkage rod (2), the other end of vertical positioning linkage rod (2) is hinged by hinge with the upper end from crank (4), and described moving platform (8) is fixedly mounted on the right small rod (7).
2, two-degree-of-freedom plane parallel robot mechanism according to claim 1, it is characterized in that: the equal in length of left connecting rod (5) and horizontal positioning linkage rod (6), the equal in length of left side small rod (13) and right small rod (7), the equal in length of vertical positioning linkage rod (2) and left crank (3), the distance between the axis of the axis of gudgeon (14) and left driving mechanism (12) output shaft with equate from the distance between the axis of the hinge at crank (4) two ends.
3, two-degree-of-freedom plane parallel robot mechanism according to claim 1 and 2 is characterized in that: described two limits that are respectively " V " font combined member from crank (4) and left small rod (13).
4, two-degree-of-freedom plane parallel robot mechanism according to claim 3 is characterized in that: vertical positioning linkage rod (2) and gudgeon (14) and be ball-joint from the upper end of crank (4).
5, two-degree-of-freedom plane parallel robot mechanism according to claim 4 is characterized in that: horizontal positioning linkage rod (6) is ball-joint with the upper end of left small rod (13) and the upper end of right small rod (7).
6, two-degree-of-freedom plane parallel robot mechanism according to claim 5, it is characterized in that: the right-hand member of the upper end of right connecting rod (9) and right crank (10) is ball-joint, the hinge of the right-hand member of the lower end of right connecting rod (9) and left connecting rod (5) and the lower end of right small rod (7) for ball-joint.
CNU2008201064208U 2008-10-30 2008-10-30 Plane parallel robot mechanism with two freedom degrees CN201275760Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2008201064208U CN201275760Y (en) 2008-10-30 2008-10-30 Plane parallel robot mechanism with two freedom degrees

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2008201064208U CN201275760Y (en) 2008-10-30 2008-10-30 Plane parallel robot mechanism with two freedom degrees

Publications (1)

Publication Number Publication Date
CN201275760Y true CN201275760Y (en) 2009-07-22

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101811303A (en) * 2010-04-15 2010-08-25 武汉人天包装技术有限公司 Plane joint manipulator
CN102069499A (en) * 2009-11-19 2011-05-25 鸿富锦精密工业(深圳)有限公司 Parallel robot
CN102107431A (en) * 2009-12-29 2011-06-29 鸿富锦精密工业(深圳)有限公司 Parallel robot
CN102357881A (en) * 2011-09-22 2012-02-22 广西大学 Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains
CN102601787A (en) * 2012-03-28 2012-07-25 广西大学 Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating
CN102601784A (en) * 2012-03-28 2012-07-25 广西大学 Parallel mechanism with RRR closed-loop subchain
CN102825600A (en) * 2012-03-28 2012-12-19 广西大学 Parallel mechanism containing RRRR closed-loop subchain
CN102873680A (en) * 2011-07-15 2013-01-16 袁剑锋 Two-degree-of-freedom mechanism containing passive constraint
CN103203741A (en) * 2013-04-27 2013-07-17 安徽工业大学 Three-degree-of-freedom parallel robot mechanism
CN103273482A (en) * 2013-06-25 2013-09-04 安徽工业大学 Master-slave branch chain separate type two-translational motion parallel robot
CN103286773A (en) * 2013-07-01 2013-09-11 安徽工业大学 Three-DOF (Degree of Freedom) parallel robot mechanism
CN104552309A (en) * 2015-01-15 2015-04-29 颜文旭 Pseudo 4DOF (degree of freedom) parallel robot
CN104742114A (en) * 2013-12-30 2015-07-01 上海沃迪自动化装备股份有限公司 Single-edge two-axis parallel robot with swinging mechanism
CN104972456A (en) * 2015-07-16 2015-10-14 哈尔滨工业大学 Bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation
CN105798892A (en) * 2016-05-31 2016-07-27 珠海格力智能装备有限公司 Three-axis Delta mechanical arm and robot
CN106313010A (en) * 2016-10-22 2017-01-11 济南翼菲自动化科技有限公司 Two-axis robot
CN111300424A (en) * 2020-03-18 2020-06-19 北华航天工业学院 Three-degree-of-freedom parallel structure kinematic system and solving method thereof

