CN203092550U - Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod - Google Patents
Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod Download PDFInfo
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- CN203092550U CN203092550U CN 201320113723 CN201320113723U CN203092550U CN 203092550 U CN203092550 U CN 203092550U CN 201320113723 CN201320113723 CN 201320113723 CN 201320113723 U CN201320113723 U CN 201320113723U CN 203092550 U CN203092550 U CN 203092550U
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Abstract
The utility model discloses a three-translation freedom degree robot mechanism with a near support parallelogram and a far support paralleling rod and belongs to the technical field of robots. The robot mechanism comprises a machine frame, a movable platform and three branched chains in the same structural mode, the three branched chains are jointly connected with the machine frame and the movable platform, each branched chain is composed of a driving arm, an auxiliary driving arm, a double-lining frame joint, a first Hooke spherical hinge, the far support paralleling rod and a second Hooke spherical hinge, the three branched chains are evenly distributed, and the three branched chains are respectively provided with a driving device fixed on the machine frame, and the driving devices are connected with the driving arm. A branched chain structure with the near support parallelogram and the far support paralleling rod is adopted by the three-translation freedom degree robot mechanism to limit rotation freedom degree of the movable platform, a structural mode of the near support parallelogram and the far support paralleling rod guarantees that the whole mechanism has big stiffness, attitude errors caused by elasticity of a steel wire are effectively avoided, and the three-translation freedom degree robot mechanism is simple in manufacturing, convenient to install and debug and low in mechanism manufacturing cost.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away.
Background technology
U.S. Pat 4976572 discloses a kind of space symmetry three-translational parallel connection mechanism, comprises three active branched chain, and every side chain comprises master arm and slave arm two parts.The form of this type of mechanism's side chain is divided into two kinds, and is a kind of for master arm and slave arm are the single pole form, and the two ends of slave arm are connected with moving platform with master arm respectively by Hooke's hinge; A kind of for master arm be single pole, and slave arm is two bars, two bar slave arms constitute parallelogram, every bar two ends are connected with moving platform with master arm respectively by spherical hinge, wherein master arm one end only has a mobile or rotational freedom with respect to silent flatform, the other end is connected with an end of slave arm by ball pivot, thereby the restriction moving platform is with respect to three revolution frees degree of fixed frame.There is not standard component in the hinge of this type of mechanism, and the manufacturing cycle is long, installs complicated.Chinese patent 200510015750 discloses a kind of a kind of space three-translational parallel connection mechanism that contains steel wire parallelogram branched structure that contains.This mechanism by fixed mount, moving platform and respectively the uniform described fixed mount side chain identical that be arranged on of axial symmetry with three structures between the moving platform constitute; Described side chain, constitute by being fixedly installed on the affixed nearly hack lever of drive unit on the described fixed mount, the output other end that an end connects described drive unit and contiguous block and the hack lever far away of an end and the described contiguous block ball-joint other end and described moving platform ball-joint, the bilateral symmetry of described hack lever far away is provided with two parallel with it steel wires, the two ends of described steel wire respectively with described contiguous block and moving platform ball-joint.The shortcoming of this type of mechanism is since steel wire is a flexible unit work as tightness not simultaneously its length also change, thereby cause the moving platform attitude to change, make that the moving platform attitude accuracy is difficult to guarantee.
Summary of the invention
The purpose of this utility model is just in order to overcome above-mentioned deficiency of the prior art, provide a kind of manufacturing cycle short, easy for installation, moving platform attitude accuracy height, integral rigidity is big, contains the three-translational freedom robot mechanism of nearly frame parallelogram-frame parallel rod far away.
For solving the problems of the technologies described above, basic design of the present invention is: guarantee the accuracy of robot mechanism poses by the uniform side chains of three of identical in structure, guarantee the whole bigger rigidity that has by the version of nearly frame parallelogram in the side chain and frame parallel rod far away.
