CN201841545U - Three-rotation one-movement freedom parallel robot with driving telescopic rod - Google Patents

Three-rotation one-movement freedom parallel robot with driving telescopic rod Download PDF

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Publication number
CN201841545U
CN201841545U CN2010202119972U CN201020211997U CN201841545U CN 201841545 U CN201841545 U CN 201841545U CN 2010202119972 U CN2010202119972 U CN 2010202119972U CN 201020211997 U CN201020211997 U CN 201020211997U CN 201841545 U CN201841545 U CN 201841545U
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CN
China
Prior art keywords
rotation
rod
support bar
movement
freedom
Prior art date
Application number
CN2010202119972U
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Chinese (zh)
Inventor
赵永杰
邱可
吴福培
李昇平
范颖晖
Original Assignee
汕头大学
汕头轻工装备研究院
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Application filed by 汕头大学, 汕头轻工装备研究院 filed Critical 汕头大学
Priority to CN2010202119972U priority Critical patent/CN201841545U/en
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Publication of CN201841545U publication Critical patent/CN201841545U/en

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Abstract

The utility model discloses a three-rotation one-movement freedom parallel robot with a driving telescopic rod, which comprises a base, a movable platform, a driving mechanism, a supporting rod and three connecting rods, wherein one end of the supporting rod is fixedly connected with the base, the other end of the supporting rod is connected with the movable platform, the connecting rods are distributed at the periphery of the supporting rod, one end of each connecting rod is connected with the movable platform, the other end of each connecting rod is connected with the base, the supporting rod and the connecting rods are respectively in a telescopic rod structure and are respectively connected with the driving mechanism, and the driving mechanism drives the supporting rod and the connecting rods to do telescopic movement. The three-rotation one-movement freedom parallel robot with the driving telescopic rod has simple structure, is convenient to install, and has larger loading capacity and larger rigidity.

