CN204094785U - A kind of planar two-DOF parallel robot mechanism - Google Patents
A kind of planar two-DOF parallel robot mechanism Download PDFInfo
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- CN204094785U CN204094785U CN201420378512.7U CN201420378512U CN204094785U CN 204094785 U CN204094785 U CN 204094785U CN 201420378512 U CN201420378512 U CN 201420378512U CN 204094785 U CN204094785 U CN 204094785U
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Abstract
The utility model relates to a kind of planar two-DOF parallel robot mechanism, it is characterized in that: motion platform is connected with fixed platform by two identical side chains, each side chain to be in series composition by a parallel-crank mechanism and a slide block, wherein slide block is robot mechanism input, and the parallel-crank mechanism of two side chains in motion platform place cross-articulation together.This mechanism can be used as industrial robot and realizes the operations such as sorting in plane, packaging and encapsulation.The utility model has the advantages such as lightweight, high speed.
Description
Technical field:
The utility model belongs to industrial robot and mechanical manufacturing field, particularly a kind of planar two-DOF parallel robot mechanism.
Background technology:
Plane two-degree-of-freedoparallel parallel robot can realize arbitrary trajectory in plane, can be applicable to high-speed job task in the planes such as sorting, packaging, encapsulation, therefore on the automatic production line of the industries such as light industry, electronics, food and medicine, obtains important application.
In existing planar two-DOF parallel robot mechanism, it exports is some movement in the plane in mechanism, and on engineer applied, often needs to locate a rigid body in the plane, two-dimensional translation in the plane requiring the end of mechanism to export to be a rigid body.
For solving the problem, Xin-Jun Liu proposed a kind of novel planar two-degree-of-freedoparallel parallel robot in 2004, its feature being different from existing plane two-freedom-degree parallel mechanism is, parallel-crank mechanism is have employed in the side chain of mechanism, the end of such robot is the rigid body doing plane translation, and is no longer the point in a plane.The artificial moving sets of this machine drives, and for obtaining larger working space, it needs large lateral dimension, and this is the weak point of this mechanism.In order to make mechanism can have less lateral dimension, CN101804629B proposes a kind of crossed two-freedom-degree parallel mechanism, and it also drives for moving sets, and owing to have employed the linkage arrangement of chiasma type, the guide rail of mechanism has less lateral dimension.CN2511447Y proposes a kind of DIAMOND robot mechanism, and it adopts revolute pair to drive, and each side chain is containing two parallel-crank mechanisms be in series, and the output of its end is also the translation of a rigid body.Owing to adopting revolute pair to drive, its lateral dimension is very little, but too increases the number of connecting rod in side chain.
Foregoing invention, all pass through to adopt parallel-crank mechanism in side chain, and then obtain the translation of end rigid body, but no matter be chiasma type, or other type, it is all containing two side chains, two side chains are hinged on the both sides of motion platform at mechanism end, motion platform all has larger kinematics size, and this increases the quality of motion platform undoubtedly, is unfavorable for that robot completes the high-speed job task in plane.
Summary of the invention:
The utility model, for deficiency of the prior art, proposes a kind of planar two-DOF parallel robot mechanism, and its translation and two-dimensional that can realize end movement platform exports, and has lightweight, the advantages such as high speed.
The utility model solves the scheme that its technical problem adopts: planar two-DOF parallel robot mechanism, this mechanism is symmetrical structure.To be mechanism kinematic platform be connected with fixed platform by two identical side chains its structure, and be composed in series by a parallel-crank mechanism and a slide block for each side chain, slide block is as the input of every side chain.The parallel-crank mechanism of each side chain in motion platform place cross-articulation together.