The utility model provides a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away to comprise frame, moving platform, three side chains that version is identical, common described frame and the moving platform of connecting of described three side chains; One of side chain that described three versions are identical is made up of master arm, secondary master arm, two lining framves joint, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described pair of lining framves joint comprises the first lining frame, the second lining frame, rotary middle spindle, and it is hinged with rotary middle spindle respectively that the described first lining frame, second serves as a contrast frame; Described two lining framves joint connects described master arm, secondary master arm and the first Hooke ball pivot; Described master arm one end is connected by the secondary and two lining frame of plane rotation joint, and the other end is connected with the output axle key of the drive unit that is fixed on described frame; Described secondary master arm one end is connected with two lining framves joint by ball pivot, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining framves joint form nearly frame parallelogram sturcutre by the connection of kinematic pair; Described Hooke ball pivot is made up of central cross axle, the first plane rotation pair, the second plane rotation pair, first spherical hinge, second spherical hinge; Described frame parallel rod far away is made up of the slave arm of two equal in length; Described frame parallel rod one end far away and the described first Hooke ball pivot are affixed, and the other end and the described second Hooke ball pivot are affixed; The described first Hooke ball pivot is connected by the plane revolute pair with two lining framves joint; The described second Hooke ball pivot is connected by the plane revolute pair with described moving platform; Described three side chains are evenly arranged, and are all had the drive unit that is fixed on the described frame to be connected with master arm.
Described drive unit adopts servomotor-reducer structure.
The common effect of contraction of uniform three side chains in space that the utility model is made of nearly frame parallelogram and frame parallel rod far away, three revolution frees degree of moving platform have been limited, make the relative frame of moving platform only have three translational degree of freedom, guaranteed the robot mechanism attitude stabilization.Three groups of motion drivings that drive unit provides make this three-translational freedom robot mechanism have definite motion, have guaranteed that this mechanism position is accurate.This robot mechanism list side chain rigidity height, further, three side chain parallel-connection structures have guaranteed that mechanism's integral body has bigger rigidity.
The utlity model has following characteristics:
1, adopts of the constraint of the version of nearly frame parallelogram and frame parallel rod far away as the restriction rotational freedom;
2, the design feature of Hooke ball pivot makes that the center drift is small, and the angle scope of activities is big, cooperates the structure in two lining framves joint, guarantees that robot mechanism has bigger working space;
3, this robot mechanism pose is accurate, and rigidity is big;
4, the version of Hooke ball pivot and with the connected mode of frame parallel rod far away, can guarantee that these robot mechanism two slave arms are stressed evenly, reduced the wearing and tearing of kinematic pair, thereby can improve the life-span of mechanism;
5, adopt the Hooke ball pivot of universal standard part ball pivot formation, can be completely achieved the function of traditional Hooke's hinge, in addition, the standard component ball pivot is adopted in the mechanism many places, is convenient to shorten the manufacturing cycle and uses the parts after losing efficacy to change fast.
The utility model adopts the rotational freedom of the branched structure restriction moving platform of nearly frame parallelogram and frame parallel rod far away, and the version of nearly frame parallelogram and frame parallel rod far away guarantees the whole bigger rigidity that has.The beneficial effect of this mechanism is: effectively avoided because the attitude error that steel wire elasticity causes, and make simple, Installation and Debugging are convenient, mechanism's manufacturing cost is lower.
Description of drawings:
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is one of the side chain of a same structure form of the present utility model structural representation;
Fig. 3 is the I portion enlarged drawing of Fig. 2;
Fig. 4 is the II portion enlarged drawing of Fig. 2;
Fig. 5 is the structural representation in two lining framves joint;
Fig. 6 is the structural representation of Hooke ball pivot;
Fig. 7 is the connection diagram of Hooke ball pivot and moving platform.
