CN202825822U - Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement - Google Patents
Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement Download PDFInfo
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- CN202825822U CN202825822U CN 201220432246 CN201220432246U CN202825822U CN 202825822 U CN202825822 U CN 202825822U CN 201220432246 CN201220432246 CN 201220432246 CN 201220432246 U CN201220432246 U CN 201220432246U CN 202825822 U CN202825822 U CN 202825822U
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Abstract
A space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement comprises a machine frame, a first movement branched chain, a second movement branched chain, a third movement branched chain, a fourth movement branched chain, a fifth movement branched chain, a translation platform and a spherical face movement chain. The first movement branched chain, the second movement branched chain and the third movement branched chain jointly drive the translation platform to perform three-dimensional translation movement. The fourth movement branched chain and the fifth movement branched chain jointly drive the spherical face movement chain to move. The spherical face movement chain can achieve two-dimensional rotation around a sphere center. The translation movement and the rotating movement of the space five-freedom-degree mechanism capable of independently controlling the rotating movement and the translation movement are independently controlled by different branched chains, and solution and inverse solutions of mechanical kinematics are easy. The space six-freedom-degree mechanism capable of independently controlling the rotating movement and the translation movement is convenient to control, good in mechanical rigidity, small in inertia and good in dynamics performance. Driving motors are all arranged on the machine frame, a rod can be made into light rods, and weight of the mechanism is effectively reduced.
Description
Technical field
The utility model relates to the robot field, particularly the space five-freedom mechanism of the independent control of rotational motion and translational motion.
Background technology
Existing five degree of freedom mechanism is divided into tandem, parallel and series parallel type three types.That tandem mechanism has is simple in structure, motion flexibly, the advantage such as working space is large, but owing to mechanism is connected in series and need to drive motors be installed at joint and causes it to have the deficiencies such as mechanical arm weight is large, rotary inertia is large, error accumulation is large.Relative serial mechanism, parallel unit mechanism is jointly to drive the pose output that moving platform is realized its end effector by many movement branched chain, thereby this type of mechanism has advantages such as precision is high, compact conformation, rigidity is high, bearing capacity is strong, also has simultaneously complex structure, the shortcomings such as control difficulty.Series parallel type mechanism adopts the mode of parallel connection and serial connection combination to realize the motion of mechanism, but because its series connection part still need be with drive installation on the mechanism joint, so the kinematics of mechanism and dynamic performance are relatively poor.
US.Patent No.4976582 discloses a kind of three-dimensional translation and one-dimensional rotation space four-degree-of-freedom mechanism that realizes, this manipulator adopts outer revolute pair to drive and the parallelogram branched structure, can realize the high speed 3 dimension translations of end effector, two ends also are set simultaneously with the scalable rotating shaft of hook hinge between the sound platform, rotate with the single-degree-of-freedom that realizes end effector.This mechanism realizes that at mechanism with single degree of freedom of three translation parallel mechanism series connection thereby it rotates the four-degree-of-freedom motion of output implementation space, but the inventor should be installed on the frame at the motor that moving platform is installed cleverly.
Inspired by US.Patent No.4976582, the utility model is implementation space five degree of freedom motion and first mechanism design is become series connection bidimensional one-rotation parallel mechanism on the three-dimensional translating parallel structure, and five drive motors of this mechanism all are installed on the frame, and translational degree of freedom and rotational freedom can be realized independent control.The utility model solved five-freedom parallel structure kinematics just, the contrary difficulty of separating, the problems such as control difficulty.
Summary of the invention
The purpose of this utility model is to provide the separately space five-freedom mechanism of control of rotational motion and translational motion, can solve the problem such as five degree of freedom serial mechanism poor rigidity, inertia are large, joint error accumulation and five-freedom parallel structure kinematics just, the contrary difficulty of separating, the problems such as control difficulty.
