CN201808063U - Six-degrees-of-freedom parallel robot device - Google Patents

Six-degrees-of-freedom parallel robot device Download PDF

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Publication number
CN201808063U
CN201808063U CN2010205516752U CN201020551675U CN201808063U CN 201808063 U CN201808063 U CN 201808063U CN 2010205516752 U CN2010205516752 U CN 2010205516752U CN 201020551675 U CN201020551675 U CN 201020551675U CN 201808063 U CN201808063 U CN 201808063U
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CN
China
Prior art keywords
revolute pair
rod
motor
sphere
degree
Prior art date
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CN2010205516752U
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Chinese (zh)
Inventor
虞启凯
游有鹏
韩江义
蔡华
徐永军
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南京化工职业技术学院
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Application filed by 南京化工职业技术学院 filed Critical 南京化工职业技术学院
Priority to CN2010205516752U priority Critical patent/CN201808063U/en
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Publication of CN201808063U publication Critical patent/CN201808063U/en

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Abstract

The utility model discloses a six-degrees-of-freedom parallel robot device, which consists of a fixed platform, a movable platform and three moving branch chains, wherein the three moving branch chains are used for connecting the fixed platform with the movable platform and have the same structure; each moving branch chain comprises a spherical two-degree-of-freedom mechanism U', a first motor, a second motor, a first connecting rod, a first revolute pair, a second connecting rod, a second revolute pair, a third connecting rod, a third revolute pair and a fourth revolute pair; and the spherical two-degree-of-freedom mechanism U' consists of a first spherical bracket, a second spherical bracket and a spherical connecting rod. The six-degrees-of-freedom parallel robot device has the advantages of high accuracy, simple structure, low manufacturing cost, light weight and the like.

Description

The six-degree-of-freedom parallel robot device
Technical field
The utility model belongs to the industrial robot field, relates in particular to a kind of multiple degrees of freedom movable parallel robot device.
Background technology
Parallel institution is the closed loop moving system that is made of a plurality of parallel chains, is promptly linked to each other with a terminal operation device with a plurality of frees degree simultaneously by an end of a plurality of kinematic chains and constitutes.
According to interrelated data, now a lot of parallel institutions not driving force as its important consideration scope, be exactly that the singular point problem and do not solve in addition, bigger such as its driving force ratio of 3-RRPS, also have the bad control of singular point.
The utility model content
The utility model purpose is to provide a kind of six-degree-of-freedom parallel robot device at the defective that prior art exists.
The utility model adopts following technical scheme for achieving the above object:
The utility model six-degree-of-freedom parallel robot device, this device is by fixed platform and mobile platform and be connected and fixed platform and three identical movement branched chain of structure of moving platform are formed, wherein each movement branched chain all comprises the sphere 2DOF U ' of mechanism, first motor, second motor, first connecting rod, first revolute pair, second connecting rod, second revolute pair, third connecting rod, the 3rd revolute pair and the 4th revolute pair, the described sphere 2DOF U ' of mechanism is by the first sphere support, the second sphere support and sphere connecting rod are formed, the first sphere support and first motor join, the second sphere support and second motor join, one end of first connecting rod and an end of second connecting rod join by first revolute pair, the other end of second connecting rod links to each other by second revolute pair with an end of third connecting rod, the other end of third connecting rod links to each other with moving platform with the universal coupling that the 4th revolute pair constitutes by the 3rd revolute pair, first motor and second motor are fixed on the fixed platform, and the other end of first connecting rod is connected with the sphere 2DOF U ' of mechanism.
Preferably, the axis of described first motor and second motor rotation axis is vertical mutually.
Preferably, the axis of described second motor rotation axis is parallel with first revolute pair.
Preferably, the axis normal of described first revolute pair and second revolute pair.
Preferably, described first revolute pair is parallel with the 3rd revolute pair.
Preferably, the axis normal of described the 3rd revolute pair and the 4th revolute pair.
The utility model adopts parallel institution to have the following advantages:
Higher stiffness/weight ratio; Higher load weight ratio; Error is little, the precision height; Be easy to motor is placed on the pedestal, reduce exercise load, can high-speed motion; Find the solution in the position, parallel institution is counter to be separated easily; Simple in structure, degree of modularity height.
Description of drawings
Fig. 1: the utility model structure chart.
Among the figure: 1. fixed platform 2. electric machine supports 3. sphere supports 4. sphere supports 5. motors 6. motors 7. connecting rods 9. connecting rods 11. connecting rods 8. revolute pairs 10. revolute pairs 12. revolute pairs 13. revolute pairs 14. moving platforms.
The specific embodiment
As shown in Figure 1, the utility model six-degree-of-freedom parallel robot mechanism, this mechanism is by fixed platform 1 and moving platform 14 and be connected and fixed platform 1 and the movement branched chain of moving platform 14 is formed, sphere 2DOF U ' of mechanism of side chain, form by sphere support 3 sphere supports 4 and connecting rod 7, sphere support 3 sphere supports 4 link to each other with motor 5, motor 6 respectively, connecting rod 7 connecting rods 9 link to each other by revolute pair 8, connecting rod 9 links to each other by revolute pair 10 with connecting rod 11, and connecting rod 11 links to each other with 14 moving platforms with revolute pair 13 (universal coupling) by revolute pair 12; When motor 5 and motor 6 driving sphere supports 3 sphere supports 4, connecting rod 7 is by revolute pair 8 drivening rods 9, and connecting rod 9 is by revolute pair 10 drivening rods 11, and connecting rod 11 is by revolute pair 12 and revolute pair 13 (universal coupling) drive 14 moving platforms; Make moving platform 14 realize that three are moved and three rotations.
Two motors 5 and motor 6 axis are orthogonal, and the axis of motor 6 is parallel with revolute pair 8, revolute pair 8 and revolute pair 10 axis normal, and revolute pair 8 is parallel with revolute pair 12, revolute pair 12 and revolute pair 13 axis normal.

