CN203460171U - Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation - Google Patents
Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation Download PDFInfo
- Publication number
- CN203460171U CN203460171U CN201320452111.7U CN201320452111U CN203460171U CN 203460171 U CN203460171 U CN 203460171U CN 201320452111 U CN201320452111 U CN 201320452111U CN 203460171 U CN203460171 U CN 203460171U
- Authority
- CN
- China
- Prior art keywords
- hack lever
- hooke
- central plate
- far away
- dimensional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Transmission Devices (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The utility model discloses a parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation. The parallel mechanism comprises a fixed frame and a movable platform, wherein five driving devices are fixedly connected onto the fixed frame, and the movable platform comprises a central plate and a rocker perpendicularly penetrating through the center of the central plate. The central plate is in rotary connection with the rocker through hooke joint, and two ball head rods are fixed at the upper end of the rocker. Three first branched chains are connected between the fixed frame and the movable platform, and two second branched chains are connected between the fixed frame and the two ball head rods. The central plate performs three-dimensional translation under the driving of the three first branched chains, the rocker performs two-dimensional rotation relative to the central plate under the driving of the two second branched chains through the hooke joint, and therefore, the rocker has three translational degrees of freedom and two rotational degrees of freedom. The parallel mechanism is simple and compact in structure, achieves five degrees of freedom ingeniously through the hooke joints, reduces mechanical complexity, and performs high-speed high-precision complex grabbing easily.
Description
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of parallel institution with space five-freedom of robot.
Background technology
The at present domestic mechanism that the research of space six-degree-of-freedom parallel connection mechanism is still concentrated on machining or measures purposes, and study less for the space six-degree-of-freedom parallel connection mechanism that is applied to the high-speed motion realized of material pick-and-place.
There is in the world minority to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place.Patent documentation US20110097184A1 discloses a kind of parallel institution of realizing three-dimensional translating and Three dimensional rotation, comprises fixed mount, moving platform, Three Degree Of Freedom wrist and is arranged symmetrically in three side chains that structure is identical between described fixed mount and moving platform; On described fixed mount, be connected with drive unit; Described moving platform is connected with lower connecting axle; Every side chain comprises hack lever far away that nearly hack lever is parallel with two and drive end, connecting axle, and on described nearly hack lever one end and described fixed mount, drive end is affixed, and the other end is connected with connecting axle; Described two parallel hack lever far away one end respectively with the two ends ball-joint of described upper connecting axle, the other end respectively with described lower connecting axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; Between described two parallel hack levers far away, be connected with drive end; Between described connecting axle one end and described hack lever far away, drive end is affixed, and the other end and described Three Degree Of Freedom wrist input are affixed.The limitation of said mechanism is: the drive end of Three Degree Of Freedom wrist is fixed between two hack levers far away, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, causes this mechanism to be difficult to realize high-speed motion.
Utility model content
For above-mentioned prior art, the utility model provides a kind of parallel institution of realizing three-dimensional translating two-dimensional rotary, has the feature of light inertia, high power density, can be used for the parallel manipulator with five freedom degrees of high-speed motion.
In order to solve the problems of the technologies described above, a kind of parallel institution of realizing three-dimensional translating two-dimensional rotary of the utility model, comprise fixed mount and moving platform, on described fixed mount, be connected with five drive units, described moving platform comprises central plate and vertically through the rocking bar of central plate center, between described central plate and described rocking bar, adopt Hooke's hinge to be rotationally connected, the upper end of described rocking bar is fixed with two ball rods; Between described fixed mount and central plate, be connected with three the first side chains, between described fixed mount and described two ball rods, be connected with two the second side chains; Described the first side chain is parallel to each other by nearly hack lever, upper connecting axle, two and isometric the first hack lever far away and lower connecting axle forms; Described the second side chain consists of nearly hack lever, upper connection spherical hinge, the second hack lever far away and lower connection spherical hinge; In described the first side chain, between one end of described nearly hack lever and described fixed mount, by revolute pair, be connected and affixed with the output of a drive unit, the other end of described nearly hack lever and described upper connecting axle are affixed, one end of two first hack levers far away respectively with described upper connecting axle ball-joint, the other end of two first hack levers far away respectively with described lower connecting axle ball-joint; Upper connecting axle in every first side chain, two parallel and isometric the first hack lever far away and lower connecting axles form a parallelogram sturcutre; In described the second side chain, between one end of described nearly hack lever and described fixed mount, by revolute pair, be connected and affixed with the output of a drive unit, the other end of described nearly hack lever is by one end ball-joint of described upper connection spherical hinge and the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge and described ball rod ball-joint; Described central plate is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar to realize three-dimensional translating, described rocking bar is by realizing the two-dimensional rotary with respect to described central plate by Hooke's hinge under the drive of two the second side chains, thereby make existing three translational degree of freedom of rocking bar, have again two rotational freedoms.