The utility model achieves the above object by the following technical programs: rotational motion and translational motion be the space five-freedom mechanism of control separately, comprises frame, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform and spherical chain.
Described the first movement branched chain is comprised of the first servomotor, the first driving lever, first connecting rod and second connecting rod, rack-mounted the first servomotor drives the motion of the first driving lever by the first revolute pair, the first driving lever drives first connecting rod and second connecting rod motion by the first Hooke's hinge (or spherical pair) and the second Hooke's hinge (or spherical pair), and first connecting rod and second connecting rod drive the motion of translation platform by the 3rd Hooke's hinge (or spherical pair) and the 4th Hooke's hinge (or spherical pair).
Described the second movement branched chain is comprised of the second servomotor, the second driving lever, third connecting rod and the 4th connecting rod, rack-mounted the second servomotor drives the motion of the second driving lever by the second revolute pair, the second driving lever drives third connecting rod and the 4th link motion by the 5th Hooke's hinge (or spherical pair) and the 6th Hooke's hinge (or spherical pair), and third connecting rod and the 4th connecting rod drive the motion of translation platform by the 7th Hooke's hinge (or spherical pair) and the 8th Hooke's hinge (or spherical pair).
Described the 3rd movement branched chain is comprised of the 3rd servomotor, the 3rd driving lever, the 5th connecting rod and the 6th connecting rod, rack-mounted the 3rd servomotor drives the motion of the 3rd driving lever by the 3rd revolute pair, the 3rd driving lever drives the 5th connecting rod and the 6th link motion by the 9th Hooke's hinge (or spherical pair) and the tenth Hooke's hinge (or spherical pair), and the 5th connecting rod and the 6th connecting rod drive the motion of translation platform by the 11 Hooke's hinge (or spherical pair) and the 12 Hooke's hinge (or spherical pair).
Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain are united the motion of driving translation platform, but the motion of described translation platform implementation space three-dimensional translating.
Described the 4th movement branched chain is by the 4th servomotor, seven-link assembly and the 8th connecting rod, the first bevel gear and the second bevel gear form, rack-mounted the 4th servomotor drives the seven-link assembly motion by the 13 Hooke's hinge, seven-link assembly is connected with the 8th connecting rod by the first moving sets and drives the 8th link motion, the 8th connecting rod other end drives the motion of the first bevel gear by the 14 Hooke's hinge, the first bevel gear is connected with the translation platform by the 4th revolute pair and by driving the motion of the second bevel gear with the engagement of the second bevel gear, the second bevel gear is connected with the translation platform by the 5th revolute pair.
Described the 5th movement branched chain is by the 5th servomotor, the 9th connecting rod and the tenth connecting rod, third hand tap gear and the 4th bevel gear form, rack-mounted the 5th servomotor drives the 9th link motion by the 15 Hooke's hinge, the 9th connecting rod is connected with the tenth connecting rod by the second moving sets and drives the tenth link motion, the tenth connecting rod other end drives the third hand tap gear movement by the 16 Hooke's hinge, the third hand tap gear is connected with the translation platform by the 6th revolute pair and by driving the motion of the 4th bevel gear with the engagement of the 4th bevel gear, the 4th bevel gear is connected with the translation platform by the 7th revolute pair.
Described spherical chain is by the 11 connecting rod, the 12 connecting rod, the 13 connecting rod and the 14 connecting rod form, the second bevel gear drives the 11 link motion by the 5th revolute pair, the 4th bevel gear drives the 14 link motion by the 7th revolute pair, the 11 connecting rod drives ten two connecting rod and ten three link motion that by nine revolute pair connect by the 8th revolute pair with the tenth revolute pair with the 14 connecting rod, the 5th revolute pair, the 7th revolute pair, the 8th revolute pair, the axes intersect of the 9th revolute pair and the tenth revolute pair is in a bit, and the 12 connecting rod and the 13 connecting rod all can be realized rotating around the bidimensional of above-mentioned intersection point.
