CN202378047U - Drilling robot mechanism with six spatial active degrees - Google Patents
Drilling robot mechanism with six spatial active degrees Download PDFInfo
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- CN202378047U CN202378047U CN2011205555605U CN201120555560U CN202378047U CN 202378047 U CN202378047 U CN 202378047U CN 2011205555605 U CN2011205555605 U CN 2011205555605U CN 201120555560 U CN201120555560 U CN 201120555560U CN 202378047 U CN202378047 U CN 202378047U
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Abstract
The utility model relates to a drilling robot mechanism with six spatial active degrees, and the drilling robot mechanism comprises a one-dimensional rotary large arm mechanism, a two-dimensional rotary small arm mechanism and a three-dimensional rotary platform mechanism which are connected in series, wherein a rotary large arm is driven by a linear diver, a rotary small arm is driven by two linear drivers, a rotary platform is driven by three parallel linear drivers, and a rack can be installed on a traveling device or a fixed rotation device. The drilling robot mechanism has the advantages of large operating space, flexibility in tracks, simple and compact over-all structure, and favorable error compensation; and moreover, the rotary platform supported by the uniformly distributed linear drivers has strong capability of bearing impact, and favorable stability during drilling, thus the high-precision operation can be realized. The three-dimensional rotary platform is provided with various end effector with different functions. The drilling robot mechanism provided by the utility model can be applied to the industrial production, such as transportation, stacking, assembling and cutting, and also can be applied in the field of engineering machinery such as excavators, and bionic mechanisms such as bionic arms and bionic legs.
Description
Technical field
The utility model relates to the industrial robot field, particularly a kind of space six mobilities boring robot mechanism.
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, exists problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation, and 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 space six mobilities boring robot mechanism; Have that working space is big, track output flexibly, rigidity is big, stability is strong, little, the precision advantages of higher of cumulative errors; Can solve effectively that traditional fisher's formula serial machine human arm weight is big, poor rigidity, big, the joint error accumulation of inertia; And the parallel robot working space is less, the problem separately of action underaction etc.; The environmental limitations that is applicable to dangerous operations such as receiving frock clamp, HTHP makes and occasions such as the manually-operated difficulty is big can effectively improve work quality, efficient, reduces hand labor intensity.
The utility model achieves the above object through following technical scheme: a kind of space six mobilities boring robot mechanism comprises that one dimension rotates big arm mechanism, two dimension is rotated little arm mechanism and Three dimensional rotation platform mechanism.
Said one dimension rotates that big arm mechanism rotates big arm by frame, one dimension and first linear actuator is formed; One dimension rotates big arm and is connected on the frame through first revolute pair; First linear actuator, one end is connected on the frame through second revolute pair, and the other end is connected to one dimension through the 3rd revolute pair and rotates on the big arm.First linear actuator driving one dimension rotates big arm and realizes that the one dimension relative to frame rotates output.
The little arm mechanism of said two dimension rotation rotates forearm, second linear actuator and the 3rd linear actuator by two dimension and forms; Two dimension rotation forearm is connected to one dimension through first Hooke's hinge and rotates on the big arm; Second linear actuator, one end is connected to one dimension through first spherical pair and rotates on the big arm; The other end is connected to two dimension through second spherical pair and rotates on the forearm; The 3rd linear actuator one end is connected to one dimension through the 3rd spherical pair and rotates on the big arm, and the other end is connected to two dimension through the 4th spherical pair and rotates on the forearm.Second linear actuator and the 3rd linear actuator single driving two dimension separately rotate forearm realization one dimension rotation output, also can parallel way drive the two dimension rotation output that two dimension rotation forearm realizes rotating relative to one dimension big arm.
Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator; The Three dimensional rotation platform is connected to two dimension through the 5th spherical pair and rotates on the forearm; The 4th linear actuator one end is connected to two dimension through the 6th spherical pair and rotates on the forearm; The other end is connected on the Three dimensional rotation platform through the 7th spherical pair; The 5th linear actuator one end is connected to two dimension through the 8th spherical pair and rotates on the forearm; The other end is connected on the Three dimensional rotation platform through the 9th spherical pair, and the 6th linear actuator one end is connected to two dimension through the tenth spherical pair and rotates on the forearm, and the other end is connected on the Three dimensional rotation platform through the 11 spherical pair.The 4th linear actuator, the 5th linear actuator and the 6th linear actuator single driving Three dimensional rotation Platform Implementation one dimension separately rotate output, also can parallel way drive the Three dimensional rotation Platform Implementation is rotated forearm relative to two dimension Three dimensional rotation output.