Description

A kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have
Technical field
The utility model relates to the industrial robot field, relates more specifically to a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have.
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.
Parallel robot is that an end of a plurality of kinematic chains has the parallel mutually connection of multivariant terminal operation device and the robot of formation 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 configuration that has proposed has a variety of, but three practical rotation one-movement-freedom-degree parallel robots are 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 one-movement-freedom-degree parallel institutions are classes very important in the lower-mobility parallel institution.The parallel institution of three rotation one-movement-freedom-degrees generally is used for developing high rigidity numerical control platform, industrial robot and the motion simulator of process unit, location and the attitude adjusting of machine-building, as the numerical control platform, realize the function of calibration, pivot angle and axial location, improve the machining accuracy and the efficient of lathe.Yet existing three rotation one-movement-freedom-degree parallel institution configurations are less, and complex structure generally is difficult to satisfy the requirement of heavy load and high rigidity.
Therefore, demand urgently a kind of simple in structure, easy for installation and have three rotation one-movement-freedom-degree parallel robots than heavy load ability and higher stiffness.
The utility model content
It is a kind of simple in structure, easy for installation and have three rotation one-movement-freedom-degree parallel robots than heavy load ability and higher stiffness that the purpose of this utility model is to provide.
To achieve these goals, the utility model proposes a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have, it comprises pedestal, movable platform, driving mechanism, support bar and three connecting rods, one end of described support bar is consolidated in described pedestal, the other end of described support bar connects described movable platform, described connecting rod be distributed in described support bar around, and an end of described connecting rod connects described movable platform, the other end of described connecting rod connects described pedestal; Described support bar and described connecting rod all are expansion link structures, and all are connected with described driving mechanism, and described support bar of described drive mechanism and described connecting rod are done stretching motion.
Preferably, an end of described support bar is consolidated in the center of described pedestal, and the other end of described support bar extends and be connected in the center of described movable platform vertically upward.
Preferably, described movable platform shape triangular in shape, described connecting rod are three, and an end of three described connecting rods is connected on described leg-of-mutton three angles, and the other end of three described connecting rods connects described pedestal respectively.
Preferably, described pedestal shape triangular in shape and with the corresponding setting of described movable platform, an end of three described connecting rods is connected on described leg-of-mutton three angles, the other end of three described connecting rods is connected in respectively on three angles of described pedestal accordingly.
Preferably, three described connecting rods are symmetrical arranged with respect to support bar.
Preferably, one end of described support bar connects an end of rotating hinge, the other end of described rotating hinge is installed on the end of first Hooke's hinge, and the other end of described first Hooke's hinge is connected in the center of described movable platform, and the other end of described support bar is consolidated on described pedestal.
Preferably, an end of described connecting rod is connected in described movable platform by ball pivot, and the other end of described connecting rod is connected in described pedestal by second Hooke's hinge.
Preferably, an end of described connecting rod is connected in described movable platform by ball pivot, and the other end of described connecting rod also is connected in described pedestal by ball pivot.
One end of described support bar is connected in the center of described movable platform by first Hooke's hinge, and the other end is fixedly connected on the described pedestal.
Compared with prior art, a kind of three rotation one-movement-freedom-degree parallel manipulator philtrum drive mechanism link motions that have the active expansion link of the utility model, this support bar provides constraint and the effect of supporting when providing motion to moving platform, on the one hand, the utility model is a kind of, and to have three rotation one-movement-freedom-degree parallel robots of expansion link initiatively simple in structure, be easy to modularized design and manufacturing 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 do three on the change in coordinate axis direction rotational motion and change in coordinate axis direction on move, realize that a kind of three rotation one-movement-freedom-degree parallel robots that have the active expansion link of the utility model have three rotation one-movement-freedom-degrees, in addition, a kind of initiatively three rotation one-movement-freedom-degree Kinematics of Parallel Robot normal solutions of expansion link that have of the utility model, counter separating simply, normal solution has succinct analytic solutions, and the kinematics that helps robot is demarcated.Be applicable to digital control of high rigidity, industrial robot and motion simulator that process unit, location and attitude in the exploitation machine-building are regulated, realize the function of calibration, pivot angle and axial location, improve the machining accuracy and the efficient of lathe.
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 a kind of initiatively structural representation of three rotation one-movement-freedom-degree parallel robots, first embodiment of expansion link that has of the utility model.
Fig. 2 is a kind of initiatively structural representation of three rotation one-movement-freedom-degree parallel robots, second embodiment of expansion link that has of the utility model.
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 a kind of initiatively structural representation of three rotation one-movement-freedom-degree parallel robots of expansion link that has of the utility model.This three rotation one-movement-freedom-degrees parallel robot 1 comprises pedestal 11, movable platform 12, support bar 13, connecting rod 14 and driving mechanism (figure does not show).The movable platform 12 of this three rotation one-movement-freedom-degrees parallel robot 1 is the usefulness of carrying, and described support bar 13 drives movable platform 12 motions with connecting rod 14.
Particularly, as shown in Figure 1, pedestal 11 shapes triangular in shape of this three rotation one-movement-freedom-degrees parallel robot 1, correspondingly, described movable platform 12 shape also triangular in shape.Described pedestal 11 is the base part of three rotation one-movement-freedom-degree parallel robots 1.One end of described support bar 13 is fixedly connected on the center of pedestal 11, its other end is installed in an end of rotating hinge 16, the other end of described rotating hinge 16 is installed on an end of first Hooke's hinge 15, the other end of described first Hooke's hinge is installed in the center of described movable platform 12, that is: described support bar 13 extends upward and be installed on by the rotating hinge 16 and first Hooke's hinge 15 center of movable platform 12 from the central vertical of pedestal 11.On the position at three angles of pedestal 11, be separately installed with second Hooke's hinge 17.One end of three described second Hooke's hinges 17 is installed on the pedestal 11, its other end is connected with an end of three connecting rods 14 respectively, the other end of connecting rod 14 is connected with first ball pivot 18, and the other end of described first ball pivot 18 is installed on the position, movable platform 12 corresponding three angles.
As shown in Figure 1, described support bar 13 all is expansion link structures with described connecting rod 14, and all is connected with described driving mechanism, and the described support bar 13 of described drive mechanism is done stretching motion with described connecting rod 14.Particularly, support bar 13 can be ball-screw or hydraulic cylinder with connecting rod 14, and is corresponding, if support bar 13 is a ball-screw with connecting rod 14, driving mechanism is a motor, if support bar 13 is a hydraulic cylinder with connecting rod 14, driving mechanism is the hydraulic pressure special purpose driver.
Shown in Figure 2 is a kind of initiatively structural representation of three rotation one-movement-freedom-degree parallel robots, second embodiment of expansion link that has of the utility model.The structure of this three rotation one-movement-freedom-degrees parallel robot 2 is similar to three rotation one-movement-freedom-degree parallel robots 1 among first embodiment, it comprises pedestal 21, movable platform 22, support bar 23, connecting rod 24 and driving mechanism, support bar 23 and connecting rod 24 are the expansion link structure, the movable platform 22 of this three-rotational DOF parallel robot 2 is the usefulness of carrying, and described support bar 23 drives movable platform 12 motions with connecting rod 24.In the present embodiment, a kind of difference that has three rotation one-movement-freedom-degree parallel robots 1 of active expansion link is that three connecting rods 24 end separately is connected on the position at three angles of movable platform 22 by first ball pivot 28 respectively among a kind of three rotation one-movement-freedom-degree parallel robots 2 that have an expansion link initiatively and first embodiment, and three connecting rods 24 other end separately is connected on the position, corresponding three angles of pedestal 21 by second ball pivot 29 respectively.
With reference to figure 1, with first embodiment is that example is described a kind of initiatively operation principle of three rotation one-movement-freedom-degree parallel robots of expansion link that has of the utility model, described driving mechanism drives three connecting rods 14 respectively and support bar 13 is made stretching motion, wherein, the stretching motion of three connecting rods of driving mechanisms control 14 and support bar 13; Support bar 13 supports the center of described movable platform 12, make in the time of described movable platform 12 activities of three connecting rods, 14 drives, 13 pairs of movable platforms of support bar 12 not only provide along the moving movement on the flexible direction but also play and support and spacing effect, and then make that the utility model is a kind of to have that initiatively the movable platform 22 of three rotation one-movement-freedom-degree parallel robots 1 of expansion link can be around the turning cylinder of rotating hinge 16, two turning cylinders of first Hooke's hinge 15 are done three rotational motions on the change in coordinate axis direction, and can do moving movement along the flexible direction of support bar 13, realize the motion of three rotation one-movement-freedom-degrees.This operation principle is equally applicable to second embodiment of the present utility model.
Need to prove that pedestal and movable platform described in the foregoing description are not limited to triangle, can be other shape; And the quantity of connecting rod is not limited to three, also can decide on the performance of concrete three rotation one-movement-freedom-degree parallel robots greater than three.
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 initiatively three rotation one-movement-freedom-degree parallel robots of expansion link, it is characterized in that, comprise: pedestal, movable platform, driving mechanism, support bar and three connecting rods, the fixedly connected described pedestal of one end of described support bar, the other end of described support bar connects described movable platform, described connecting rod be distributed in described support bar around, and an end of described connecting rod connects described movable platform, the other end of described connecting rod connects described pedestal; Described support bar and described connecting rod all are expansion link structures, and all are connected with described driving mechanism, and described support bar of described drive mechanism and described connecting rod are done stretching motion.
2. a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have as claimed in claim 1, it is characterized in that, the center of the fixedly connected described pedestal of one end of described support bar, the other end of described support bar extends and is connected in the center of described movable platform vertically upward.
3. a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have as claimed in claim 1, 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 connected on described leg-of-mutton three angles, and the other end of three described connecting rods connects described pedestal respectively.
4. a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have as claimed in claim 3, it is characterized in that, described pedestal shape triangular in shape and with the corresponding setting of described movable platform, one end of three described connecting rods is connected on described leg-of-mutton three angles, and the other end of three described connecting rods is connected in respectively on three angles of described pedestal accordingly.
5. a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have as claimed in claim 3 is characterized in that, three described connecting rods are with respect to support bar and are symmetrical arranged.
6. a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have as claimed in claim 2, it is characterized in that, one end of described support bar is connected in the center of described movable platform by first Hooke's hinge, and the other end is fixedly connected on the described pedestal.
7. a kind of initiatively three rotation one-movement-freedom-degree parallel robots that have the active expansion link of expansion link that have as claimed in claim 6, it is characterized in that, one end of described support bar connects an end of rotating hinge, the other end of described rotating hinge is installed on the end of first Hooke's hinge, the other end of described first Hooke's hinge is connected in the center of described movable platform, and the other end of described support bar is fixedly connected on the described pedestal.
8. as each described a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have of claim 1-6, it is characterized in that, one end of described connecting rod is connected in described movable platform by ball pivot, and the other end of described connecting rod is connected in described pedestal by second Hooke's hinge.
9. as each described a kind of initiatively three rotation one-movement-freedom-degree parallel robots of expansion link that have of claim 1-6, it is characterized in that, one end of described connecting rod is connected in described movable platform by ball pivot, and the other end of described connecting rod also is connected in described pedestal by ball pivot.
CN2010202119972U 2010-05-26 2010-05-26 Three-rotation one-movement freedom parallel robot with driving telescopic rod CN201841545U (en)

