CN202357162U - 3-3-3 type nine-range-of-motion robot mechanism - Google Patents
3-3-3 type nine-range-of-motion robot mechanism Download PDFInfo
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- CN202357162U CN202357162U CN2011203574762U CN201120357476U CN202357162U CN 202357162 U CN202357162 U CN 202357162U CN 2011203574762 U CN2011203574762 U CN 2011203574762U CN 201120357476 U CN201120357476 U CN 201120357476U CN 202357162 U CN202357162 U CN 202357162U
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- dimensional rotation
- linear actuator
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- big arm
- forearm
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Abstract
The utility model discloses a 3-3-3 type nine-range-of-motion robot mechanism, which comprises a three-dimensional rotary large arm mechanism, a three-dimensional rotary small arm mechanism and a three-dimensional rotary platform mechanism, wherein the three parts are connected in series, and the joints are driven in parallel by using three linear drivers, so that flexible track output of the mechanism in a large working space is realized; and moreover, the entire structure is simple and compact, and has good error compensation. Various tail-end actuators for different applications are arranged on the three-dimensional rotary platform, so that the 3-3-3 type nine-range-of-motion robot mechanism can be applied to industrial production of carrying, stacking, assembling, cutting and the like, and can be applied in the fields of engineering machinery such as excavators as well as simulated mechanisms such as simulated arms and simulated legs.
Description
Technical field
The utility model relates to the industrial robot field, particularly a kind of 3-3-3 type nine mobility robot mechanisms.
Background technology
Robot is widely used in the middle of the operations such as industrial welding, carrying, piling, assembling, cutting.The robot that is wherein better used all belongs to articulated robot basically, is mostly 6 axles, through 1,2,3 teamwork end-of-arm tooling is delivered to different spatial positions, and is aided with 4,5,6 interlock to satisfy the demands of different of instrument attitude.This robot body frame for movement mainly contains parallelogram sturcutre and two kinds of forms of side located structure, has obtained extensive use because of it has big working space and moves comparatively flexibly.But this quasi-tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure; Drive motors all need be installed in the junction; Thereby cause problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation; Dynamic performance is relatively poor, is difficult to satisfy the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Mechanism has two or more frees degree; And closed loop mechanism with the parallel way driving; Advantage such as have compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also have shortcomings such as working space is less, action underaction.
Summary of the invention
The purpose of the utility model is to provide a kind of 3-3-3 type nine mobility robot mechanisms; The weight that can effectively solve traditional fisher's formula serial machine robot mechanism is big, poor rigidity, big, the joint error accumulation of inertia, and the parallel robot mechanism working space is less, the problem separately of action underaction etc.
The utility model achieves the above object through following technical scheme: a kind of 3-3-3 type nine mobility robot mechanisms comprise the big arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism.
The big arm mechanism of said Three dimensional rotation is made up of the big arm of Three dimensional rotation, first linear actuator, second linear actuator and the 3rd linear actuator; The big arm of Three dimensional rotation is connected on the frame through first spherical pair; First linear actuator, one end is connected on the frame through second spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 3rd spherical pair; Second linear actuator, one end is connected on the frame through the 4th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 5th spherical pair; The 3rd linear actuator one end is connected on the frame through the 6th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 7th spherical pair.First linear actuator, second linear actuator, the 3rd the linear actuator big arm of single driving Three dimensional rotation separately realize that one dimension rotates output, also can parallel way drive the Three dimensional rotation output that the big arm of Three dimensional rotation is realized relative frame.
The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator; The Three dimensional rotation forearm is connected on the big arm of Three dimensional rotation through the 8th spherical pair; The 4th linear actuator one end is connected on the big arm of Three dimensional rotation through the 9th spherical pair, and the other end is connected on the Three dimensional rotation forearm through the tenth spherical pair; The 5th linear actuator one end is connected on the big arm of Three dimensional rotation through the 11 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 12 spherical pair; The 6th linear actuator one end is connected on the big arm of Three dimensional rotation through the 13 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 14 spherical pair.The 4th linear actuator, the 5th linear actuator, the 6th linear actuator single driving Three dimensional rotation forearm separately realize that one dimension rotates output, also can parallel way drive the Three dimensional rotation output that the Three dimensional rotation forearm is realized the big arm of relative Three dimensional rotation.
Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform, the 7th linear actuator, the 8th linear actuator and the 9th linear actuator; The Three dimensional rotation platform is connected on the Three dimensional rotation forearm through the 15 spherical pair; The 7th linear actuator one end is connected on the Three dimensional rotation forearm through the 16 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 17 spherical pair; The 8th linear actuator one end is connected on the Three dimensional rotation forearm through the 18 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 19 spherical pair; The 9th linear actuator one end is connected on the Three dimensional rotation forearm through the 20 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 21 spherical pair.The 7th linear actuator, the 8th linear actuator and the 9th linear actuator single driving Three dimensional rotation Platform Implementation one dimension separately rotate output, also can parallel way drive the Three dimensional rotation output of the relative Three dimensional rotation forearm of Three dimensional rotation Platform Implementation.