The utility model passes through technique scheme, there is following effect: due to the employing of parallel-crank mechanism, two-dimensional translation in the plane that can realize motion platform, due to each side chain parallel-crank mechanism in motion platform place cross-articulation together, substantially reduce the size of mechanism kinematic platform, reduce the quality of motion platform, this robot mechanism is had lightweight, the advantages such as high speed.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model;
In figure: 1,3,5,6,10,11 is revolute pair, 2 is motion platform, and 4 is first connecting rod, and 7 is second connecting rod, and 8 is the first slide block, and 9 is the second slide block, and 12 is third connecting rod, and 13 is double leval jib, and 14 is fixed platform.
Detailed description of the invention:
Below in conjunction with accompanying drawing 1 shownschematically embodiment be described in further detail:
In the embodiment shown in fig. 1: robot mechanism is symmetrical mechanism about y-axis, motion platform 2 is connected with fixed platform 14 by two identical side chains.Article two, side chain is a parallel-crank mechanism and a slide block is in series.Wherein first connecting rod 4, second connecting rod 7, first slide block 8 and motion platform 2 form the parallel-crank mechanism of the first side chain, first connecting rod 4 by revolute pair 6 and the first slide block 8 hinged, first connecting rod 4 is hinged by revolute pair 3 and motion platform 2, second connecting rod 7 is hinged by revolute pair 5 and the first slide block 8, second connecting rod 7 by revolute pair 1 and motion platform 2 hinged.Wherein third connecting rod 12, double leval jib 13, second slide block 9 and motion platform 2 form the parallel-crank mechanism of the second side chain, third connecting rod 12 by revolute pair 10 and the second slide block 9 hinged, third connecting rod 12 is hinged by revolute pair 1 and motion platform 2, double leval jib 13 is hinged by revolute pair 11 and the second slide block 9, double leval jib 13 by revolute pair 3 and motion platform 2 hinged.In motion platform 2 place cross-articulation together, wherein first connecting rod 4 and double leval jib 13 are hinged with crossing revolute pair 3 parallel-crank mechanism of two side chains, and second connecting rod 7 and third connecting rod 12 are hinged by revolute pair 1.
Claims (1)
1. a planar two-DOF parallel robot mechanism, it is characterized in that: end hinge is connected with fixed platform by two identical side chains, each side chain is all containing a parallel-crank mechanism and a slide block, this parallel-crank mechanism and slide block are for being connected in series, slide block is the input of this each side chain of robot mechanism, and the parallel-crank mechanism of each side chain in motion platform place cross-articulation together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420378512.7U CN204094785U (en) | 2014-07-10 | 2014-07-10 | A kind of planar two-DOF parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420378512.7U CN204094785U (en) | 2014-07-10 | 2014-07-10 | A kind of planar two-DOF parallel robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204094785U true CN204094785U (en) | 2015-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201420378512.7U Expired - Fee Related CN204094785U (en) | 2014-07-10 | 2014-07-10 | A kind of planar two-DOF parallel robot mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN204094785U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044135A (en) * | 2014-07-10 | 2014-09-17 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism |
| CN106945013A (en) * | 2017-04-17 | 2017-07-14 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the side chain containing coupling |
| CN111243374A (en) * | 2020-01-17 | 2020-06-05 | 杜建男 | Six-degree-of-freedom motion simulator with large translation stroke and high response speed |
-
2014
- 2014-07-10 CN CN201420378512.7U patent/CN204094785U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044135A (en) * | 2014-07-10 | 2014-09-17 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism |
| CN106945013A (en) * | 2017-04-17 | 2017-07-14 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the side chain containing coupling |
| CN106945013B (en) * | 2017-04-17 | 2019-07-26 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the branch containing coupling |
| CN111243374A (en) * | 2020-01-17 | 2020-06-05 | 杜建男 | Six-degree-of-freedom motion simulator with large translation stroke and high response speed |
| CN111243374B (en) * | 2020-01-17 | 2021-12-17 | 杜建男 | Motion simulator with large translation stroke and high response speed |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150114 Termination date: 20150710 |
|
| EXPY | Termination of patent right or utility model |