Among the figure: 1: frame, 2: master arm, 3: secondary master arm, 4: two lining framves joint, 5: slave arm, 6: moving platform, 7: drive unit, 8: the first Hooke ball pivots, 9: the second Hooke ball pivots, 4-1: the first lining frame, 4-2: the second lining frame, 4-3: master arm rotary middle spindle, 4-4: slave arm rotary middle spindle, 8-1: central cross axle, 8-2: the first plane rotation pair, 8-3: the second plane rotation pair, 8-4: first spherical hinge, 8-5: second spherical hinge.
The specific embodiment:
Below in conjunction with accompanying drawing the utility model is further described:
As Fig. 1-shown in Figure 7, a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away, comprise frame 1, moving platform 6, be evenly arranged in frame 1 side chain identical and connect frame 1 and moving platform 6 with three versions between the moving platform 6, described side chain comprises nearly frame parallelogram and frame parallel rod modular construction far away, can limit three rotational freedoms of moving platform 6.
As shown in Figure 1 and Figure 2, one of side chain that described three versions are identical is made up of master arm 2, secondary master arm 3, two lining framves joint 4, the first Hooke ball pivot 8, frame parallel rod 5 far away, the second Hooke ball pivot 9.
As shown in Figure 5, described two lining framves joint 4, be made up of the first lining frame 4-1, the second lining frame 4-2 and master arm rotary middle spindle 4-3, slave arm rotary middle spindle 4-4, the described first lining frame 4-1, second serves as a contrast frame 4-2, and 4-4 is hinged with master arm rotary middle spindle 4-3, slave arm rotary middle spindle respectively.As shown in Figure 3, described master arm 2 one ends are connected by the master arm rotary middle spindle 4-3 of the secondary and described biserial lining of plane rotation frame 4, its centre of gyration is a B, and the output axle key of the drive unit 7 on the other end and the described frame 1 is connected, and its centre of gyration is an A; Described secondary master arm 3 one ends are connected by the secondary master arm rotary middle spindle 4-4 of spherical hinge with described two lining framves joint 4, and its centre of gyration is a C, and the other end is connected with described frame 1 by spherical hinge, and its centre of gyration is a D; Structure and design are gone up the distance that guarantees A, B and are equated with the distance of C, D, the distance of A, D equates with the distance of B, C, like this, described master arm 2, secondary master arm 3, two lining framves joint 4 are by the connection of kinematic pair, form pro forma parallelogram sturcutre, can make mechanism in motion process, keep the attitude in two lining framves joint 4 constant.
The first Hooke ball pivot 8 and the second Hooke ball pivot, 9 structures are identical, for the present invention, only are owing to its difference of residing position in side chain is named difference.As shown in Figure 6, the described first Hooke ball pivot 8 is made up of central cross axle 8-1, the first secondary 8-2 of plane rotation, the second secondary 8-3 of plane rotation, the first spherical hinge 8-4, the second spherical hinge 8-5.Described frame parallel rod 5 far away is made up of the slave arm 5 of two equal in length.The described first Hooke ball pivot 8, the second Hooke ball pivot 9, the connected mode of frame parallel rod 5 in side chain far away are: as Fig. 4, shown in Figure 7, described frame parallel rod 5 one ends far away and the described first Hooke ball pivot 8 are affixed, and the other end and the described second Hooke ball pivot 9 are affixed; The described first Hooke ball pivot 8 and two lining framves joint 4 are connected by the plane revolute pair; The described second Hooke ball pivot 9 is connected by the plane revolute pair with described moving platform 6.By this connected mode, Hooke ball pivot 8, Hooke ball pivot 9, frame parallel rod 5 far away are combined to form parallelogram sturcutre, and make the Hooke ball pivot only can rotate around the both direction of cross axle axis.
Described three side chains are evenly arranged, and are connected with master arm 2 by drive unit 7.