Outstanding advantages of the present utility model is:
1, drive motors is installed on the frame, and rod member is made lighter bar, and mechanism is lightweight, good rigidly, inertia is little, dynamic performance good;
2, the translational motion of mechanism is controlled separately by different side chains respectively with rotational motion, and kinematics of mechanism just, inverse problem finds the solution easily, and control is convenient;
3, install different end effectors, this mechanism may be used on assembling, welding, attitude adjustment and positioning equipment, laser, the field such as medical.
Description of drawings
Fig. 1 is the first structural representation of the space five-freedom mechanism of rotational motion described in the utility model and the independent control of translational motion.
Fig. 2 is the second structural representation of the space five-freedom mechanism of rotational motion described in the utility model and the independent control of translational motion.
Fig. 3 is the 3rd structural representation of the space five-freedom mechanism of rotational motion described in the utility model and the independent control of translational motion.
Fig. 4 is the work schematic diagram of the space five-freedom mechanism of rotational motion described in the utility model and the independent control of translational motion.
Fig. 5 is the spherical chain schematic diagram of the space five-freedom mechanism of rotational motion described in the utility model and the independent control of translational motion.
The specific embodiment
Below in conjunction with drawings and Examples the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2 and Fig. 3, rotational motion and translational motion be the space five-freedom mechanism of control separately, comprises frame 1, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform 39 and spherical chain.
Described the first movement branched chain is comprised of the first servomotor 2, the first driving lever 10, first connecting rod 19 and second connecting rod 20, the first servomotor 2 that is installed on the frame 1 drives 10 motions of the first driving lever by the first revolute pair 7, the first driving lever 10 drives first connecting rod 19 and second connecting rod 20 motions by the first Hooke's hinge (or spherical pair) 13 and the second Hooke's hinge (or spherical pair) 14, and first connecting rod 19 and second connecting rod 20 drive 39 motions of translation platform by the 3rd Hooke's hinge (or spherical pair) 25 and the 4th Hooke's hinge (or spherical pair) 26.
Described the second movement branched chain is comprised of the second servomotor 3, the second driving lever 11, third connecting rod 21 and the 4th connecting rod 22, the second servomotor 3 that is installed on the frame 1 drives 11 motions of the second driving lever by the second revolute pair 8, the second driving lever 11 drives third connecting rod 21 and 22 motions of the 4th connecting rod by the 5th Hooke's hinge (or spherical pair) 15 and the 6th Hooke's hinge (or spherical pair) 16, and third connecting rod 21 and the 4th connecting rod 22 drive 39 motions of translation platform by the 7th Hooke's hinge (or spherical pair) 27 and the 8th Hooke's hinge (or spherical pair) 28.
Described the 3rd movement branched chain is comprised of the 3rd servomotor 4, the 3rd driving lever 12, the 5th connecting rod 23 and the 6th connecting rod 24, the 3rd servomotor 4 that is installed on the frame 1 drives 12 motions of the 3rd driving lever by the 3rd revolute pair 9, the 3rd driving lever 12 drives the 5th connecting rod 23 and 24 motions of the 6th connecting rod by the 9th Hooke's hinge (or spherical pair) 17 and the tenth Hooke's hinge (or spherical pair) 18, and the 5th connecting rod 23 and the 6th connecting rod 24 drive 39 motions of translation platform by the 11 Hooke's hinge (or spherical pair) 29 and the 12 Hooke's hinge (or spherical pair) 30.
Described the first movement branched chain, the second movement branched chain and the 3rd movement branched chain are united 39 motions of driving translation platform, but the motion of described translation platform 39 implementation space three-dimensional translatings.