Further, described Hooke's hinge comprises Hooke inner ring and Hooke outer ring, and described Hooke inner ring is connected with Hooke outer ring rotating, and described Hooke inner ring and described rocking bar are affixed, and described Hooke outer ring and described central plate are rotationally connected.
Compared with prior art, the beneficial effects of the utility model are:
The utility model is simple and compact for structure, without enlarger, utilizes Hooke's hinge to realize cleverly five degree of freedom, has reduced mechanism complexity, has reduced heavy moving parts, has improved kinematic accuracy, easily realizes at a high speed and capturing, and meet the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram of the utility model parallel institution that can realize three-dimensional translating two-dimensional rotary;
Fig. 2 is the structural representation of moving platform in the utility model;
Fig. 3 is the structural representation of Hooke's hinge in the utility model.
In figure: 1-drive unit, 2-fixed mount, the nearly hack lever of 3-, the upper connection of 4-spherical hinge, the upper connecting axle of 5-, 6-second hack lever far away, 6a, 6b-first hack lever far away, connect spherical hinge under 7-, connecting axle under 8-, 9-moving platform, 10-central plate, 11-Hooke inner ring, 12-Hooke outer ring, 13-rocking bar.
The specific embodiment
Below in conjunction with the specific embodiment, the utility model is described in further detail.
As shown in Figure 1, a kind of parallel institution of realizing three-dimensional translating two-dimensional rotary of the utility model, comprise fixed mount 2 and moving platform 9, on described fixed mount 2, be connected with five drive units 1, as depicted in figs. 1 and 2, described moving platform 9 comprises central plate 10 and vertically through the rocking bar 13 of central plate 10 centers, as shown in Figure 3, between described central plate 10 and described rocking bar 13, adopt Hooke's hinge to be rotationally connected, described Hooke's hinge comprises Hooke inner ring 11 and Hooke outer ring 12, described Hooke inner ring 11 is rotationally connected with Hooke outer ring 12, described Hooke inner ring 11 is affixed with described rocking bar 13, described Hooke outer ring 12 is rotationally connected with described central plate 10, the upper end of described rocking bar 13 is fixed with two ball rods.
As shown in Figure 1, between described fixed mount 2 and central plate 10, be connected with three the first side chains, between described fixed mount 2 and described two ball rods, be connected with two the second side chains; Described the first side chain by nearly hack lever 3, upper connecting axle 5, two be parallel to each other and isometric the first hack lever 6a, 6b far away and lower connecting axle 8 forms; Described the second side chain consists of nearly hack lever 3, upper connection spherical hinge the 4, second hack lever 6 far away and lower connection spherical hinge 7.In described the first side chain, between one end of described nearly hack lever 3 and described fixed mount 2, by revolute pair, be connected and affixed with the output of a drive unit 1, described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it, the other end of described nearly hack lever 3 and described upper connecting axle 5 are affixed, one end of two first hack lever 6a, 6b far away respectively with described upper connecting axle 5 ball-joints, the other end of two first hack lever 6a, 6b far away respectively with described lower connecting axle 8 ball-joints; Upper connecting axle in every first side chain 5, two the first parallel and isometric hack lever 6a, 6b far away and lower connecting axle 8 form parallelogram sturcutres; In described the second side chain, between one end of described nearly hack lever 3 and described fixed mount 2, by revolute pair, be connected and affixed with the output of a drive unit 1, the other end of described nearly hack lever 3 is one end ball-joint with the described second hack lever far away by described upper connection spherical hinge 4, and the other end of the described second hack lever far away is by described lower connection spherical hinge 7 and described ball rod ball-joint.
