CN201573210U - Three-rotational freedom parallel robot with active telescopic link - Google Patents
Three-rotational freedom parallel robot with active telescopic link Download PDFInfo
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- CN201573210U CN201573210U CN2009200618954U CN200920061895U CN201573210U CN 201573210 U CN201573210 U CN 201573210U CN 2009200618954 U CN2009200618954 U CN 2009200618954U CN 200920061895 U CN200920061895 U CN 200920061895U CN 201573210 U CN201573210 U CN 201573210U
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- branched chain
- moving platform
- parallel robot
- active branched
- silent flatform
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Abstract
The utility model discloses a three-rotational freedom parallel robot with an active telescopic link. The parallel robot comprises a static platform, a movable platform and a branched chain component that is used for connecting the static platform and the movable platform, wherein the branched chain component comprises a long fixed-length branched chain and three active branched chains with the same structure; one end of the fixed-length branched chain is vertically consolidated with the static platform, and the other end thereof is movably connected with the movable platform; and the active branch chains are of the telescopic link structures, are movably connected between the movable platform and the static platform and are symmetrically distributed about the fixed-length branched chain. The three-rotational freedom parallel robot mechanism has simple structure and convenient installation; in addition, as the fixed-length branched chain consolidated at the static platform can provide the actions of movement constraining and supporting for the movable platform, so that the mechanism realizes the three-rotational freedom, meanwhile, the mechanism has the advantages of big load capacity, big stiffness and the like, and can be used for posture adjusting and device tracking in the heavy-load application occasion.
Description
Technical field
The utility model relates to the industrial robot field, relates more specifically to a kind of initiatively three-rotational DOF parallel robot of expansion link that has.
Background technology
In the existing robot that roboticized job task is on active service, two class mechanisms are arranged: series connection and in parallel.Tandem is the open kinematic chain that each rod member links to each other successively by kinematic pair, this robotlike has big working space and high flexibility, but along with people improve constantly robot performance's requirement, serial mechanism itself intrinsic defective such as accumulation of error effect, the load driving force is limited etc., has limited the performance of serial mechanism gradually.
Existing parallel robot is to have that multivariant terminal operation device links to each other and the robot that constitutes with one simultaneously by an end of a plurality of kinematic chains, in theory it to have bearing capacity strong, rigidity is big, error is little, and the precision height is little from heavy load, power performance is good, control a series of advantages such as easy, constitute complementary relationship, enlarged the application of robot with the serial machine people who obtains extensive use.At present, parallel robot successfully has been applied to precision positioning device, Medical Robot and the typical aspects such as high speed machine hand that grasp in the operating environment in industrial robot, Digit Control Machine Tool, motion simulator, the microelectronics manufacturing.
People have turned to the lower-mobility parallel institution to notice in recent years, and promptly moving platform freedom of motion number is less than 6 parallel institution.Wherein, three-rotation freedom parallel mechanism is a class very important in the lower-mobility parallel institution.The parallel institution of three-rotational-freedom generally is used for the occasion that robot shoulder joint, Satellite Tracking hunting gear, the prompt eye of spirit and numerical control turntable etc. need compact conformation and require big angle of revolution.Yet, existing three-rotation freedom parallel mechanism is generally spherical mechanism, has the structural requirement harshness, comparatively defective such as difficulty is assembled in manufacturing, many joints axes of active branched chain meet at a bit between rotatable platform and the silent flatform owing to requiring, and make that the load capacity of this type of mechanism and quiet rigidity are not high.
Therefore, demand urgently a kind of simple in structure, easy for installation and have a three-rotational DOF parallel robot mechanism than heavy load ability and strong rigidity.
The utility model content
It is a kind of simple in structure, easy for installation and have a three-rotational DOF parallel robot mechanism than heavy load ability and strong rigidity that the purpose of this utility model is to provide.
To achieve these goals, the utility model proposes a kind of initiatively three-rotational DOF parallel robot of expansion link that has, comprise silent flatform, moving platform and connect chain component of described silent flatform and moving platform, described chain component comprises a fixed length side chain and three active branched chain that structure is identical, one end of described fixed length side chain vertically is consolidated in described silent flatform, the other end is movably connected on described moving platform, described active branched chain is the telescopic rod structure, is movably connected between described moving platform and the described silent flatform and about described fixed length side chain to be symmetrically distributed.
