CN201579789U - Three-rotational DOF parallel-connection robot - Google Patents
Three-rotational DOF parallel-connection robot Download PDFInfo
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- CN201579789U CN201579789U CN2009202646785U CN200920264678U CN201579789U CN 201579789 U CN201579789 U CN 201579789U CN 2009202646785 U CN2009202646785 U CN 2009202646785U CN 200920264678 U CN200920264678 U CN 200920264678U CN 201579789 U CN201579789 U CN 201579789U
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- support bar
- saddle
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Abstract
The utility model discloses a three-rotational DOF parallel-connection robot which comprises a base, a mobile platform, a driving mechanism, a screw rod, sliding saddles, a support rod and a connecting rod; one end of the support rod is fixedly connected with the base, the other end of the support rod is movably connected with the mobile platform, the screw rod is mounted on the base, the sliding saddles are connected with the screw rod in sliding manner, one end of the connecting rod is movably connected with the mobile platform, the other end of the connecting rod is respectively and movably connected with the corresponding sliding saddles, the driving mechanism is mounted on the base and connected with the screw rod, the driving mechanism drives the screw rod and the sliding saddles, and the sliding saddles drive the mobile platform to move through the connecting rod. The three-rotational DOF parallel-connection robot has simple structure, convenient mounting, high load bearing capacity and rigidity, and is applicable to the gesture adjustment of high load situations, and tracking devices.
Description
Technical field
The utility model relates to the industrial robot field, relates more specifically to a kind of three-rotational DOF parallel robot.
Background technology
In the existing robot that roboticized job task is on active service, there are two types: serial machine people and parallel robot.Tandem is the open kinematic chain that each rod member links to each other successively by kinematic pair, this robotlike has the big and high characteristics of flexibility of working space, but along with people improve constantly robot performance's requirement, the serial machine people part that also comes with some shortcomings: not only serial machine people itself each intrinsic rod member error have build-up effect, the terminal precision of each rod member is low, and have defectives such as inertia is big, rigidity is low, the load driving force is limited, cause to have restricted to a certain extent maybe to spend the accurate motion that bigger cost could realize end effector.
Existing parallel robot is a kind ofly to have a plurality of freedoms of motion, and driver be distributed on the different loops enclosed encircle machine more, that is: an end of a plurality of kinematic chains has that multivariant terminal operation device links to each other and the robot that constitutes with one simultaneously.With serial machine physiognomy ratio, parallel robot can be installed in driving mechanism on the frame, has therefore reduced the quality of moving link to a great extent.In theory, it is strong that parallel robot has bearing capacity, and rigidity is big, and error is little, the precision height, 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.Become traditional serial machine people's a important supplement based on the various mechanisms of parallel manipulator philtrum, at present, parallel robot successfully has been applied to the every field in the industry life, and for example: the precision positioning device during industrial robot, Digit Control Machine Tool, motion simulator, automation assembling, Precision Machining and measurement engineering, microelectronics are made, Medical Robot and typical case grasp the fields such as high speed machine hand in the operating environment.
At present, the parallel institution that has proposed has kind more than 100, but practical three-rotational DOF parallel robot is still few.In order to adapt to industrial needs, people have turned to the research and development and the manufacturing of lower-mobility parallel robot to notice in recent years, that is: 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 three-rotational DOF parallel robot, it is characterized in that, comprise: pedestal, movable platform, driving mechanism, screw mandrel, saddle, support bar and connecting rod, the fixedly connected described pedestal of one end of described support bar, the other end of described support bar flexibly connects described movable platform, described screw mandrel is installed on the described pedestal, described saddle is slidingly connected to described screw mandrel, one end of described connecting rod flexibly connects described movable platform, the other end of described connecting rod flexibly connects corresponding described saddle respectively, described driving mechanism is installed on the described pedestal and with described screw mandrel and is connected, described screw mandrel of described drive mechanism and saddle, described saddle drives described movable platform activity by described connecting rod.
Compared with prior art, drive mechanism link motion in the utility model three-rotational DOF parallel robot, this support bar cooperates this connecting rod, movable platform is provided the effect of constraint and support, on the one hand, the utility model three-rotational DOF parallel robot is simple in structure, standardization is strong and easy for installation, has high rigidity, high accuracy, low inertia, the advantage of high dynamic performance, on the other hand, described movable platform can be done three rotational motions on the change in coordinate axis direction around fixing point, realize that the utility model three-rotational DOF parallel robot has three-rotational-freedom, be applicable to that the attitude of heavy load application scenario is regulated and tracking means.In addition, the utility model three-rotational DOF parallel robot forward kinematics solution, counter separating simply, normal solution has succinct analytic solutions, helps the kinematics calibration of robot.