Described the 4th movement branched chain is by the 4th servomotor 5, seven-link assembly 33 and the 8th connecting rod 35, the first bevel gear 51 and the second bevel gear 52 form, the 4th servomotor 5 that is installed on the frame 1 drives seven-link assembly 33 motions by the 13 Hooke's hinge 31, seven-link assembly 33 is connected with the 8th connecting rod 35 by the first moving sets 55 and drives the motion of the 8th connecting rod 35, the 8th connecting rod 35 other ends drive 51 motions of the first bevel gear by the 14 Hooke's hinge 37, the first bevel gear 51 is connected with translation platform 39 by the 4th revolute pair 40 and by driving 52 motions of the second bevel gear with 52 engagements of the second bevel gear, the second bevel gear 52 is connected with translation platform 39 by the 5th revolute pair 42.
Described the 5th movement branched chain is by the 5th servomotor 6, the 9th connecting rod 34 and the tenth connecting rod 36, third hand tap gear 53 and the 4th bevel gear 54 form, the 5th servomotor 6 that is installed on the frame 1 drives 34 motions of the 9th connecting rod by the 15 Hooke's hinge 32, the 9th connecting rod 34 is connected with the tenth connecting rod 36 by the second moving sets 56 and drives the motion of the tenth connecting rod 36, the tenth connecting rod 36 other ends drive 53 motions of third hand tap gear by the 16 Hooke's hinge 38, third hand tap gear 53 is connected with translation platform 39 by the 6th revolute pair 41 and by driving 54 motions of the 4th bevel gear with 54 engagements of the 4th bevel gear, the 4th bevel gear 54 is connected with translation platform 39 by the 7th revolute pair 50.
Described spherical chain is by the 11 connecting rod 43, the 12 connecting rod 45, the 13 connecting rod 47 and the 14 connecting rod 49 form, the second bevel gear 52 drives 43 motions of the 11 connecting rod by the 5th revolute pair 42, the 4th bevel gear 54 drives 49 motions of the 14 connecting rod by the 7th revolute pair 50, the 11 connecting rod 43 drives the 12 connecting rod 45 and 47 motions of the 13 connecting rod that connect by the 9th revolute pair 46 with the 14 connecting rod 49 by the 8th revolute pair 44 and the tenth revolute pair 48, the 5th revolute pair 42, the 7th revolute pair 50, the 8th revolute pair 44, the axes intersect of the 9th revolute pair 46 and the tenth revolute pair 48 is in a bit, and the 12 connecting rod 45 and the 13 connecting rod 47 all can be realized rotating around the bidimensional of above-mentioned intersection point.
Contrast Fig. 4, rotational motion and translational motion be the space five-freedom mechanism of control separately, translation platform 39 is done the three-dimensional translating motion under the driving of the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, and the bidimensional rotational motion of spherical chain is driven jointly by the 4th movement branched chain and the 5th movement branched chain, and the rotational motion of this mechanism is driven by different movement branched chain from translational motion.
Contrast Fig. 2 and Fig. 5, the axes intersect of spherical chain the 5th revolute pair 42, the 7th revolute pair 50, the 8th revolute pair 44, the 9th revolute pair 46 and the tenth revolute pair 48 of the space five-freedom mechanism that rotational motion and translational motion are controlled separately is in a bit, and the 11 connecting rod 43, the 12 connecting rod 45, the 13 connecting rod 47 and the 14 connecting rod 49 have formed a spherical chain jointly.