Preferably, described fixed length side chain comprises support bar, revolute pair and Hooke's hinge, and an end of described Hooke's hinge links to each other with described support bar by described revolute pair, and the other end is connected in described moving platform, and the axis normal of described revolute pair is in described silent flatform.
Preferably, described fixed length side chain comprises support bar and ball pivot, and an end of described support bar vertically is consolidated in described silent flatform, and the other end is connected with described moving platform by described ball pivot.
Preferably, be connected by ball pivot between described active branched chain and the described moving platform, also be connected between described active branched chain and the described silent flatform by ball pivot.
Preferably, be connected by Hooke's hinge between described active branched chain and the described moving platform, be connected by ball pivot between described active branched chain and the described silent flatform
Preferably, be connected by ball pivot between described active branched chain and the described moving platform, be connected by Hooke's hinge between described active branched chain and the described silent flatform
Preferably, the junction of described active branched chain and described moving platform is equilateral triangle and distributes, and the junction of described active branched chain and described silent flatform also is equilateral triangle and distributes.
Preferably, described active branched chain is provided with power-driven mechanism, and described power-driven mechanism is the motor-driven feed screw apparatus.
Preferably, described active branched chain is provided with power-driven mechanism, and described power-driven mechanism is a fluid pressure drive device.
Compared with prior art, three active branched chain of the utility model three-rotational DOF parallel robot mechanism adopt the identical telescopic rod structure of structure, robot mechanism is simple in structure and easy for installation, in addition, provide constrained motion and supporting role owing to be consolidated in the fixed length side chain of silent flatform to moving platform, make the utility model mechanism have advantages such as the big and rigidity of load capacity is big when realizing three-rotational-freedom, the attitude that can be used for the heavy load application scenario is regulated and tracking means.
By following description also in conjunction with the accompanying drawings, it is more clear that the utility model will become, and these accompanying drawings are used to explain embodiment of the present utility model.
Description of drawings
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, to do to introduce simply to the accompanying drawing of required use among the embodiment below, apparently, accompanying drawing in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic diagram of first embodiment of the utility model three-rotational DOF parallel robot mechanism.
Fig. 2 is the schematic diagram of second embodiment of the utility model three-rotational DOF parallel robot mechanism.
The specific embodiment
Below in conjunction with the accompanying drawing among the utility model embodiment, the technical scheme among the embodiment is clearly and completely described, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
With reference to Fig. 1, Fig. 1 has showed first embodiment of the utility model three-rotational DOF parallel robot mechanism, this three-rotational DOF parallel robot mechanism 10 comprises silent flatform 100, moving platform 200 and connect chain component of described silent flatform 100 and moving platform 200, described chain component comprises a fixed length side chain 300 and three active branched chain 400 that structure is identical, one end of described fixed length side chain 300 vertically is consolidated in described silent flatform 100, the other end is movably connected on described moving platform 200, described active branched chain 400 is the telescopic rod structure, is movably connected between described moving platform 200 and the described silent flatform 100 and about described fixed length side chain 300 to be symmetrically distributed.Particularly, described active branched chain 400 is the equilateral triangle distribution with the junction of described moving platform 200, and described active branched chain 400 also is the equilateral triangle distribution with the junction of described silent flatform 100.
Wherein, described fixed length side chain 300 comprises support bar 310, revolute pair 320 and Hooke's hinge 330, one end of described Hooke's hinge 330 links to each other with described support bar 310 by described revolute pair 320, and the other end is connected in described moving platform 200, and the axis normal of described revolute pair 320 is in described silent flatform 100.Described active branched chain 400 upper ends flexibly connect by ball pivot 410 and described moving platform 200, and described active branched chain 400 lower ends flexibly connect by ball pivot 420 and described silent flatform 100.Described active branched chain 400 is provided with power-driven mechanism (figure does not show) with the flexible power that provides to described active branched chain 400, described power-driven mechanism can be the motor-driven feed screw apparatus, but be not limited thereto device, other any one can realize that the driving mechanism (as fluid pressure drive device) of identical driving effect all can be applicable to this.
