CN203460177U - High-speed five-freedom-degree parallel connection mechanical hand - Google Patents
High-speed five-freedom-degree parallel connection mechanical hand Download PDFInfo
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- CN203460177U CN203460177U CN201320452267.5U CN201320452267U CN203460177U CN 203460177 U CN203460177 U CN 203460177U CN 201320452267 U CN201320452267 U CN 201320452267U CN 203460177 U CN203460177 U CN 203460177U
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- 210000000707 wrist Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
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Abstract
本实用新型公开了一种高速五自由度并联机械手，在一固定架上固接有五个驱动装置，固定架与一动平台之间连接有五条结构相同的支链；每条支链由近架杆、上连接轴、两个平行且等长的远架杆和下连接轴构成一平行四边形结构；动平台包括水平布置的上平台和下平台，其中三条支链中的下连接轴设置在下平台上，另外两条支链中的下连接轴设置在上平台上，垂直于上、下平台贯穿的设置有一摇杆，摇杆与上、下平台之间均采用虎克铰转动连接；下平台在三条支链的带动下实现三维平动，上平台在摇杆和另外两条支链的共同作用下实现三维平动；虎克铰将上、下平台之间的相对移动转化为摇杆的二维转动，从而使摇杆既有三个平动自由度，又有两个转动自由度。
The utility model discloses a high-speed five-degree-of-freedom parallel manipulator, five driving devices are fixedly connected to a fixed frame, and five branch chains with the same structure are connected between the fixed frame and a moving platform; The rod, the upper connecting shaft, two parallel and equal-length remote rods and the lower connecting shaft form a parallelogram structure; the moving platform includes an upper platform and a lower platform arranged horizontally, and the lower connecting shafts of the three branch chains are set on the lower platform The upper and lower connecting shafts of the other two branch chains are set on the upper platform, and a rocker is installed perpendicular to the upper and lower platforms, and the rocker is connected to the upper and lower platforms by a Hooke hinge; The three-dimensional translation is realized under the drive of the three branch chains, and the upper platform realizes the three-dimensional translation under the joint action of the rocker and the other two branch chains; the Hooke hinge converts the relative movement between the upper and lower platforms into the motion of the rocker. Two-dimensional rotation, so that the rocker has three degrees of freedom in translation and two degrees of freedom in rotation.
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 high speed parallel manipulator with five freedom degrees, and the utility model manipulator has that inertia is light, high power density, can realize the feature of high-speed motion.
In order to solve the problems of the technologies described above, a kind of high speed parallel manipulator with five freedom degrees of the utility model, comprises fixed mount and moving platform, is connected with five drive units on described fixed mount, between described fixed mount and moving platform, is connected with five side chains that structure is identical; Every side chain consists of nearly hack lever, upper connecting axle, two parallel and isometric hack levers far away and lower connecting axle; Between one end of described nearly hack lever and described fixed mount, by revolute pair, link and affixed with the output of described drive unit, the other end of described nearly hack lever and described upper connecting axle are affixed; One end of described hack lever far away respectively with described upper connecting axle ball-joint, the other end of described hack lever far away respectively with described lower connecting axle ball-joint; Upper connecting axle in every side chain, two parallel and isometric hack levers far away and lower connecting axle form a parallelogram sturcutre; Described moving platform comprises horizontally disposed upper mounting plate and lower platform, described upper mounting plate and lower platform are divided into two groups by five side chains, wherein the lower connecting axle in one group three side chains is arranged on described lower platform, lower connecting axle in two side chains of other a group is arranged on described upper mounting plate, what perpendicular to described upper mounting plate and lower platform, run through is provided with a rocking bar, between described rocking bar and described upper mounting plate and described lower platform, all adopts Hooke's hinge to be rotationally connected; Described lower platform is realized three-dimensional translating under the drive of three side chains that are attached thereto, and described upper mounting plate is realized three-dimensional translating under the acting in conjunction of rocking bar and two side chains that are connected with described upper mounting plate; Described Hooke's hinge is converted into relatively moving between upper mounting plate and lower platform the two-dimensional rotary of described rocking bar, thereby makes existing three translational degree of freedom of rocking bar, has 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 is rotationally connected with described upper mounting plate and described lower platform respectively.
