CN203305211U - Series-parallel combined type three-freedom-degree translational motion carrying mechanism - Google Patents
Series-parallel combined type three-freedom-degree translational motion carrying mechanism Download PDFInfo
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- CN203305211U CN203305211U CN2013202776906U CN201320277690U CN203305211U CN 203305211 U CN203305211 U CN 203305211U CN 2013202776906 U CN2013202776906 U CN 2013202776906U CN 201320277690 U CN201320277690 U CN 201320277690U CN 203305211 U CN203305211 U CN 203305211U
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Abstract
A series-parallel combined type three-freedom-degree translational motion carrying mechanism comprises a base, a first linear driving unit, a first sliding block, a second linear driving unit, a third linear driving unit, a first connecting rod, a second connecting rod, a third connecting rod, a second connecting piece and an operation tail end, wherein a second sliding block is arranged on the second linear driving unit, a third sliding block is arranged on the third linear driving unit, a series connection structure is adopted among the first linear driving unit, the second linear driving unit and the third linear driving unit, and a parallel connection structure is adopted between the second linear driving unit and the third linear driving unit. By adopting a series-parallel combined structure, the series-parallel combined type three-freedom-degree translational motion carrying mechanism enables a driving unit to be more compact in arrangement, simplifies the structure, meanwhile reduces load inertia, and is favorable for improvement of working rhythm.
Description
Technical field
The utility model relates to mechanical handing equipment, relates in particular to a kind of sries-parallel connection type Three Degree Of Freedom translation carrying mechanism.
Background technology
In fields such as multiple site punching, die forging, production line automatic loading/unloadings, often use the Three Degree Of Freedom translation carrying of workpiece.For completing the carrying task, manipulator or carrying mechanism need to complete movement locus as shown in Figures 1 and 2 usually.For realizing the movement locus of Fig. 1 and Fig. 2, much equipment has adopted the topology layout of Cartesian coordinate type.The linear drive apparatus that is X, Y, tri-directions of Z superposes step by step, finally realizes the translation of three degree of freedom.
But the translation mode of this kind three degree of freedom, be serial mechanism owing in equipment, adopting Cartesian coordinate type mechanism in a large number, every one-level is all the load of previous stage, so the quality of mechanism kinematic part is larger, and driving force is had relatively high expectations, and also is not easy to realize higher work tempo.
Therefore, for above-mentioned technical problem, be necessary to provide a kind of structure improved Three Degree Of Freedom translation carrying mechanism that has, to overcome above-mentioned defect.
The utility model content
In view of this, the purpose of this utility model is to provide a kind of sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, and this mechanism goes here and there by employing and hybrid connected structure is optimized the layout of driver part, has reduced the quality of moving component, has improved work tempo.
For achieving the above object, the utility model provides following technical scheme:
A kind of sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, it comprises pedestal, be located at the first linear drives unit on pedestal, the first slide block with the first linear drives unit matching, be located at the second linear drives unit on the first slide block, be located at the 3rd linear drives unit on the first slide block, the first connecting rod and the second connecting rod that with the second linear drives unit, are connected, the third connecting rod be connected with the 3rd linear drives unit, the second connector be connected with third connecting rod, be located at the operational tip on the second connector, on described the second linear drives unit, be provided with the second slide block, on described the second slide block, be provided with the first connector, one end of described first connecting rod and second connecting rod is connected with the first connector, the other end of described first connecting rod and second connecting rod is connected with the second connector, on described the 3rd linear drives unit, be provided with the 3rd slide block, on described the 3rd slide block, be provided with the 3rd connector, one end of described third connecting rod is connected with the 3rd connector, the other end of described third connecting rod is connected with the second connector, described the first linear drives unit and second, between the 3rd linear drives unit, adopt cascaded structure, between described the second linear drives unit and the 3rd linear drives unit, adopt parallel-connection structure.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the first hinge and the second hinge, and an end of described first connecting rod and second connecting rod is connected with the first connector by the first hinge and the second hinge.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 3rd hinge and the 4th hinge, and the other end of described first connecting rod and second connecting rod is connected with the second connector by the 3rd hinge and the 4th hinge.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 6th hinge, and an end of described third connecting rod is connected with the 3rd connector by the 6th hinge.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 5th hinge, and the other end of described third connecting rod is connected with connector by the 5th hinge.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, the axis of described the first hinge, the second hinge, the 3rd hinge, the 4th hinge, the 5th hinge, the 6th hinge be parallel to each other and all with the direction of motion perpendicular quadrature of the second linear drives unit and the 3rd linear drives unit.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, in the plane of the direction of motion of vertical the first linear drives unit, described the first hinge, the 3rd hinge, the 6th hinge triangularity are arranged.