The outstanding advantage of the utility model is:
1, one dimension rotates that big arm, two dimension rotate forearm, the Three dimensional rotation platform is connected in series; The junction is driven by six linear actuator parallel connections; Realize the big working space of mechanism, track output flexibly, and overall structure compact, error compensation are good, the rotatable platform that evenly distributed by linear actuator the to support ability that withstands shocks is strong; Can have good stability during boring, realize the high accuracy operation.
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 space of the utility model six mobilities boring robot mechanism.
Fig. 2 rotates big arm mechanism sketch map for the one dimension of the said space of the utility model six mobilities boring robot mechanism.
Fig. 3 is that the two dimension of the said space of the utility model six mobilities boring robot mechanism is rotated the forearm structural scheme of mechanism.
Fig. 4 is the Three dimensional rotation platform mechanism sketch map of the said space of the utility model six mobilities boring robot mechanism.
Fig. 5 is first kind of working state schematic representation of the said space of the utility model six mobilities boring robot mechanism.
Fig. 6 is second kind of working state schematic representation of the said space of the utility model six mobilities boring robot mechanism.
Fig. 7 is the third working state schematic representation of the said space of the utility model six mobilities boring robot mechanism.
Fig. 8 is the 4th a kind of working state schematic representation of the said space of the utility model six mobilities boring robot mechanism.
Fig. 9 is the 5th a kind of working state schematic representation of the said space of the utility model six mobilities boring robot mechanism.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.
Claims (1)
1. space six a mobilities boring robot mechanism comprises that one dimension rotates big arm mechanism, two dimension is rotated little arm mechanism and Three dimensional rotation platform mechanism, and its structure and connected mode are:
Said one dimension rotates that big arm mechanism rotates big arm by frame, one dimension and first linear actuator is formed; One dimension rotates big arm and is connected on the frame through first revolute pair; First linear actuator, one end is connected on the frame through second revolute pair; The other end is connected to one dimension through the 3rd revolute pair and rotates on the big arm
The little arm mechanism of said two dimension rotation rotates forearm, second linear actuator and the 3rd linear actuator by two dimension and forms; Two dimension rotation forearm is connected to one dimension through first Hooke's hinge and rotates on the big arm; Second linear actuator, one end is connected to one dimension through first spherical pair and rotates on the big arm; The other end is connected to two dimension through second spherical pair and rotates on the forearm; The 3rd linear actuator one end is connected to one dimension through the 3rd spherical pair and rotates on the big arm, and the other end is connected to two dimension through the 4th spherical pair and rotates on the forearm
Said Three dimensional rotation platform mechanism is made up of Three dimensional rotation platform, the 4th linear actuator, the 5th linear actuator and the 6th linear actuator; The Three dimensional rotation platform is connected to two dimension through the 5th spherical pair and rotates on the forearm; The 4th linear actuator one end is connected to two dimension through the 6th spherical pair and rotates on the forearm; The other end is connected on the Three dimensional rotation platform through the 7th spherical pair; The 5th linear actuator one end is connected to two dimension through the 8th spherical pair and rotates on the forearm; The other end is connected on the Three dimensional rotation platform through the 9th spherical pair, and the 6th linear actuator one end is connected to two dimension through the tenth spherical pair and rotates on the forearm, and the other end is connected on the Three dimensional rotation platform through the 11 spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205555605U CN202378047U (en) | 2011-12-28 | 2011-12-28 | Drilling robot mechanism with six spatial active degrees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205555605U CN202378047U (en) | 2011-12-28 | 2011-12-28 | Drilling robot mechanism with six spatial active degrees |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202378047U true CN202378047U (en) | 2012-08-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205555605U Expired - Fee Related CN202378047U (en) | 2011-12-28 | 2011-12-28 | Drilling robot mechanism with six spatial active degrees |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202378047U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431030A (en) * | 2011-12-28 | 2012-05-02 | 广西大学 | Spatial six-mobility drilling robot mechanism |
| CN104594401A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Novel multi-freedom-degree controllable mechanical type excavating mechanism |
-
2011
- 2011-12-28 CN CN2011205555605U patent/CN202378047U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431030A (en) * | 2011-12-28 | 2012-05-02 | 广西大学 | Spatial six-mobility drilling robot mechanism |
| CN104594401A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Novel multi-freedom-degree controllable mechanical type excavating mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120815 Termination date: 20141228 |
|
| EXPY | Termination of patent right or utility model |