As depicted in figs. 1 and 2, described central plate 10 is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar 13 to realize three-dimensional translating, described rocking bar 13 is by realizing the two-dimensional rotary with respect to described central plate 10 by Hooke's hinge under the drive of two the second side chains, thereby make existing three translational degree of freedom of rocking bar 13, have again two rotational freedoms.
Simultaneously, when parallel manipulator with five freedom degrees motion of the present utility model, upper connection spherical hinge in the second side chain and lower connection spherical hinge only need a place that the rotation around the second hack lever 6 far away is provided, Gu while replacing upper connection spherical hinge or lower connection spherical hinge with Hooke's hinge, described rocking bar 13 still can be driven and under the effect of Hooke's hinge, be realized the two-dimensional rotary with respect to described central plate 10 by two the second side chains, and then mechanism can realize three translational degree of freedom and three rotational freedoms equally.
Compared with prior art, its difference is the utility model:
Five side chains in the utility model are divided into two groups, and one group comprises three the first side chains, and another group comprises two the second side chains, and central plate 10 is driven and realized three-dimensional translating by three the first side chains, thereby drives rocking bar 13 to realize three-dimensional translating; Under the drive of two the second side chains, rocking bar 13 is realized the two-dimensional rotary of relative central plate 10 by Hooke's hinge, thereby makes existing three translational degree of freedom of rocking bar 13, has again two rotational freedoms.
In the utility model, by Hooke's hinge, replace the upper arbitrary place connecting in spherical hinge 4 and lower connection spherical hinge 7, the utility model can be realized translational degree of freedom and two rotational freedoms of three directions equally.
Parallel manipulator with five freedom degrees of the present utility model has been avoided enlarger, utilizes Hooke's hinge to realize cleverly five degree of freedom, its compact conformation, reduce mechanism complexity, reduced heavy moving parts, improved kinematic accuracy, easily realize at a high speed and capturing, and meet the requirement of complicated pick-and-place operation.
Although the utility model is described in conjunction with figure above; but the utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; in the situation that not departing from the utility model aim, can also make a lot of distortion, within these all belong to protection of the present utility model.
Claims (2)
1. can realize a parallel institution for three-dimensional translating two-dimensional rotary, comprise fixed mount (2) and moving platform (9), on described fixed mount (2), be connected with five drive units (1), it is characterized in that,
Described moving platform (9) comprises central plate (10) and vertically through the rocking bar (13) of central plate (10) center, between described central plate (10) and described rocking bar (13), adopt Hooke's hinge to be rotationally connected, the upper end of described rocking bar (13) is fixed with two ball rods;
Between described fixed mount (2) and central plate (10), be connected with three the first side chains, between described fixed mount (2) and described two ball rods, be connected with two the second side chains; Described the first side chain is parallel to each other by nearly hack lever (3), upper connecting axle (5), two and isometric the first hack lever far away (6a, 6b) and lower connecting axle (8) forms; Described the second side chain consists of nearly hack lever (3), upper connection spherical hinge (4), the second hack lever far away (6) and lower connection spherical hinge (7);
In described the first side chain, between one end of described nearly hack lever (3) and described fixed mount (2), by revolute pair, be connected and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) and described upper connecting axle (5) are affixed, one end of two first hack levers far away (6a, 6b) respectively with described upper connecting axle (5) ball-joint, the other end of two first hack levers far away (6a, 6b) respectively with described lower connecting axle (8) ball-joint; Upper connecting axle (5) in every first side chain, two parallel and isometric the first hack lever far away (6a, 6b) and lower connecting axles (8) form a parallelogram sturcutre;
In described the second side chain, between one end of described nearly hack lever (3) and described fixed mount (2), by revolute pair, be connected and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) is one end ball-joint with the described second hack lever far away by described upper connection spherical hinge (4), and the other end of the described second hack lever far away is by described lower connection spherical hinge (7) and described ball rod ball-joint;
Described central plate (10) is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar (13) to realize three-dimensional translating, described rocking bar (13) passes through the two-dimensional rotary of the relatively described central plate of realization (10) of Hooke's hinge under the drive of two the second side chains, thereby make existing three translational degree of freedom of rocking bar (13), have again two rotational freedoms.
