CN203460172U - High-speed six-freedom-degree parallel connection mechanical hand - Google Patents

High-speed six-freedom-degree parallel connection mechanical hand Download PDF

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Publication number
CN203460172U
CN203460172U CN201320452270.7U CN201320452270U CN203460172U CN 203460172 U CN203460172 U CN 203460172U CN 201320452270 U CN201320452270 U CN 201320452270U CN 203460172 U CN203460172 U CN 203460172U
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China
Prior art keywords
hooke
hack lever
rocking bar
effector
freedom
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Expired - Fee Related
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CN201320452270.7U
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Chinese (zh)
Inventor
赵学满
王攀峰
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Tianjin University
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Tianjin University
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Abstract

The utility model discloses a high-speed six-freedom-degree parallel connection mechanical hand which comprises a fixing frame and a movable platform. The fixing frame is fixedly connected with six driving devices, the movable platform comprises a center plate and a rocking bar, the center plate is rotatably connected with the rocking bar through a hooke joint, three ball head rods are fixedly arranged on the rocking bar, the middle of the rocking bar is provided with a screw rod, the screw rod is matched with a nut, and an end effector is fixed on the nut. Three first branch chains are connected between the fixing frame and the center plate, three second branch chains are connected between the fixing frame and the three ball head rods, and the end effector is driven by the three first branch chains to achieve three-dimensional translation and driven by the three second branch chains to achieve two-dimensional rotation relative to the center plate; the end effector achieves rotation by axial movement of the rocking bar and the nut, and accordingly the end effector has three translation freedom degrees and three rotation freedom degrees. The high-speed six-freedom-degree parallel connection mechanical hand is simple and compact in structure, the six freedoms degrees are achieved ingeniously through the hooke joint and a screw pair, mechanism complexity is reduced, and high-speed high-precision complex capturing is achieved easily.

Description

A kind of high speed six-degree-of-freedom parallel tool hand
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of parallel institution with space six degree of 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 high speed six-degree-of-freedom parallel tool hand, has the feature of light inertia, high power density, high-speed motion.
In order to solve the problems of the technologies described above, a kind of high speed six-degree-of-freedom parallel of the utility model tool hand, comprise fixed mount and moving platform, on described fixed mount, be connected with six 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 three ball rods, the middle part of described rocking bar is leading screw, on described leading screw, be combined with nut, on described nut, be fixed with end effector; Between described fixed mount and central plate, be connected with three the first side chains, between described fixed mount and three ball rods, be connected with three 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 end effector is driven and is realized three-dimensional translating by three the first side chains, and described end effector is driven and under the effect of Hooke's hinge, realized the two-dimensional rotary with respect to described central plate by three the second side chains; Under the effect of the screw pair consisting of leading screw and nut, described rocking bar is converted into the rotation of described end effector with respect to moving axially of nut, thereby makes existing three translational degree of freedom of end effector, has again three 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 is connected with described nut rotation, and described Hooke outer ring and described central plate are rotationally connected.
The utility model high speed six-degree-of-freedom parallel tool hand, wherein also comprise a guide post, described guide post is parallel with described rocking bar, and described Hooke inner ring is provided with for the via hole through guide post, described guide post and this via hole are matched in clearance, and the top of described guide post and described rocking bar are fixed.
Compared with prior art, the beneficial effects of the utility model are:
Six-degree-of-freedom parallel tool hand of the present utility model is simple and compact for structure, avoided enlarger, utilize Hooke's hinge and screw pair to realize cleverly six degree of freedom, reduced mechanism complexity, reduced heavy moving parts, improve kinematic accuracy, easily realized at a high speed and capturing, and met the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram of a kind of high speed six-degree-of-freedom parallel of the utility model tool hand;
Fig. 2 is the structural representation of moving platform in the utility model;
Fig. 3 is the structural representation of Hooke's hinge on moving platform 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-nut, 14-vertical rod, 15-rocking bar, 16-end effector, 17-leading screw.
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 high speed six-degree-of-freedom parallel of the utility model tool hand, comprises fixed mount 2 and moving platform 9, is connected with six drive units 1 on described fixed mount 2,
As shown in Figure 2, described moving platform 9 comprises central plate 10 and vertically through the rocking bar 15 of central plate 10 centers, between described central plate 10 and described rocking bar 15, adopt Hooke's hinge to be rotationally connected, the upper end of described rocking bar 15 is fixed with three ball rods, the middle part of described rocking bar 15 is leading screw 17, on described leading screw 17, be combined with nut 13, on described nut 13, be fixed with end effector 16; As shown in Figure 3, described Hooke's hinge comprises Hooke inner ring 11 and Hooke outer ring 12, and described Hooke inner ring 11 is rotationally connected with Hooke outer ring 12, and described Hooke inner ring 11 is rotationally connected with described nut 13, and described Hooke outer ring 12 is rotationally connected with described central plate 10.
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 three ball rods, be connected with three 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 end effector 16 is driven and is realized three-dimensional translating by three the first side chains, and described end effector 16 is driven and under the effect of Hooke's hinge, realized the two-dimensional rotary with respect to described central plate 10 by three the second side chains; Under the effect of the screw pair consisting of leading screw 17 and nut 13, described rocking bar 15 is converted into the rotation of described end effector 16 with respect to moving axially of nut 13, thereby makes existing three translational degree of freedom of end effector 16, has again three rotational freedoms.
In the utility model, also comprise a guide post 14, described guide post 14 is parallel with described rocking bar 15, described guide post 14 is for guaranteeing that rocking bar 15 is identical with nut 13 axis when relatively moving, described Hooke inner ring 11 is provided with for the via hole through guide post 14, described guide post 14 is matched in clearance with this via hole, and the top of described guide post 14 and described rocking bar 15 are fixing.
Simultaneously, when six-degree-of-freedom parallel tool hands movement 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 end effector 16 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 three 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:
Six side chains in the utility model are divided into two groups, and central plate 10 is driven and realized three-dimensional translating by three the first side chains, thereby drives end effector 16 to realize three-dimensional translating; Under the drive of three the second side chains, the Hooke's hinge that utilizes Hooke inner ring 11 and Hooke outer ring 12 to form, make end effector 16 realize the two-dimensional rotary of relative central plate 10, and under the effect of screw pair, rocking bar 15 makes nut 13 rotations with respect to moving axially of nut 13, thereby makes end effector 16 realize rotation; Described guide post 14 has guaranteed that rocking bar 15 is identical with nut 13 axis when relatively moving.In the utility model, existing three translational degree of freedom of end effector 16, have again three rotational freedoms.
In addition, in the utility model, with the arbitrary Chu, mechanism that Hooke's hinge replaces connecting in spherical hinge 4 and lower connection spherical hinge 7, can realize equally three translational degree of freedom and three rotational freedoms.
To sum up, the utility model high speed six-degree-of-freedom parallel tool hand has been avoided enlarger, utilize Hooke's hinge and screw pair to realize cleverly six 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 by reference to the accompanying drawings preferred embodiment of the present utility model is described above; but the utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not 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 forms, within these all belong to protection domain of the present utility model.