Preferably, in above-mentioned sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, in the plane of the direction of motion of vertical the first linear drives unit, described the first hinge, the second hinge, the 4th hinge, the 5th hinge become parallelogram to arrange.
From technique scheme, can find out, the sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment is gone here and there and hybrid connected structure by employing, namely between the first linear drives unit and second and third linear drives unit, adopt cascaded structure, between the second linear drives unit and the 3rd linear drives unit, adopt parallel-connection structure, make driver element arrange compacter, simplify the structure, reduced simultaneously load inertia, be conducive to improve beat.
The accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing relevant of the present utility model in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of movement locus figure of manipulator or carrying mechanism in prior art;
Fig. 2 is the another kind of movement locus figure of manipulator or carrying mechanism in prior art;
Fig. 3 is the schematic perspective view of the utility model sries-parallel connection type Three Degree Of Freedom translation carrying mechanism;
Fig. 4 is the schematic diagram of another angle of Fig. 3.
Wherein: 1, pedestal; 2, the first linear drives unit; 3, the first slide block; 4, the second linear drives unit; 5, the second slide block; 51, the first connector; 511, the first hinge; 512, the first hinge; 6, first connecting rod; 7, operational tip; 8, second connecting rod; 9, the second connector; 91, the 3rd hinge; 92, the 4th hinge; 93, the 5th hinge; 10, the 3rd linear drives unit; 11, the 3rd slide block; 111, the 3rd connector; 1111, the 6th hinge; 12, third connecting rod.
The specific embodiment
The utility model discloses a kind of sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, this mechanism goes here and there by employing and hybrid connected structure is optimized the layout of driver part, has reduced the quality of moving component, has improved work tempo.
This sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, it comprises pedestal, be located at the first linear drives unit on pedestal, the first slide block with the first linear drives unit matching, be located at the second linear drives unit on the first slide block, be located at the 3rd linear drives unit on the first slide block, the first connecting rod and the second connecting rod that with the second linear drives unit, are connected, the third connecting rod be connected with the 3rd linear drives unit, the second connector be connected with third connecting rod, be located at the operational tip on the second connector, on described the second linear drives unit, be provided with the second slide block, on described the second slide block, be provided with the first connector, one end of described first connecting rod and second connecting rod is connected with the first connector, the other end of described first connecting rod and second connecting rod is connected with the second connector, on described the 3rd linear drives unit, be provided with the 3rd slide block, on described the 3rd slide block, be provided with the 3rd connector, one end of described third connecting rod is connected with the 3rd connector, the other end of described third connecting rod is connected with the second connector, described the first linear drives unit and second, between the 3rd linear drives unit, adopt cascaded structure, between described the second linear drives unit and the 3rd linear drives unit, adopt parallel-connection structure.
Further, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the first hinge and the second hinge, and an end of described first connecting rod and second connecting rod is connected with the first connector by the first hinge and the second hinge.
Further, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 3rd hinge and the 4th hinge, and the other end of described first connecting rod and second connecting rod is connected with the second connector by the 3rd hinge and the 4th hinge.
Further, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 6th hinge, and an end of described third connecting rod is connected with the 3rd connector by the 6th hinge.
Further, described sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 5th hinge, and the other end of described third connecting rod is connected with connector by the 5th hinge.
Further, the axis of described the first hinge, the second hinge, the 3rd hinge, the 4th hinge, the 5th hinge, the 6th hinge be parallel to each other and all with the direction of motion perpendicular quadrature of the second linear drives unit and the 3rd linear drives unit.
Further, in the plane of the direction of motion of vertical the first linear drives unit, described the first hinge, the 3rd hinge, the 6th hinge triangularity are arranged.
Further, in the plane of the direction of motion of vertical the first linear drives unit, described the first hinge, the second hinge, the 4th hinge, the 5th hinge become parallelogram to arrange.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is described in detail, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills obtain under the prerequisite of not making creative work every other embodiment, belong to the scope that the utility model is protected.