2. can realize according to claim 1 the parallel institution of three-dimensional translating two-dimensional rotary, it is characterized in that, described Hooke's hinge comprises Hooke inner ring (11) and Hooke outer ring (12), described Hooke inner ring (11) is rotationally connected with Hooke outer ring (12), described Hooke inner ring (11) is affixed with described rocking bar (13), and described Hooke outer ring (12) is rotationally connected with described central plate (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320452111.7U CN203460171U (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320452111.7U CN203460171U (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203460171U true CN203460171U (en) | 2014-03-05 |
Family
ID=50172556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320452111.7U Withdrawn - After Issue CN203460171U (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203460171U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103350417A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN106695766A (en) * | 2017-03-01 | 2017-05-24 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom parallel device based on grabbing parallel mechanism |
| CN107538468A (en) * | 2016-06-29 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Five-DOF (degree of freedom) redundance drives polishing robot in parallel |
| CN108608407A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of multi-shaft interlocked robot of telescopic formula |
-
2013
- 2013-07-25 CN CN201320452111.7U patent/CN203460171U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103350417A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
| CN103350417B (en) * | 2013-07-25 | 2015-03-04 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN107538468A (en) * | 2016-06-29 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Five-DOF (degree of freedom) redundance drives polishing robot in parallel |
| CN106695766A (en) * | 2017-03-01 | 2017-05-24 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom parallel device based on grabbing parallel mechanism |
| CN108608407A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of multi-shaft interlocked robot of telescopic formula |
| CN108608407B (en) * | 2018-04-11 | 2021-03-26 | 清华大学 | Foldable multi-axis linkage robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201808063U (en) | Six-degrees-of-freedom parallel robot device | |
| CN203460171U (en) | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation | |
| CN203460173U (en) | Parallel mechanism capable of achieving three-dimensional translation and three-dimensional | |
| CN203460172U (en) | High-speed six-freedom-degree parallel connection mechanical hand | |
| CN103350417B (en) | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation | |
| CN102632502B (en) | High-speed six-degree of freedom parallel manipulator | |
| CN107336219B (en) | Parallel mechanism with two-movement three-rotation five-degree-of-freedom | |
| CN103386681B (en) | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation | |
| CN101214647A (en) | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive | |
| CN103846911B (en) | A kind of high speed six-degree of freedom parallel manipulator | |
| CN105234926A (en) | Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN204160473U (en) | A kind of novel multiple branch circuit hydraulic control sphere parallel mechanism | |
| CN102975203A (en) | High-speed five-degree of freedom parallel manipulator | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN103350418B (en) | High-speed five-freedom-degree parallel mechanical arm | |
| CN102975197A (en) | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom | |
| CN105291091B (en) | Three-translation one-rotation parallel robot with plane pair | |
| CN102848383B (en) | High-speed moving parallel mechanical arm with six degrees of freedom | |
| CN103846907A (en) | Double-parallel-connection-structure six-freedom high-speed mechanical hand | |
| CN203460177U (en) | High-speed five-freedom-degree parallel connection mechanical hand | |
| CN202162805U (en) | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling | |
| CN107471201B (en) | Structure redundancy parallel robot mechanism with three relative degrees of freedom | |
| CN201669702U (en) | Five-degree-of-freedom parallel manipulator mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140305 Effective date of abandoning: 20150304 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140305 Effective date of abandoning: 20150304 |
|
| RGAV | Abandon patent right to avoid regrant |