The outstanding advantage of the utility model is:
1, the big arm of Three dimensional rotation, Three dimensional rotation forearm, Three dimensional rotation platform are connected in series, and each is driven the junction by the parallel connection of three linear actuators, realize the big working space of mechanism, track output flexibly, and overall structure compact, error compensation are good.
2, through the end effector of various different purposes is installed on the Three dimensional rotation platform; The utility model may be used on also can be applicable to engineering machinery and fields such as bio-mechanism such as bionic arm, bionic leg such as excavator in the middle of the commercial production such as carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the structural representation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 2 is the big arm mechanism sketch map of Three dimensional rotation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 3 is the Three dimensional rotation forearm structural scheme of mechanism of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 4 is the Three dimensional rotation platform mechanism sketch map of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 5 is first kind of working state schematic representation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 6 is second kind of working state schematic representation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 7 is the third working state schematic representation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 8 is the 4th a kind of working state schematic representation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
Fig. 9 is the 5th a kind of working state schematic representation of the said 3-3-3 type nine mobility robot mechanisms of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.
Claims (1)
1. 3-3-3 type nine mobility robot mechanisms comprise the big arm mechanism of Three dimensional rotation, the little arm mechanism of Three dimensional rotation and Three dimensional rotation platform mechanism, it is characterized in that its structure and connected mode are:
The big arm mechanism of said Three dimensional rotation is made up of the big arm of Three dimensional rotation, first linear actuator, second linear actuator and the 3rd linear actuator; The big arm of Three dimensional rotation is connected on the frame through first spherical pair; First linear actuator, one end is connected on the frame through second spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 3rd spherical pair; Second linear actuator, one end is connected on the frame through the 4th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 5th spherical pair; The 3rd linear actuator one end is connected on the frame through the 6th spherical pair, and the other end is connected on the big arm of Three dimensional rotation through the 7th spherical pair,
The little arm mechanism of said Three dimensional rotation is made up of Three dimensional rotation forearm, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator; The Three dimensional rotation forearm is connected on the big arm of Three dimensional rotation through the 8th spherical pair; The 4th linear actuator one end is connected on the big arm of Three dimensional rotation through the 9th spherical pair, and the other end is connected on the Three dimensional rotation forearm through the tenth spherical pair; The 5th linear actuator one end is connected on the big arm of Three dimensional rotation through the 11 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 12 spherical pair; The 6th linear actuator one end is connected on the big arm of Three dimensional rotation through the 13 spherical pair, and the other end is connected on the Three dimensional rotation forearm through the 14 spherical pair,
Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform, the 7th linear actuator, the 8th linear actuator and the 9th linear actuator; The Three dimensional rotation platform is connected on the Three dimensional rotation forearm through the 15 spherical pair; The 7th linear actuator one end is connected on the Three dimensional rotation forearm through the 16 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 17 spherical pair; The 8th linear actuator one end is connected on the Three dimensional rotation forearm through the 18 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 19 spherical pair; The 9th linear actuator one end is connected on the Three dimensional rotation forearm through the 20 spherical pair, and the other end is connected on the Three dimensional rotation platform through the 21 spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203574762U CN202357162U (en) | 2011-09-22 | 2011-09-22 | 3-3-3 type nine-range-of-motion robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203574762U CN202357162U (en) | 2011-09-22 | 2011-09-22 | 3-3-3 type nine-range-of-motion robot mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN202357162U true CN202357162U (en) | 2012-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203574762U Withdrawn - After Issue CN202357162U (en) | 2011-09-22 | 2011-09-22 | 3-3-3 type nine-range-of-motion robot mechanism |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357880A (en) * | 2011-09-22 | 2012-02-22 | 广西大学 | Nine-motion-degree robot mechanism |
| CN105997421A (en) * | 2016-04-25 | 2016-10-12 | 合肥工业大学 | Rehabilitation and fitness training device with multiple freedom degrees |
| CN112476425A (en) * | 2020-10-17 | 2021-03-12 | 广东韶钢工程技术有限公司 | Four-dimensional freedom degree flexible robot joint and arm assembly |
-
2011
- 2011-09-22 CN CN2011203574762U patent/CN202357162U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357880A (en) * | 2011-09-22 | 2012-02-22 | 广西大学 | Nine-motion-degree robot mechanism |
| CN105997421A (en) * | 2016-04-25 | 2016-10-12 | 合肥工业大学 | Rehabilitation and fitness training device with multiple freedom degrees |
| CN112476425A (en) * | 2020-10-17 | 2021-03-12 | 广东韶钢工程技术有限公司 | Four-dimensional freedom degree flexible robot joint and arm assembly |
| CN112476425B (en) * | 2020-10-17 | 2022-05-27 | 广东韶钢工程技术有限公司 | Four-dimensional freedom degree flexible robot joint and arm assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120801 Effective date of abandoning: 20140312 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20120801 Effective date of abandoning: 20140312 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |