CN202556408U - Spatial parallel connection robot mechanism - Google Patents
Spatial parallel connection robot mechanism Download PDFInfo
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- CN202556408U CN202556408U CN2012201689319U CN201220168931U CN202556408U CN 202556408 U CN202556408 U CN 202556408U CN 2012201689319 U CN2012201689319 U CN 2012201689319U CN 201220168931 U CN201220168931 U CN 201220168931U CN 202556408 U CN202556408 U CN 202556408U
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Abstract
The utility model relates to a spatial parallel connection robot mechanism. The spatial parallel connection robot mechanism comprises a movable platform, a fixed platform and driving branches used for being connected the movable platform and the fixed platform, wherein the movable platform is connected with the fixed platform through four driving branches in the same structure and another driving branch. According to the four driving branches in the same structure, the movable platform is connected with a lower connection rod through a ball pair, the lower connection rod is connected with an upper connection rod through a moving pair, and the upper connection rod is connected with the fixed platform through a hooke hinge. According to another driving branch, the movable platform is connected with another lower connection rod through another hooke hinge, the lower connection rod is connected with another upper connection rod through another moving pair, and the upper connection rod is connected with the fixed platform through a rotary pair. The spatial parallel connection robot mechanism has the advantages of being high in rigidity, relatively simple in mechanism, high in precision, low in cost, easy to produce, and the like.
Description
Technical field
The utility model relates to robot and mechanical manufacturing field, and particularly a kind of two dimension moves two dimension and rotates the four-degree-of-freedom spatial parallel robot mechanism.
Background technology
Spatial parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more; Compare with serial mechanism, spatial parallel robot mechanism has that stiffness/weight ratio is big, accumulated error is little, response speed is fast, precision is high, dynamic characteristic is good, compact conformation and be easy to realize characteristics such as high-speed motion.At present, spatial parallel robot mechanism is widely used in aspects such as parallel machine, fine motion operating desk, various motion simulator, space articulation device, sensor.
Spatial parallel robot mechanism present three, five, six degree of freedom is used comparatively extensive, and to rotate the four-degree-of-freedom spatial parallel robot mechanism less and the two dimension of tool application potential moves two dimension.
The utility model content
The purpose of the utility model is to provide a kind of and has that stiffness/weight ratio is big, mechanism is simple relatively, high accuracy, low-costly moves and two dimension rotation four-degree-of-freedom spatial parallel robot mechanism with the two dimension that is prone to characteristics such as manufacturings.
The technical scheme of the utility model is: a kind of spatial parallel robot mechanism comprises moving platform, fixed platform and is connected moving platform and the driving branch of fixed platform composition that moving platform drives branches by four identical in structure and an other driving branch is connected with fixed platform; In four identical driving branches; Moving platform links to each other with lower link by ball is secondary, and lower link links to each other with last connecting rod by moving sets, and last connecting rod links to each other with fixed platform by Hooke's hinge; Drive in the branch at another; Moving platform links to each other with lower link by Hooke's hinge, and lower link links to each other with last connecting rod by moving sets, and last connecting rod links to each other with fixed platform by revolute pair.
Preferably, it is on the circle in the center of circle that four Hooke's hinges that fixed platform is connected with lower link are evenly arranged in the fixed platform center, and the interval angle of adjacent Hooke's hinge is 90 °; The revolute pair that fixed platform is connected with lower link is positioned on the angular bisector at adjacent two Hooke's hinges and fixed platform angle that the center is formed, and is respectively 45 ° with the interval angle of adjacent two Hooke's hinges.
Preferably, each driving moving sets that drives branch is made up of the straight line mobile drive deivce that hydraulic linear mobile drive deivce or motor and screw pair constitute.
The beneficial effect of the utility model is: two dimension of the present invention moves with two dimension and rotates the four-degree-of-freedom spatial parallel robot mechanism, has that rigidity height, mechanism are simple relatively, high accuracy, low-cost be prone to characteristics such as manufacturing.
Description of drawings
Fig. 1 is the structural representation of the utility model specific embodiment;
Fig. 2 is the structural representation of the fixed platform of the utility model specific embodiment.
The specific embodiment
Specific embodiment like Fig. 1 and the utility model shown in Figure 2; A kind of spatial parallel robot mechanism comprises moving platform 6, fixed platform 2 and is connected moving platform 6 and the compositions such as driving branch of fixed platform 2, and moving platform 6 drives branch through four identical in structure and an other driving branch is connected with fixed platform 2; In four identical driving branches; Moving platform 6 links to each other with lower link 4 through ball secondary 5, and lower link 4 passes through moving sets and links to each other with last connecting rod 3, and last connecting rod 3 passes through Hooke's hinge 1 and links to each other with fixed platform 2; Drive in the branch at another; Moving platform 6 links to each other with lower link 8 through Hooke's hinge 7, and lower link 8 links to each other with last connecting rod 9 through moving sets, and last connecting rod 9 links to each other with fixed platform 2 through revolute pair 10.
Each driving moving sets that drives branch is made up of the straight line mobile drive deivce that hydraulic linear mobile drive deivce or motor and screw pair constitute.
Claims (3)
1. spatial parallel robot mechanism; Comprise moving platform (6), fixed platform (2) and be connected moving platform (6) and the compositions such as branch of fixed platform (2); It is characterized in that: moving platform (6) is connected with fixed platform (2) through four identical in structure branches and an other driving branch, and in four identical driving branches, moving platform (6) links to each other with lower link (4) through ball secondary (5); Lower link (4) links to each other with last connecting rod (3) through moving sets; Last connecting rod (3) links to each other with fixed platform (2) through Hooke's hinge (1), drives in the branch at another, and moving platform (6) links to each other with lower link (8) through Hooke's hinge (7); Lower link (8) links to each other with last connecting rod (9) through moving sets, and last connecting rod (9) links to each other with fixed platform (2) through revolute pair (10).
2. spatial parallel robot mechanism according to claim 1 is characterized in that: it is on the circle in the center of circle that four Hooke's hinges that fixed platform is connected with lower link are evenly arranged in the fixed platform center, and the interval angle of adjacent Hooke's hinge is 90 °; The revolute pair that fixed platform is connected with lower link is positioned on the angular bisector at adjacent two Hooke's hinges and fixed platform angle that the center is formed, and is respectively 45 ° with the interval angle of adjacent two Hooke's hinges.
3. spatial parallel robot mechanism according to claim 1 is characterized in that: each driving moving sets that drives branch is made up of the straight line mobile drive deivce that hydraulic linear mobile drive deivce or motor and screw pair constitute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201689319U CN202556408U (en) | 2012-04-12 | 2012-04-12 | Spatial parallel connection robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201689319U CN202556408U (en) | 2012-04-12 | 2012-04-12 | Spatial parallel connection robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202556408U true CN202556408U (en) | 2012-11-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201689319U Expired - Fee Related CN202556408U (en) | 2012-04-12 | 2012-04-12 | Spatial parallel connection robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202556408U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106561093A (en) * | 2016-10-27 | 2017-04-19 | 中国农业大学 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
-
2012
- 2012-04-12 CN CN2012201689319U patent/CN202556408U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106561093A (en) * | 2016-10-27 | 2017-04-19 | 中国农业大学 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20121128 Termination date: 20130412 |