Preferably, the described pedestal of the utility model three-rotational DOF parallel robot is a frustum, the center of the fixedly connected described pedestal of an end of described support bar, and the other end of described support bar extends and is movably connected on the center of described movable platform vertically upward.
Preferably, the described movable platform shape triangular in shape of the utility model three-rotational DOF parallel robot, described connecting rod is three, one end of three described connecting rods is movably connected on the described three sides of a triangle respectively accordingly, the other end of three described connecting rods flexibly connects corresponding described saddle respectively, and three described connecting rods are symmetrical arranged with respect to support bar.
Preferably, an end of the described connecting rod of the utility model three-rotational DOF parallel robot is movably connected on described movable platform by ball pivot, and the other end of described connecting rod flexibly connects corresponding described saddle by first Hooke's hinge respectively.
Preferably, the utility model three-rotational DOF parallel robot also comprises revolute pair, the fixedly connected described pedestal of one end of described support bar, the other end of described support bar connects an end of described revolute pair, and the other end of described revolute pair flexibly connects described movable platform by second Hooke's hinge.
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 structural representation of the utility model three-rotational DOF parallel robot.
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 the structural representation of the utility model three-rotational DOF parallel robot.This three-rotational DOF parallel robot 1 comprises: pedestal 11, movable platform 12, driving mechanism 13, screw mandrel 14, saddle 15, support bar 16 and connecting rod 17.
Particularly, as shown in Figure 1, the pedestal 11 of this three-rotational DOF parallel robot 1 is for being a frustum, and described pedestal 11 is the base part of three-rotational DOF parallel robot 1.14, three described screw mandrels 14 of three rhizoid bars are installed on the described pedestal 11 to be distributed on the described pedestal 11 symmetrically with respect to the center line of frustum.Three described screw mandrels 14 can be installed on the pedestal 11 by welding or screw ways of connecting.Be provided with saddle 15 on the described screw mandrel 14 respectively accordingly, and, three saddles 15 be provided with accordingly respectively with three described screw mandrels 14 on.At length, described saddle 15 is slidingly connected on described screw mandrel 14, and described driving mechanism 13 is installed on the described pedestal 11, and is connected with described screw mandrel 14, and described driving mechanism 13 drives described screw mandrel 14 and drives described saddle 15 along screw mandrel 14 slips.Described driving mechanism 13 can be electric machine, but is not limited to electric machine, can be drive screw mandrel other any one can realize the driving mechanism of identical driving effect.
As shown in Figure 1, described movable platform 12 shapes triangular in shape of three-rotational DOF parallel robot 1, in the present embodiment, described movable platform 12 is equilateral triangle.Be separately installed with first Hooke's hinge 151 on three described saddles 15, one end of described first Hooke's hinge 151 is connected with described saddle 15, the other end of described first Hooke's hinge 151 connects an end of described connecting rod 17, that is: three described connecting rods 17 flexibly connect corresponding described saddle 15 by described first Hooke's hinge 151 respectively; The other end of described connecting rod 17 is equipped with first ball pivot 171, described connecting rod 17 is movably connected on described movable platform 12 by described first ball pivot 171, at length, described first ball pivot 171 is three, three described connecting rods 17 are by flexibly connecting by the described movable platform 12 of corresponding described first ball pivot 171 with the equilateral triangle shape respectively, and, three described connecting rods 17 respectively to be movably connected on by described first ball pivot 171 accordingly equilateral triangle three limits on.Three described ball pivots 171 are symmetrical arranged with respect to the center of described movable platform 12.
As shown in Figure 1, one end of the support bar 16 of three-rotational DOF parallel robot 1 is fixedly connected on the center of described pedestal 11 by the mode of screw connection or welding, the other end of described support bar 16 connects an end of revolute pair 161, the other end of described revolute pair 161 connects the center of described movable platform 12 by second Hooke's hinge 162, described support bar 16 is to extend from the center of pedestal 11 is upwards vertical, and finally connects the rod member at the center of described movable platform 12.Three described connecting rods 17 relatively and support bar 16 be symmetrical arranged.
With reference to figure 1, in the utility model, described driving mechanism 13 drives three described screw mandrels 14 respectively, three described screw mandrels 14 drive the described saddle 15 that connects on it respectively and move along screw mandrel 14, and then described saddle 15 drives connecting rod 17 activities that connect on it, 12 activities of described connecting rod 17 drive movable platforms.Because revolute pair 161 and second Hooke's hinge 162 of support bar 16 by being installed on it, support the center of described movable platform 12, make in the time of described movable platform 12 activities of three described connecting rods 17 drives, 16 pairs of movable platforms 12 of support bar play and support and spacing effect, and then make the utility model three-rotational DOF parallel robot 1 do three rotational motions on the change in coordinate axis direction around second Hooke's hinge 162, realize three-rotational-freedom.
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 (5)
1. three-rotational DOF parallel robot, it is characterized in that, comprise: pedestal, movable platform, driving mechanism, screw mandrel, saddle, support bar and connecting rod, the fixedly connected described pedestal of one end of described support bar, the other end of described support bar flexibly connects described movable platform, described screw mandrel is installed on the described pedestal, described saddle is slidingly connected to described screw mandrel, one end of described connecting rod flexibly connects described movable platform, the other end of described connecting rod flexibly connects corresponding described saddle respectively, described driving mechanism is installed on the described pedestal and with described screw mandrel and is connected, described screw mandrel of described drive mechanism and saddle, described saddle drives described movable platform activity by described connecting rod.
2. three-rotational DOF parallel robot as claimed in claim 1, it is characterized in that, described pedestal is a frustum, the center of the fixedly connected described pedestal of an end of described support bar, and the other end of described support bar extends and is movably connected on the center of described movable platform vertically upward.
3. three-rotational DOF parallel robot as claimed in claim 2, it is characterized in that, described movable platform shape triangular in shape, described connecting rod is three, one end of three described connecting rods is movably connected on the described three sides of a triangle respectively accordingly, the other end of three described connecting rods flexibly connects corresponding described saddle respectively, and three described connecting rods are symmetrical arranged with respect to support bar.
4. as each described three-rotational DOF parallel robot of claim 1-3, it is characterized in that, one end of described connecting rod is movably connected on described movable platform by ball pivot, and the other end of described connecting rod flexibly connects corresponding described saddle by first Hooke's hinge respectively.
5. as each described three-rotational DOF parallel robot of claim 1-3, it is characterized in that, also comprise revolute pair, the fixedly connected described pedestal of one end of described support bar, the other end of described support bar connects an end of described revolute pair, and the other end of described revolute pair flexibly connects described movable platform by second Hooke's hinge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202646785U CN201579789U (en) | 2009-12-15 | 2009-12-15 | Three-rotational DOF parallel-connection robot |
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| CN2009202646785U CN201579789U (en) | 2009-12-15 | 2009-12-15 | Three-rotational DOF parallel-connection robot |
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| CN2009202646785U Expired - Fee Related CN201579789U (en) | 2009-12-15 | 2009-12-15 | Three-rotational DOF parallel-connection robot |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| CN102513254A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Eight-spatial-degree-of-motion spraying robot |
| CN102513255A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Seven-mobility spraying robot mechanism |
| CN102708723A (en) * | 2012-05-18 | 2012-10-03 | 燕山大学 | Six-freedom-degree static-balance parallel motion simulation platform with large bearing surface |
| CN102773855A (en) * | 2012-07-04 | 2012-11-14 | 燕山大学 | Four-degree-of-freedom parallel posture alignment vibration-isolating platform |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN103029119A (en) * | 2012-12-04 | 2013-04-10 | 天津大学 | Three-RDOF (rotational degree of freedom) parallel mechanism |
| CN103192364A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Improved Delta parallel mechanism robot |
| CN103344203A (en) * | 2013-06-24 | 2013-10-09 | 上海工程技术大学 | Trilinear coordinates measuring instrument fine-adjustment working platform with six degrees of freedom |
| CN104647355A (en) * | 2014-12-30 | 2015-05-27 | 中国矿业大学 | Parallel platform with adjustable working space |
| CN105364918A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Screw rod-driven pseudo-4-DOF parallel robot |
| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
| CN105773576A (en) * | 2016-01-27 | 2016-07-20 | 大族激光科技产业集团股份有限公司 | Parallel robot |
| CN106301176A (en) * | 2016-08-26 | 2017-01-04 | 清华大学 | A kind of big angle rotary condenser support frame mechanism |
| CN106428494A (en) * | 2016-10-31 | 2017-02-22 | 吉林大学 | Underwater vector thruster based on spatial parallel mechanism |