Claims (3)

1. a high speed six-degree-of-freedom parallel tool hand, comprises fixed mount (2) and moving platform (9), is connected with six drive units (1) on described fixed mount (2), it is characterized in that,
Described moving platform (9) comprises central plate (10) and vertically through the rocking bar (15) of central plate (10) center, between described central plate (10) and described rocking bar (15), adopt Hooke's hinge to be rotationally connected, the upper end of described rocking bar (15) is fixed with three ball rods, the middle part of described rocking bar (15) is leading screw (17), on described leading screw (17), be combined with nut (13), on described nut (13), be fixed with end effector (16);
Between described fixed mount (2) and central plate (10), be connected with three the first side chains, between described fixed mount (2) and three ball rods, be connected with three 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 end effector (16) is driven and is realized three-dimensional translating by three the first side chains, and described end effector (16) is driven and under the effect of Hooke's hinge, realized the two-dimensional rotary with respect to described central plate (10) by three the second side chains; Under the effect of the screw pair being formed by leading screw (17) and nut (13), described rocking bar (15) is with respect to the rotation that is converted into described end effector (16) that moves axially of nut (13), thereby make existing three translational degree of freedom of end effector (16), have again three rotational freedoms.
2. high speed six-degree-of-freedom parallel tool hand according to claim 1, 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 rotationally connected with described nut (13), and described Hooke outer ring (12) is rotationally connected with described central plate (10).
3. high speed six-degree-of-freedom parallel tool hand according to claim 1, it is characterized in that, also comprise a guide post (14), described guide post (14) is parallel with described rocking bar (15), described Hooke inner ring (11) is provided with for the via hole through guide post (14), described guide post (14) is matched in clearance with this via hole, and the top of described guide post (14) and described rocking bar (15) are fixing.
CN201320452270.7U 2013-07-25 2013-07-25 High-speed six-freedom-degree parallel connection mechanical hand Expired - Fee Related CN203460172U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103395062A (en) * 2013-07-25 2013-11-20 天津大学 High-speed six-degree-of-freedom parallel manipulator
CN107433574A (en) * 2017-09-22 2017-12-05 中国地质大学(武汉) A kind of six degree of freedom connection in series-parallel puts together machines people
CN109531543A (en) * 2018-12-21 2019-03-29 清华大学 Four-freedom-degree parallel-connection robot with double acting platform structure
CN111634224A (en) * 2020-07-20 2020-09-08 吉林工程技术师范学院 Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103395062A (en) * 2013-07-25 2013-11-20 天津大学 High-speed six-degree-of-freedom parallel manipulator
CN107433574A (en) * 2017-09-22 2017-12-05 中国地质大学(武汉) A kind of six degree of freedom connection in series-parallel puts together machines people
CN107433574B (en) * 2017-09-22 2019-12-17 中国地质大学(武汉) Six-freedom-degree series-parallel assembly robot
CN109531543A (en) * 2018-12-21 2019-03-29 清华大学 Four-freedom-degree parallel-connection robot with double acting platform structure
CN111634224A (en) * 2020-07-20 2020-09-08 吉林工程技术师范学院 Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device

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Granted publication date: 20140305

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