Claims (1)
1. the independent space five-freedom mechanism of control of rotational motion and translational motion, comprise frame, the first movement branched chain, the second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform and spherical chain, it is characterized in that:
Described the first movement branched chain is by the first servomotor, the first driving lever, first connecting rod and second connecting rod form, the first driving lever one end is connected with rack-mounted the first servomotor by the first revolute pair, the first driving lever other end by the first Hooke's hinge or spherical pair be connected Hooke's hinge or spherical pair and be connected with second connecting rod with first connecting rod, the first connecting rod other end is connected with the translation platform by the 3rd Hooke's hinge or spherical pair, the second connecting rod other end is connected with the translation platform by the 4th Hooke's hinge or spherical pair
Described the second movement branched chain is by the second servomotor, the second driving lever, third connecting rod and the 4th connecting rod form, the second driving lever one end is connected with rack-mounted the second servomotor by the second revolute pair, the second driving lever other end is connected with the 4th connecting rod with third connecting rod with the 6th Hooke's hinge or spherical pair by the 5th Hooke's hinge or spherical pair, the third connecting rod other end is connected with the translation platform by the 7th Hooke's hinge or spherical pair, the 4th connecting rod other end is connected with the translation platform by the 8th Hooke's hinge or spherical pair
Described the 3rd movement branched chain is by the 3rd servomotor, the 3rd driving lever, the 5th connecting rod and the 6th connecting rod form, the 3rd driving lever one end is connected with rack-mounted the 3rd servomotor by the 3rd revolute pair, the 3rd driving lever other end is connected with the 6th connecting rod with the 5th connecting rod with the tenth Hooke's hinge or spherical pair by the 9th Hooke's hinge or spherical pair, the 5th connecting rod other end is connected with the translation platform by the 11 Hooke's hinge or spherical pair, the 6th connecting rod other end is connected with the translation platform by the 12 Hooke's hinge or spherical pair
Described the 4th movement branched chain is by the 4th servomotor, seven-link assembly and the 8th connecting rod, the first bevel gear and the second bevel gear form, seven-link assembly one end is connected with rack-mounted the 4th servomotor by the 13 Hooke's hinge, the seven-link assembly other end is connected with the 8th connecting rod by the first moving sets, the 8th connecting rod other end is connected with the first bevel gear by the 14 Hooke's hinge, the first bevel gear is connected with the translation platform by the 4th revolute pair, the first bevel gear and the engagement of the second bevel gear, the second bevel gear is connected with the translation platform by the 5th revolute pair
Described the 5th movement branched chain is by the 5th servomotor, the 9th connecting rod and the tenth connecting rod, third hand tap gear and the 4th bevel gear form, the 9th connecting rod one end is connected with rack-mounted the 5th servomotor by the 15 Hooke's hinge, the 9th connecting rod other end is connected with the tenth connecting rod by the second moving sets, the tenth connecting rod other end is connected with the third hand tap gear by the 16 Hooke's hinge, the third hand tap gear is connected with the translation platform by the 6th revolute pair, third hand tap gear and the engagement of the 4th bevel gear, the 4th bevel gear is connected with the translation platform by the 7th revolute pair
Described spherical chain is by the 11 connecting rod, the 12 connecting rod, the 13 connecting rod and the 14 connecting rod form, the 11 connecting rod one end is connected with the second bevel gear by the 5th revolute pair, the 11 connecting rod other end is connected with the 12 connecting rod by the 8th revolute pair, the 12 connecting rod other end is connected with the 13 connecting rod by the 9th revolute pair, the 13 connecting rod other end is connected with the 14 connecting rod by the tenth revolute pair, the 14 connecting rod other end is connected the 5th revolute pair by the 7th revolute pair with the 4th bevel gear, the 7th revolute pair, the 8th revolute pair, the axes intersect of the 9th revolute pair and the tenth revolute pair is in a bit.
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| CN 201220432246 CN202825822U (en) | 2012-08-29 | 2012-08-29 | Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement |
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| CN 201220432246 CN202825822U (en) | 2012-08-29 | 2012-08-29 | Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
| CN112536792A (en) * | 2020-11-24 | 2021-03-23 | 河南理工大学 | Robot arm inverse solution method based on spherical geometric analysis method |
-
2012
- 2012-08-29 CN CN 201220432246 patent/CN202825822U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
| CN112536792A (en) * | 2020-11-24 | 2021-03-23 | 河南理工大学 | Robot arm inverse solution method based on spherical geometric analysis method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20150829 |
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| EXPY | Termination of patent right or utility model |