Claims (6)

1. six-degree-of-freedom parallel robot device, it is characterized in that this device is by fixed platform (1) and mobile platform (14) and be connected and fixed platform (1) and three identical movement branched chain of structure of moving platform (14) are formed, wherein each movement branched chain all comprises the sphere 2DOF U ' of mechanism, first motor (5), second motor (6), first connecting rod (7), first revolute pair (8), second connecting rod (9), second revolute pair (10), third connecting rod (11), the 3rd revolute pair (12) and the 4th revolute pair (13), the described sphere 2DOF U ' of mechanism is by the first sphere support (3), the second sphere support (4) and sphere connecting rod (7) are formed, the first sphere support (3) joins with first motor (5), the second sphere support (4) joins with second motor (6), one end of one end of first connecting rod (7) and second connecting rod (9) joins by first revolute pair (8), the other end of second connecting rod (9) links to each other by second revolute pair (10) with an end of third connecting rod (11), the other end of third connecting rod (11) links to each other with moving platform (14) with the universal coupling that the 4th revolute pair (13) constitutes by the 3rd revolute pair (12), first motor (5) and second motor (6) are fixed on the fixed platform (1), and the other end of first connecting rod (7) is connected with the sphere 2DOF U ' of mechanism.
2. according to claim 1 described six-degree-of-freedom parallel robot device, it is characterized in that described first motor (5) is vertical mutually with the axis of second motor (6) turning cylinder.
3. according to claim 1 or 2 described six-degree-of-freedom parallel robot devices, it is characterized in that the axis of described second motor (6) turning cylinder is parallel with first revolute pair (8).
4. according to claim 1 described six-degree-of-freedom parallel robot device, it is characterized in that the axis normal of described first revolute pair (8) and second revolute pair (10).
5. according to claim 1 or 4 described six-degree-of-freedom parallel robot devices, it is characterized in that described first revolute pair (8) is parallel with the 3rd revolute pair (12).
6. according to claim 1 described six-degree-of-freedom parallel robot device, it is characterized in that the axis normal of described the 3rd revolute pair (12) and the 4th revolute pair (13).
CN2010205516752U 2010-09-27 2010-09-27 Six-degrees-of-freedom parallel robot device CN201808063U (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
CN2010205516752U CN201808063U (en) 2010-09-27 2010-09-27 Six-degrees-of-freedom parallel robot device