In the utility model, described active branched chain 400 is a Collapsible structure, active link is between described silent flatform 100 and moving platform 200, the lower end of described fixed length side chain 300 vertically is consolidated in silent flatform 100, thereby the upper end links to each other with moving platform 200 and described moving platform 200 is played the effect of support and constrained motion, and then making entire mechanism have three-rotational-freedom, described moving platform 200 can only be done three rotational motions on the change in coordinate axis direction around fixing point.
With reference to Fig. 2, Fig. 2 has showed second embodiment of the utility model three-rotational DOF parallel robot mechanism, this three-rotational DOF parallel robot mechanism 10 ' comprises silent flatform 100 ', moving platform 200 ' and connect a chain component of described silent flatform 100 ' and moving platform 200 ', described chain component comprises a fixed length side chain 300 ' and three active branched chain 400 ' that structure is identical, one end of described fixed length side chain 300 ' vertically is consolidated in described silent flatform 100 ', the other end is movably connected on described moving platform 200 ', described active branched chain 400 ' is the telescopic rod structure, is movably connected between described moving platform 200 ' and the described silent flatform 100 ' and about described fixed length side chain 300 ' to be symmetrically distributed.Particularly, described active branched chain 400 ' is the equilateral triangle distribution with the junction of described moving platform 200 ', and described active branched chain 400 ' also is the equilateral triangle distribution with the junction of described silent flatform 100 '.
Wherein, described fixed length side chain 300 ' comprises support bar 310 ' and ball pivot 320 ', and the lower end of described support bar 310 ' vertically is consolidated in described silent flatform 100 ', and the lower end is connected with described moving platform 200 ' by described ball pivot 320 '.Described active branched chain 400 ' upper end flexibly connects by ball pivot 410 ' and described moving platform 200 ', and described active branched chain 400 ' lower end flexibly connects by Hooke's hinge 420 ' and described silent flatform 100 '.Particularly, described silent flatform 100 ' is provided with three pedestals 110 ', and described pedestal 110 ' is provided with an inclined-plane 111 ', and described Hooke's hinge 420 ' is connected on the described inclined-plane 111 '.Described active branched chain 400 ' is provided with power-driven mechanism (figure does not show) with the flexible power that provides to described active branched chain 400 ', described power-driven mechanism can be fluid pressure drive device, but be not limited thereto device, other any one can realize that the driving mechanism (as the motor-driven feed screw apparatus) of identical driving effect all can be applicable to this.
The 3rd embodiment of the utility model three-rotational DOF parallel robot mechanism is identical with the most of structure of second embodiment, its difference is: described active branched chain upper end flexibly connects by Hooke's hinge and described moving platform, and described active branched chain lower end flexibly connects by ball pivot and described silent flatform.
Compared with prior art, three active branched chain of the utility model three-rotational DOF parallel robot mechanism adopt the identical telescopic rod structure of structure, robot mechanism is simple in structure and easy for installation, in addition, provide constrained motion and supporting role owing to be consolidated in the fixed length side chain of silent flatform to moving platform, make the utility model mechanism have advantages such as the big and rigidity of load capacity is big when realizing three-rotational-freedom, the attitude that can be used for the heavy load application scenario is regulated and tracking means.
The motor-driven feed screw apparatus that the utility model is related and the concrete structure of fluid pressure drive device are well known to those of ordinary skill in the art, no longer are described in detail at this.
Abovely the utility model is described, but the utility model is not limited to the embodiment of above announcement, and should contains various modification, equivalent combinations of carrying out according to essence of the present utility model in conjunction with most preferred embodiment.
Claims (9)
1. one kind has the initiatively three-rotational DOF parallel robot of expansion link, comprise silent flatform, moving platform and connect chain component of described silent flatform and moving platform, it is characterized in that: described chain component comprises a fixed length side chain and three active branched chain that structure is identical, one end of described fixed length side chain vertically is consolidated in described silent flatform, the other end is movably connected on described moving platform, described active branched chain is the telescopic rod structure, is movably connected between described moving platform and the described silent flatform and about described fixed length side chain to be symmetrically distributed.
2. three-rotational DOF parallel robot as claimed in claim 1, it is characterized in that: described fixed length side chain comprises support bar, revolute pair and Hooke's hinge, one end of described Hooke's hinge links to each other with described support bar by described revolute pair, the other end is connected in described moving platform, and the axis normal of described revolute pair is in described silent flatform.
3. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: described fixed length side chain comprises support bar and ball pivot, and an end of described support bar vertically is consolidated in described silent flatform, and the other end is connected with described moving platform by described ball pivot.
4. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: be connected by ball pivot between described active branched chain and the described moving platform, also be connected by ball pivot between described active branched chain and the described silent flatform.
5. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: be connected by Hooke's hinge between described active branched chain and the described moving platform, be connected by ball pivot between described active branched chain and the described silent flatform.
6. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: be connected by ball pivot between described active branched chain and the described moving platform, be connected by Hooke's hinge between described active branched chain and the described silent flatform.
7. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: the junction of described active branched chain and described moving platform is equilateral triangle and distributes, and the junction of described active branched chain and described silent flatform also is equilateral triangle and distributes.
8. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: described active branched chain is provided with power-driven mechanism, and described power-driven mechanism is the motor-driven feed screw apparatus.
9. three-rotational DOF parallel robot as claimed in claim 1 is characterized in that: described active branched chain is provided with power-driven mechanism, and described power-driven mechanism is a fluid pressure drive device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200618954U CN201573210U (en) | 2009-08-06 | 2009-08-06 | Three-rotational freedom parallel robot with active telescopic link |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200618954U CN201573210U (en) | 2009-08-06 | 2009-08-06 | Three-rotational freedom parallel robot with active telescopic link |
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| CN201573210U true CN201573210U (en) | 2010-09-08 |
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| CN2009200618954U Expired - Fee Related CN201573210U (en) | 2009-08-06 | 2009-08-06 | Three-rotational freedom parallel robot with active telescopic link |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106301176A (en) * | 2016-08-26 | 2017-01-04 | 清华大学 | A kind of big angle rotary condenser support frame mechanism |
| CN106553140A (en) * | 2016-12-06 | 2017-04-05 | 歌尔科技有限公司 | A kind of multi-faceted adjustable positioning mechanism |
| CN108818609A (en) * | 2018-06-30 | 2018-11-16 | 郑州大学 | Linear drives freedom degree parallel connection hip joint mechanism |
| CN109015742A (en) * | 2018-08-31 | 2018-12-18 | 上海与德通讯技术有限公司 | The universal driving joint module of one kind and flexible mechanical arm |
| CN110355740A (en) * | 2019-06-13 | 2019-10-22 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 1R1T and 3T |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110744525A (en) * | 2019-10-30 | 2020-02-04 | 哈尔滨工业大学 | Self-adjusting anti-collision bearable parallel actuator with compact structure |
| CN111843171A (en) * | 2019-04-30 | 2020-10-30 | 天津大学 | Three-degree-of-freedom parallel machine head for friction stir welding |
-
2009
- 2009-08-06 CN CN2009200618954U patent/CN201573210U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106301176A (en) * | 2016-08-26 | 2017-01-04 | 清华大学 | A kind of big angle rotary condenser support frame mechanism |
| CN106553140A (en) * | 2016-12-06 | 2017-04-05 | 歌尔科技有限公司 | A kind of multi-faceted adjustable positioning mechanism |
| CN108818609A (en) * | 2018-06-30 | 2018-11-16 | 郑州大学 | Linear drives freedom degree parallel connection hip joint mechanism |
| CN109015742A (en) * | 2018-08-31 | 2018-12-18 | 上海与德通讯技术有限公司 | The universal driving joint module of one kind and flexible mechanical arm |
| CN111843171A (en) * | 2019-04-30 | 2020-10-30 | 天津大学 | Three-degree-of-freedom parallel machine head for friction stir welding |
| CN110355740A (en) * | 2019-06-13 | 2019-10-22 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 1R1T and 3T |
| CN110355740B (en) * | 2019-06-13 | 2021-05-14 | 西安工程大学 | Parallel mechanism with two motion modes of 1R1T and 3T |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110744525A (en) * | 2019-10-30 | 2020-02-04 | 哈尔滨工业大学 | Self-adjusting anti-collision bearable parallel actuator with compact structure |
| CN110744525B (en) * | 2019-10-30 | 2022-06-24 | 哈尔滨工业大学 | Self-adjusting anti-collision bearable parallel actuator with compact structure |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100908 Termination date: 20130806 |