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102069499B (en) * 2009-11-19 2013-08-28 鸿富锦精密工业(深圳)有限公司 Parallel robot
CN102069499A (en) * 2009-11-19 2011-05-25 鸿富锦精密工业(深圳)有限公司 Parallel robot
CN102107431A (en) * 2009-12-29 2011-06-29 鸿富锦精密工业(深圳)有限公司 Parallel robot
CN101811303A (en) * 2010-04-15 2010-08-25 武汉人天包装技术有限公司 Plane joint manipulator
CN102873680A (en) * 2011-07-15 2013-01-16 袁剑锋 Two-degree-of-freedom mechanism containing passive constraint
CN102357881A (en) * 2011-09-22 2012-02-22 广西大学 Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains
CN102601787A (en) * 2012-03-28 2012-07-25 广西大学 Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating
CN102601784A (en) * 2012-03-28 2012-07-25 广西大学 Parallel mechanism with RRR closed-loop subchain
CN102825600A (en) * 2012-03-28 2012-12-19 广西大学 Parallel mechanism containing RRRR closed-loop subchain
CN103203741A (en) * 2013-04-27 2013-07-17 安徽工业大学 Three-degree-of-freedom parallel robot mechanism
CN103273482A (en) * 2013-06-25 2013-09-04 安徽工业大学 Master-slave branch chain separate type two-translational motion parallel robot
CN103286773A (en) * 2013-07-01 2013-09-11 安徽工业大学 Three-DOF (Degree of Freedom) parallel robot mechanism
CN104742114A (en) * 2013-12-30 2015-07-01 上海沃迪自动化装备股份有限公司 Single-edge two-axis parallel robot with swinging mechanism
CN104552309A (en) * 2015-01-15 2015-04-29 颜文旭 Pseudo 4DOF (degree of freedom) parallel robot
CN104972456A (en) * 2015-07-16 2015-10-14 哈尔滨工业大学 Bi-plane parallel mechanism capable of achieving plane two-dimensional positioning and spatial two-dimensional orientation
CN105798892A (en) * 2016-05-31 2016-07-27 珠海格力智能装备有限公司 Three-axis Delta mechanical arm and robot
CN105798892B (en) * 2016-05-31 2019-02-19 珠海格力智能装备有限公司 Three axis Delta manipulators of one kind and robot
CN106313010A (en) * 2016-10-22 2017-01-11 济南翼菲自动化科技有限公司 Two-axis robot
CN111300424A (en) * 2020-03-18 2020-06-19 北华航天工业学院 Three-degree-of-freedom parallel structure kinematic system and solving method thereof

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract

Assignee: HEBEI BOXLINE AUTOMATION PACKING CO., LTD.

Assignor: Du Hongtu

Contract record no.: 2012990000328

Denomination of utility model: Two-degree-of-freedom plane parallel robot mechanism

Granted publication date: 20090722

License type: Exclusive License

Record date: 20120517

EE01 Entry into force of recordation of patent licensing contract

Assignee: HEBEI BOXLINE AUTOMATION PACKING CO., LTD.

Assignor: Du Hongtu

Contract record no.: 2012990000328

Denomination of utility model: Two-degree-of-freedom plane parallel robot mechanism

Granted publication date: 20090722

License type: Exclusive License

Record date: 20120517

LICC Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model
C41 Transfer of patent application or patent right or utility model
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Owner name: HEBEI BOXLINE AUTOMAITON PACKING CO., LTD.

Free format text: FORMER OWNER: DU HONGTU

Effective date: 20150212

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Effective date of registration: 20150212

Address after: 057150 Yongnian Industrial Park, Handan, Hebei

Patentee after: HEBEI BOXLINE AUTOMATION PACKING CO., LTD.

Address before: 056000 Ma Zhuang Industrial Zone, Hebei, Handan

Patentee before: Du Hongtu

COR Change of bibliographic data

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C56 Change in the name or address of the patentee

Owner name: HEBEI BOXLINE INTELLIGENT AUTOMATION TECHNOLOGY CO

Free format text: FORMER NAME: HEBEI BOXLINE AUTOMAITON PACKING CO., LTD.

CP03 Change of name, title or address

Address after: 056000 Yongnian County Industrial Park, Hebei, Handan

Patentee after: HEBEI BOXLINE INTELLIGENT EQUIPMENT TECHNOLOGY CO., LTD.

Address before: 057150 Yongnian Industrial Park, Handan, Hebei

Patentee before: HEBEI BOXLINE AUTOMATION PACKING CO., LTD.

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090722

Termination date: 20171030

CF01 Termination of patent right due to non-payment of annual fee