As shown in Figures 3 and 4, the disclosed sries-parallel connection type Three Degree Of Freedom of the utility model translation carrying mechanism, it is characterized in that: it comprises pedestal 1, be located at the first linear drives unit 2 on pedestal 1, the first slide block 3 coordinated with the first linear drives unit 2, be located at the second linear drives unit 4 on the first slide block 3, be located at the 3rd linear drives unit 10 on the first slide block 3, the first connecting rod 6 and the second connecting rod 8 that with the second linear drives unit 4, are connected, the third connecting rod 12 be connected with the 3rd linear drives unit 10, the second connector 9 be connected with third connecting rod 12, be located at the operational tip 7 on the second connector 9.The first linear drives unit 2 drives the first slide block 3 and does translation.Between the first linear drives unit 2 and second, third linear drives unit 4,10, adopt cascaded structure, adopt parallel-connection structure between the second linear drives unit 4 and the 3rd linear drives unit 10.The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment is gone here and there and hybrid connected structure by employing, makes driver element arrange compacter, simplifies the structure, and has reduced simultaneously load inertia, is conducive to improve beat.
As shown in Figure 3, on the second linear drives unit 4, be provided with on the second slide block 5, the second slide blocks 5 and be provided with the first connector 51.One end of first connecting rod 6 and second connecting rod 8 is connected with the first connector 51, and the other end of first connecting rod 6 and second connecting rod 8 is connected with the second connector 9.
Continue as shown in Figure 3, on the 3rd linear drives unit 10, to be provided with on the 3rd slide block 11, the three slide blocks 11 and to be provided with the 3rd connector 111, an end of third connecting rod 12 is connected with the 3rd connector 111, and the other end of third connecting rod 12 is connected with the second connector 9.
As shown in Figure 4, sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the first hinge 511 and the second hinge 512, and described the first connector 51 is connected with an end of first connecting rod 6 and second connecting rod 8 with the second hinge 512 by the first hinge 511.
Continue as shown in Figure 4, sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 3rd hinge 91 and the 4th hinge 92, and the other end of described first connecting rod 6 and second connecting rod 8 is connected with the second connector 9 by the 3rd hinge 91 and the 4th hinge 92.
Continue as shown in Figure 4, sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 6th hinge 1111, and described the 3rd connector 111 is connected with third connecting rod 12 by the 6th hinge 1111.
Continue as shown in Figure 4, sries-parallel connection type Three Degree Of Freedom translation carrying mechanism also comprises the 5th hinge 93, and the other end of described third connecting rod 12 is connected with connector 9 by the 5th hinge 93.
When the sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment was done press horizontal mobile when first linear drives unit 2 drive the first slide blocks 3, operational tip 7 was also done horizontal movement, and its movement velocity is identical with the first slide block 3.The axis of the first hinge 511, the second hinge 512, the 3rd hinge 91, the 4th hinge 92, the 5th hinge 93, the 6th hinge 1111 is parallel to each other, all with the direction of motion perpendicular quadrature of the second linear drives unit 4 and the 3rd linear drives unit 10.
The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment in the plane of the direction of motion of vertical the first linear drives unit 2, the first hinge 511, the 3rd hinge 91(the 5th hinge 93), the 6th hinge 1111 triangularities arrange.
The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment operational tip 7 when the second linear drives unit 4 and the 3rd linear drives unit 10 move at the uniform velocity is in the same way done the translation with the second linear drives unit 4 and the 3rd linear drives unit 10 identical speed, and operational tip 7 is highly constant.
The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment when the second linear drives unit 4 and the 3rd linear drives unit 10 during with the special ratios differential motion operational tip 7 do the vertical direction motion.
The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment is in the plane of the direction of motion of vertical the first linear drives unit 2, the first hinge 511, the second hinge 512, the 4th hinge 92, the 3rd hinge 91(the 5th hinge 93) become parallelogram to arrange, guarantee that operational tip 7 attitudes do not change when motion.
In the sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment, the direction of motion of the first linear drives unit 2, the second linear drives unit 4 and the 3rd linear drives unit 10 is all parallel with horizontal plane, and operational tip can realize the space translation of three directions of x, y, z.
The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment is in the parallel-connection structure of the second linear drives unit 4 and the 3rd linear drives unit 10 compositions, and the plane that the axis of movement of the second linear drives unit 4 and the 3rd linear drives unit 10 forms is vertical with the plane of movement of operational tip 7.
In the sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment, the first linear drives unit 2, the second linear drives unit 4 and the 3rd linear drives unit 10 can adopt electric rotating machine to drive screw-nut body and realize, the structure that also can adopt electric rotating machine to drive the Timing Belt guide rail slide block realizes, can also be directly the linear electric motors of employing piezoelectricity or electromagnetic principle, on the realization of this mechanism without impact.
In the sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment, operational tip 7 can adopt mechanical paw, vacuum cup, negative pressure sucker or electromagnetism adsorbent equipment according to demand, on the realization of this mechanism without impact.