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102248531A (en) * 2011-06-13 2011-11-23 天津理工大学 Three-legged six-freedom-degree parallel mechanism
CN102530120A (en) * 2011-12-28 2012-07-04 燕山大学 Six-user requirement specification (URS) six-foot walking robot
CN102950591A (en) * 2011-08-17 2013-03-06 鸿富锦精密工业(深圳)有限公司 Industrial robot
CN103050047A (en) * 2012-12-11 2013-04-17 燕山大学 Self-balanced parallel movement simulator of two-freedom degree closed loop
CN103586862A (en) * 2013-10-22 2014-02-19 上海交通大学 Novel three-branched-chain six-degree-of-freedom robot
CN104265854A (en) * 2014-08-09 2015-01-07 哈尔滨博强机器人技术有限公司 Six-degree-of-freedom Delta robot transmission mechanism
CN105234923A (en) * 2015-11-16 2016-01-13 南京理工大学 Parallel mechanism with six degrees of freedom of three-translation three-rotation
CN106338805A (en) * 2016-10-31 2017-01-18 中国科学院长春光学精密机械与物理研究所 Optical element's six-degree-of-freedom micro-displacement adjusting device, projection objective lens and lithography machine
CN107283427A (en) * 2017-08-16 2017-10-24 北华航天工业学院 Become born of the same parents' parallel institution
CN107297735A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107297734A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107322574A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107322573A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107351065A (en) * 2017-08-16 2017-11-17 北华航天工业学院 Become born of the same parents' parallel institution
CN107398891A (en) * 2017-08-16 2017-11-28 北华航天工业学院 Become born of the same parents' parallel institution
CN107471198A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107471199A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107498537A (en) * 2017-08-16 2017-12-22 北华航天工业学院 Become born of the same parents' parallel institution
CN107520835A (en) * 2017-08-16 2017-12-29 北华航天工业学院 Become born of the same parents' parallel institution
CN107650112A (en) * 2017-08-16 2018-02-02 北华航天工业学院 Become born of the same parents' parallel institution
CN109732573A (en) * 2019-03-19 2019-05-10 北华航天工业学院 A kind of change born of the same parents' parallel institution
CN109732571A (en) * 2019-03-19 2019-05-10 北华航天工业学院 A kind of change born of the same parents' parallel institution
US10315311B2 (en) 2016-03-22 2019-06-11 The Boeing Company Robots, robotic systems, and related methods

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102248531A (en) * 2011-06-13 2011-11-23 天津理工大学 Three-legged six-freedom-degree parallel mechanism
CN102950591A (en) * 2011-08-17 2013-03-06 鸿富锦精密工业(深圳)有限公司 Industrial robot
CN102950591B (en) * 2011-08-17 2015-07-01 鸿富锦精密工业(深圳)有限公司 Industrial robot
CN102530120A (en) * 2011-12-28 2012-07-04 燕山大学 Six-user requirement specification (URS) six-foot walking robot
CN103050047A (en) * 2012-12-11 2013-04-17 燕山大学 Self-balanced parallel movement simulator of two-freedom degree closed loop
CN103050047B (en) * 2012-12-11 2014-12-24 燕山大学 Self-balanced parallel movement simulator of two-freedom degree closed loop
CN103586862A (en) * 2013-10-22 2014-02-19 上海交通大学 Novel three-branched-chain six-degree-of-freedom robot
CN104265854A (en) * 2014-08-09 2015-01-07 哈尔滨博强机器人技术有限公司 Six-degree-of-freedom Delta robot transmission mechanism
CN104265854B (en) * 2014-08-09 2016-04-27 哈尔滨博强机器人技术有限公司 Six-degree-of-freedom Delta transmission mechanism of robot
CN105234923A (en) * 2015-11-16 2016-01-13 南京理工大学 Parallel mechanism with six degrees of freedom of three-translation three-rotation
US10315311B2 (en) 2016-03-22 2019-06-11 The Boeing Company Robots, robotic systems, and related methods
CN106338805A (en) * 2016-10-31 2017-01-18 中国科学院长春光学精密机械与物理研究所 Optical element's six-degree-of-freedom micro-displacement adjusting device, projection objective lens and lithography machine
CN106338805B (en) * 2016-10-31 2019-02-05 中国科学院长春光学精密机械与物理研究所 Optical element six-degree of freedom micro-displacement regulating device, projection objective and litho machine
CN107322574A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107297734A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107322573A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107351065A (en) * 2017-08-16 2017-11-17 北华航天工业学院 Become born of the same parents' parallel institution
CN107398891A (en) * 2017-08-16 2017-11-28 北华航天工业学院 Become born of the same parents' parallel institution
CN107471198A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107471199A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107498537A (en) * 2017-08-16 2017-12-22 北华航天工业学院 Become born of the same parents' parallel institution
CN107520835A (en) * 2017-08-16 2017-12-29 北华航天工业学院 Become born of the same parents' parallel institution
CN107650112A (en) * 2017-08-16 2018-02-02 北华航天工业学院 Become born of the same parents' parallel institution
CN107297735A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107283427A (en) * 2017-08-16 2017-10-24 北华航天工业学院 Become born of the same parents' parallel institution
CN107283427B (en) * 2017-08-16 2020-06-02 北华航天工业学院 Metamorphic parallel mechanism
CN109732571A (en) * 2019-03-19 2019-05-10 北华航天工业学院 A kind of change born of the same parents' parallel institution
CN109732573A (en) * 2019-03-19 2019-05-10 北华航天工业学院 A kind of change born of the same parents' parallel institution

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110427

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C17 Cessation of patent right