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102528525A (en) * 2012-02-16 2012-07-04 汕头大学 Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom
CN102819972A (en) * 2012-08-14 2012-12-12 燕山大学 Three-degree-of-freedom static load balance parallel motion simulation platform
CN102990645A (en) * 2012-12-04 2013-03-27 汕头大学 Bionic proboscis robot
CN103144099A (en) * 2013-03-19 2013-06-12 北京交通大学 Foldable, scalable and multifunctional operation platform
CN103538062A (en) * 2013-09-26 2014-01-29 燕山大学 Four-freedom-degree three-finger operating parallel mechanism
CN104526681A (en) * 2014-12-25 2015-04-22 东莞理工学院 Parallel mechanical hand
CN104626100A (en) * 2014-12-12 2015-05-20 燕山大学 Three-freedom-degree parallel mechanism with plane branches and middle driven branch
CN105522569A (en) * 2016-02-24 2016-04-27 常州机电职业技术学院 Polishing robot mechanism for precision dies
CN105773984A (en) * 2016-02-24 2016-07-20 吉林大学 3D printer with hook face processing characteristic
CN105818393A (en) * 2016-05-19 2016-08-03 吉林大学 3D printing machine with inclinable working platform
CN106584437A (en) * 2016-12-31 2017-04-26 中国工程物理研究院激光聚变研究中心 Seven-freedom-degree series-parallel docking platform
CN106903676A (en) * 2017-04-17 2017-06-30 北京若贝特智能机器人科技有限公司 The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives
CN109630101A (en) * 2018-11-27 2019-04-16 中国地质大学(武汉) A kind of six-dimension acceleration sensor based on micro- power parallel institution