The sries-parallel connection type Three Degree Of Freedom translation carrying mechanism of the utility model embodiment is gone here and there and hybrid connected structure by employing, namely between the first linear drives unit 2 and second and third linear drives unit 4,10, adopt cascaded structure, between the second linear drives unit 4 and the 3rd linear drives unit 10, adopt parallel-connection structure, make driver element arrange compacter, simplify the structure, reduce simultaneously load inertia, be conducive to improve beat.
To those skilled in the art, obviously the utility model is not limited to the details of above-mentioned one exemplary embodiment, and in the situation that do not deviate from spirit of the present utility model or essential characteristic, can realize the utility model with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than above-mentioned explanation, therefore is intended to include in the utility model dropping on the implication that is equal to important document of claim and all changes in scope.Any Reference numeral in claim should be considered as limit related claim.
In addition, be to be understood that, although this specification is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of specification is only for clarity sake, those skilled in the art should make specification as a whole, and the technical scheme in each embodiment also can, through appropriate combination, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (8)
1. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism, it is characterized in that: it comprises pedestal, be located at the first linear drives unit on pedestal, the first slide block with the first linear drives unit matching, be located at the second linear drives unit on the first slide block, be located at the 3rd linear drives unit on the first slide block, the first connecting rod and the second connecting rod that with the second linear drives unit, are connected, the third connecting rod be connected with the 3rd linear drives unit, the second connector be connected with third connecting rod, be located at the operational tip on the second connector, on described the second linear drives unit, be provided with the second slide block, on described the second slide block, be provided with the first connector, one end of described first connecting rod and second connecting rod is connected with the first connector, the other end of described first connecting rod and second connecting rod is connected with the second connector, on described the 3rd linear drives unit, be provided with the 3rd slide block, on described the 3rd slide block, be provided with the 3rd connector, one end of described third connecting rod is connected with the 3rd connector, the other end of described third connecting rod is connected with the second connector, described the first linear drives unit and second, between the 3rd linear drives unit, adopt cascaded structure, between described the second linear drives unit and the 3rd linear drives unit, adopt parallel-connection structure.
2. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 1 is characterized in that: also comprise the first hinge and the second hinge, an end of described first connecting rod and second connecting rod is connected with the first connector by the first hinge and the second hinge.
3. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 2 is characterized in that: also comprise the 3rd hinge and the 4th hinge, the other end of described first connecting rod and second connecting rod is connected with the second connector by the 3rd hinge and the 4th hinge.
4. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 3 is characterized in that: also comprise the 6th hinge, an end of described third connecting rod is connected with the 3rd connector by the 6th hinge.
5. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 4 is characterized in that: also comprise the 5th hinge, the other end of described third connecting rod is connected with connector by the 5th hinge.
6. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 5 is characterized in that: the axis of described the first hinge, the second hinge, the 3rd hinge, the 4th hinge, the 5th hinge, the 6th hinge be parallel to each other and all with the direction of motion perpendicular quadrature of the second linear drives unit and the 3rd linear drives unit.
7. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 5 is characterized in that: in the plane of the direction of motion of vertical the first linear drives unit, described the first hinge, the 3rd hinge, the 6th hinge triangularity are arranged.
8. sries-parallel connection type Three Degree Of Freedom translation carrying mechanism according to claim 5, it is characterized in that: in the plane of the direction of motion of vertical the first linear drives unit, described the first hinge, the second hinge, the 4th hinge, the 5th hinge become parallelogram to arrange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202776906U CN203305211U (en) | 2013-05-20 | 2013-05-20 | Series-parallel combined type three-freedom-degree translational motion carrying mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202776906U CN203305211U (en) | 2013-05-20 | 2013-05-20 | Series-parallel combined type three-freedom-degree translational motion carrying mechanism |
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| CN203305211U true CN203305211U (en) | 2013-11-27 |
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| CN2013202776906U Expired - Fee Related CN203305211U (en) | 2013-05-20 | 2013-05-20 | Series-parallel combined type three-freedom-degree translational motion carrying mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264384A (en) * | 2013-05-20 | 2013-08-28 | 苏州大学 | Series-parallel combined three-freedom-degree translation carrying mechanism |
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- 2013-05-20 CN CN2013202776906U patent/CN203305211U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264384A (en) * | 2013-05-20 | 2013-08-28 | 苏州大学 | Series-parallel combined three-freedom-degree translation carrying mechanism |
| CN103264384B (en) * | 2013-05-20 | 2016-09-28 | 苏州大学 | Sries-parallel connection type Three Degree Of Freedom translation carrying mechanism |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20160520 |
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| CF01 | Termination of patent right due to non-payment of annual fee |