Compared with prior art, the beneficial effects of the utility model are:
Because moving platform in the utility model has adopted horizontally disposed upper mounting plate and lower platform, and adopt Hooke's hinge to be rotationally connected between upper and lower platform, its compact conformation not only, and saved enlarger, the complexity that has reduced mechanism, has reduced heavy moving parts, has improved kinematic accuracy, easily realize at a high speed and capturing, can meet the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram of the utility model high speed parallel manipulator with five freedom degrees;
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 connecting axle of 4-, 5a, 5b-hack lever far away, connecting axle under 6-, 7-moving platform, 8-upper mounting plate, 9-lower platform, 10a, 10b-Hooke inner ring, 11a, 11b-Hooke outer ring, 12-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 high speed parallel manipulator with five freedom degrees of the utility model, comprises fixed mount 2 and moving platform 7, is connected with five drive units 1 on described fixed mount 2, between described fixed mount 2 and moving platform 7, is connected with five side chains that structure is identical; Every side chain consists of nearly hack lever 3, upper connecting axle 4, two parallel and isometric hack lever 5a far away, 5b and lower connecting axle 6; Between one end of described nearly hack lever 3 and described fixed mount 2, by revolute pair, link and affixed with the output of described drive unit 1, described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it, and the other end of described nearly hack lever 3 and described upper connecting axle 4 are affixed; One end of described hack lever 5a far away, 5b respectively with described upper connecting axle 4 ball-joints, the other end of described hack lever 5a far away, 5b respectively with described lower connecting axle 6 ball-joints; Upper connecting axle in every side chain 4, two parallel and isometric hack lever 5a far away, 5b and lower connecting axle 6 form parallelogram sturcutres.
As depicted in figs. 1 and 2, described moving platform 7 comprises horizontally disposed upper mounting plate 8 and lower platform 9, described upper mounting plate 8 and lower platform 9 are divided into two groups by five side chains, on described upper mounting plate 8, be fixed with two described lower connecting axles 6, on described lower platform 9, be fixed with three described lower connecting axles 6, that is, wherein the lower connecting axle 6 in one group three side chains is arranged on described lower platform 9, and described lower platform 9 is realized three-dimensional translating under the drive of three side chains that are attached thereto.Lower connecting axle 6 in two side chains of other a group is arranged on described upper mounting plate 8, what perpendicular to described upper mounting plate 8 and lower platform 9, run through is provided with a rocking bar 12, between described rocking bar 12 and described upper mounting plate 8 and described lower platform 9, all adopt Hooke's hinge to be rotationally connected, under the acting in conjunction of two side chains that described upper mounting plate 8 is attached thereto at rocking bar 12, realize three-dimensional translating.As shown in Figure 2, described Hooke's hinge comprises Hooke inner ring and Hooke outer ring; Between rocking bar 12 and upper mounting plate 8, Hooke inner ring 10a and Hooke outer ring 11a are rotationally connected, and described Hooke inner ring 10a and described rocking bar 12 are affixed, and described Hooke outer ring 11a and described upper mounting plate 8 are rotationally connected; Between rocking bar 12 and lower platform 9, Hooke inner ring 10b and Hooke outer ring 11b are rotationally connected, described Hooke inner ring 11a and described rocking bar 12 are affixed, described Hooke outer ring 11b and described upper mounting plate 8 are rotationally connected, described Hooke's hinge is converted into the two-dimensional rotary of described rocking bar 12 by relatively moving between upper mounting plate 8 and lower platform 9, thereby make existing three translational degree of freedom of rocking bar 12, have again two rotational freedoms.
Compared with prior art, its difference is the utility model:
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)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320452267.5U CN203460177U (en) | 2013-07-25 | 2013-07-25 | High-speed five-freedom-degree parallel connection mechanical hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320452267.5U CN203460177U (en) | 2013-07-25 | 2013-07-25 | High-speed five-freedom-degree parallel connection mechanical hand |
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| Publication Number | Publication Date |
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| CN203460177U true CN203460177U (en) | 2014-03-05 |
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| CN201320452267.5U Expired - Lifetime CN203460177U (en) | 2013-07-25 | 2013-07-25 | High-speed five-freedom-degree parallel connection mechanical hand |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN106737600A (en) * | 2017-01-16 | 2017-05-31 | 安徽工业大学 | A kind of seven freedom transfer robot containing ball-screw moving platform |
| CN110815814A (en) * | 2019-10-31 | 2020-02-21 | 西安交通大学 | Seven-shaft parallel shape-following curved surface fused deposition additive manufacturing device |
-
2013
- 2013-07-25 CN CN201320452267.5U patent/CN203460177U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN103350418B (en) * | 2013-07-25 | 2015-06-03 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN106737600A (en) * | 2017-01-16 | 2017-05-31 | 安徽工业大学 | A kind of seven freedom transfer robot containing ball-screw moving platform |
| CN106737600B (en) * | 2017-01-16 | 2019-05-07 | 安徽工业大学 | A seven-degree-of-freedom handling robot with a ball-screw moving platform |
| CN110815814A (en) * | 2019-10-31 | 2020-02-21 | 西安交通大学 | Seven-shaft parallel shape-following curved surface fused deposition additive manufacturing device |
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| GR01 | Patent grant | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140305 Effective date of abandoning: 20150603 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140305 Effective date of abandoning: 20150603 |
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| RGAV | Abandon patent right to avoid regrant |