Described drive unit 7 is fixedlyed connected with frame 1, can make its output provide one to move or rotational freedom for connected moving platform 6; Drive unit 7 has adopted the version of servomotor-decelerator, for connected master arm 2 provides a rotational freedom, in order to reach same purpose, can also adopt torque motor to drive, for connected master arm 2 provides a rotational freedom.Under certain application feature, also can adopt the type of drive of linear electric motors, for connected master arm 2 provides an one-movement-freedom-degree.Certainly, in the specific implementation, adopt other any one can realize that the version of same movement function all is fine as type of drive.
Claims (2)
1. three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away, it is characterized in that this robot mechanism comprises frame, moving platform, three side chains that version is identical, common described frame and the moving platform of connecting of described three side chains; One of side chain that described three versions are identical is made up of master arm, secondary master arm, two lining framves joint, the first Hooke ball pivot, frame parallel rod far away, the second Hooke ball pivot; Described pair of lining framves joint comprises the first lining frame, the second lining frame, rotary middle spindle, and it is hinged with rotary middle spindle respectively that the described first lining frame, second serves as a contrast frame; Described two lining framves joint connects described master arm, secondary master arm and the first Hooke ball pivot; Described master arm one end is connected by the secondary and two lining frame of plane rotation joint, and the other end is connected with the output axle key of the drive unit that is fixed on described frame; Described secondary master arm one end is connected with two lining framves joint by ball pivot, and the other end is connected with frame by ball pivot; Described master arm, secondary master arm, two lining framves joint form nearly frame parallelogram sturcutre by the connection of kinematic pair; Described Hooke ball pivot is made up of central cross axle, the first plane rotation pair, the second plane rotation pair, first spherical hinge, second spherical hinge; Described frame parallel rod far away is made up of the slave arm of two equal in length; Described frame parallel rod one end far away and the described first Hooke ball pivot are affixed, and the other end and the described second Hooke ball pivot are affixed; The described first Hooke ball pivot is connected by the plane revolute pair with two lining framves joint; The described second Hooke ball pivot is connected by the plane revolute pair with described moving platform; Described three side chains are evenly arranged, and are all had the drive unit that is fixed on the described frame to be connected with master arm.
2. a kind of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away according to claim 1, it is characterized in that: described drive unit adopts servomotor-reducer structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320113723 CN203092550U (en) | 2013-03-13 | 2013-03-13 | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320113723 CN203092550U (en) | 2013-03-13 | 2013-03-13 | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod |
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| CN203092550U true CN203092550U (en) | 2013-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320113723 Withdrawn - After Issue CN203092550U (en) | 2013-03-13 | 2013-03-13 | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170965A (en) * | 2013-03-13 | 2013-06-26 | 安徽工业大学 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
| CN107486841A (en) * | 2017-09-15 | 2017-12-19 | 大连理工大学 | A kind of SCARA motion parallel connection mechanisms with rectangular workspace |
| CN110559081A (en) * | 2019-09-10 | 2019-12-13 | 清华大学 | In vivo additive repair system and in vivo repair device |
| CN113843778A (en) * | 2021-10-20 | 2021-12-28 | 成都工业学院 | Parallel robot mechanical arm and control method thereof |
-
2013
- 2013-03-13 CN CN 201320113723 patent/CN203092550U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170965A (en) * | 2013-03-13 | 2013-06-26 | 安徽工业大学 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
| CN103170965B (en) * | 2013-03-13 | 2015-06-03 | 安徽华创智能装备有限公司 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
| CN107486841A (en) * | 2017-09-15 | 2017-12-19 | 大连理工大学 | A kind of SCARA motion parallel connection mechanisms with rectangular workspace |
| CN110559081A (en) * | 2019-09-10 | 2019-12-13 | 清华大学 | In vivo additive repair system and in vivo repair device |
| CN113843778A (en) * | 2021-10-20 | 2021-12-28 | 成都工业学院 | Parallel robot mechanical arm and control method thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130731 Effective date of abandoning: 20150603 |
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| RGAV | Abandon patent right to avoid regrant |