| CN107243921A (en) * | 2017-06-14 | 2017-10-13 | 东北大学 | A kind of waist joint for anthropomorphic robot |
| CN107584478A (en) * | 2017-10-18 | 2018-01-16 | 西安科技大学 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
| CN109366451A (en) * | 2018-10-25 | 2019-02-22 | 北京机械设备研究所 | A kind of rope drive Three Degree Of Freedom force feedback equipment |
| CN109367002A (en) * | 2018-10-18 | 2019-02-22 | 西安理工大学 | 6D print system based on helix |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN110421567A (en) * | 2019-08-09 | 2019-11-08 | 中国矿业大学 | A kind of multirobot process unit of complexity surface parts |
| CN111452023A (en) * | 2020-04-13 | 2020-07-28 | 广东省智行机器人科技有限公司 | Fine adjustment platform with high precision and high rigidity and fine adjustment method thereof |
| WO2023157309A1 (en) * | 2022-02-21 | 2023-08-24 | ファナック株式会社 | Parallel link robot |
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2009
- 2009-12-15 CN CN2009202646785U patent/CN201579789U/en not_active Expired - Fee Related
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| CN102513254A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Eight-spatial-degree-of-motion spraying robot |
| CN102513255A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Seven-mobility spraying robot mechanism |
| CN102708723A (en) * | 2012-05-18 | 2012-10-03 | 燕山大学 | Six-freedom-degree static-balance parallel motion simulation platform with large bearing surface |
| CN102773855B (en) * | 2012-07-04 | 2015-11-18 | 燕山大学 | A kind of four-degree-of-freedom posture adjustment vibration-isolating platform in parallel |
| CN102773855A (en) * | 2012-07-04 | 2012-11-14 | 燕山大学 | Four-degree-of-freedom parallel posture alignment vibration-isolating platform |
| CN103029119A (en) * | 2012-12-04 | 2013-04-10 | 天津大学 | Three-RDOF (rotational degree of freedom) parallel mechanism |
| CN103029119B (en) * | 2012-12-04 | 2015-04-01 | 天津大学 | Three-RDOF (rotational degree of freedom) parallel mechanism |
| CN103029121B (en) * | 2012-12-11 | 2014-11-12 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN103192364A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Improved Delta parallel mechanism robot |
| CN103344203A (en) * | 2013-06-24 | 2013-10-09 | 上海工程技术大学 | Trilinear coordinates measuring instrument fine-adjustment working platform with six degrees of freedom |
| CN103344203B (en) * | 2013-06-24 | 2015-11-18 | 上海工程技术大学 | A kind of three-coordinates measuring machine six degree of freedom fine setting workbench |
| CN104647355A (en) * | 2014-12-30 | 2015-05-27 | 中国矿业大学 | Parallel platform with adjustable working space |
| CN104647355B (en) * | 2014-12-30 | 2016-05-11 | 中国矿业大学 | The parallel connection platform that a kind of working space is adjustable |
| CN105364918A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Screw rod-driven pseudo-4-DOF parallel robot |
| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
| CN105773576A (en) * | 2016-01-27 | 2016-07-20 | 大族激光科技产业集团股份有限公司 | Parallel robot |
| CN106301176A (en) * | 2016-08-26 | 2017-01-04 | 清华大学 | A kind of big angle rotary condenser support frame mechanism |
| CN106428494A (en) * | 2016-10-31 | 2017-02-22 | 吉林大学 | Underwater vector thruster based on spatial parallel mechanism |
| CN107243921A (en) * | 2017-06-14 | 2017-10-13 | 东北大学 | A kind of waist joint for anthropomorphic robot |
| CN107584478A (en) * | 2017-10-18 | 2018-01-16 | 西安科技大学 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
| CN109367002B (en) * | 2018-10-18 | 2020-12-18 | 西安理工大学 | 6D printing system based on spiral line |
| CN109367002A (en) * | 2018-10-18 | 2019-02-22 | 西安理工大学 | 6D print system based on helix |
| CN109366451A (en) * | 2018-10-25 | 2019-02-22 | 北京机械设备研究所 | A kind of rope drive Three Degree Of Freedom force feedback equipment |
| CN109366451B (en) * | 2018-10-25 | 2020-10-20 | 北京机械设备研究所 | Rope-driven three-degree-of-freedom force feedback equipment |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN110421567A (en) * | 2019-08-09 | 2019-11-08 | 中国矿业大学 | A kind of multirobot process unit of complexity surface parts |
| CN111452023A (en) * | 2020-04-13 | 2020-07-28 | 广东省智行机器人科技有限公司 | Fine adjustment platform with high precision and high rigidity and fine adjustment method thereof |
| CN111452023B (en) * | 2020-04-13 | 2021-11-02 | 广东省智行机器人科技有限公司 | Fine adjustment platform with high precision and high rigidity and fine adjustment method thereof |
| WO2023157309A1 (en) * | 2022-02-21 | 2023-08-24 | ファナック株式会社 | Parallel link robot |
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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: 20100915 Termination date: 20121215 |