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102528525A (en) * 2012-02-16 2012-07-04 汕头大学 Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom
CN102819972A (en) * 2012-08-14 2012-12-12 燕山大学 Three-degree-of-freedom static load balance parallel motion simulation platform
CN102990645A (en) * 2012-12-04 2013-03-27 汕头大学 Bionic proboscis robot
CN103144099B (en) * 2013-03-19 2016-01-13 北京交通大学 A kind of collapsible scalable multifunctional operating platform
CN103144099A (en) * 2013-03-19 2013-06-12 北京交通大学 Foldable, scalable and multifunctional operation platform
CN103538062A (en) * 2013-09-26 2014-01-29 燕山大学 Four-freedom-degree three-finger operating parallel mechanism
CN103538062B (en) * 2013-09-26 2016-01-06 燕山大学 Four-degree-of-freedom three finger manipulation parallel institution
CN104626100B (en) * 2014-12-12 2016-05-18 燕山大学 A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism
CN104626100A (en) * 2014-12-12 2015-05-20 燕山大学 Three-freedom-degree parallel mechanism with plane branches and middle driven branch
CN104526681A (en) * 2014-12-25 2015-04-22 东莞理工学院 Parallel mechanical hand
CN104526681B (en) * 2014-12-25 2016-05-04 东莞理工学院 Parallel manipulator
CN105522569A (en) * 2016-02-24 2016-04-27 常州机电职业技术学院 Polishing robot mechanism for precision dies
CN105773984A (en) * 2016-02-24 2016-07-20 吉林大学 3D printer with hook face processing characteristic
CN105773984B (en) * 2016-02-24 2018-06-19 吉林大学 A kind of 3D printer with Machining of Curved Surface characteristic
CN105818393A (en) * 2016-05-19 2016-08-03 吉林大学 3D printing machine with inclinable working platform
CN106584437A (en) * 2016-12-31 2017-04-26 中国工程物理研究院激光聚变研究中心 Seven-freedom-degree series-parallel docking platform
CN106903676A (en) * 2017-04-17 2017-06-30 北京若贝特智能机器人科技有限公司 The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives
CN109630101A (en) * 2018-11-27 2019-04-16 中国地质大学(武汉) A kind of six-dimension acceleration sensor based on micro- power parallel institution

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