CN205201513U - Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism - Google Patents
Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism Download PDFInfo
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- CN205201513U CN205201513U CN201520948773.2U CN201520948773U CN205201513U CN 205201513 U CN205201513 U CN 205201513U CN 201520948773 U CN201520948773 U CN 201520948773U CN 205201513 U CN205201513 U CN 205201513U
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Abstract
The utility model provides a five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism, its includes fixed platform, moving platform, the grudging post of L type, move platform, three side chains and single degree of freedom and sway the head, wherein is equipped with moving platform above the fixed platform, is equipped with the grudging post of L type in the fixed platform side, is equipped with three side chains at this L type grudging post roof panel between the platform with moving, is equipped with single degree of freedom and sways the head below moving the platform. A first and third chain structure is the same, and axis that U in the second side chain is vice to be close to L type support is parallel to each other with two revolute pair axis in first, three side chains, and parallel and perpendicular to moves the countershaft line with the revolute pair axis in the second side chain for axis that U is vice to be close to the connecting rod, and revolute pair axis in the second side chain is on a parallel with in first, three side chains two U pair near the axis that moves the platform. The utility model discloses simple structure, the real time control of being convenient for are favorable to increasing the working space of lathe, improve the sensitivity of lathe.
Description
Technical field
The utility model belongs to industrial robot field, particularly a kind of series-parallel robot.
Background technology
In industrial robot application, multiple degrees of freedom series-parallel robot can be applied in the fields such as Machining of Curved Surface, welding, cutting, assembling, sorting, has good application prospect.The development of Robotics has become the mark of modern industry manufacture, in conjunction with parallel institution compact conformation, rigidity is high, dynamic response is fast and cascaded structure flexibility is good, working space is large feature, the series-parallel robot comprehensively gone out obtains to be paid close attention to widely and studies, and has become the large study hotspot of robot and theory of mechanisms field one.
The series parallel robot in five degrees of freedom constructed based on the 2R1T parallel institution with two continuous rotating shafts combines the advantage of serial mechanism and parallel institution, integral rigidity is large, the degree of modularity is high, be easy to realize trajectory planning, kinematic calibration and motion control, the series-parallel robot constructed based on this type of parallel institution has good application prospect.At present, the core functional components 2R1T parallel institution 2UPR/SPR joint number of Exechon Five-axis NC Machining Center is few, only there are 10 single-DOF-joints, it is joint minimum number in the middle of current the type series-parallel robot, but parallel institution 2UPR/SPR does not have two continuous rotating shafts, patent CN102672709B authorizes the series parallel robot in five degrees of freedom announced, its parallel connection part does not have two continuous rotating shafts equally, cause its kinematics model comparatively complicated, add the difficulty of trajectory planning, kinematic calibration and motion control.
Summary of the invention
The purpose of this utility model is to provide the series parallel robot in five degrees of freedom based on 2R1T parallel institution that a kind of rigidity is large, bearing capacity is strong, kinematics analysis is simple, joint number is few, be easy to processing and manufacturing, be convenient to control in real time.
The utility model mainly comprises fixed platform, mobile platform, L-type stand, moving platform, three side chains and single-degree-of-freedom wobble heads, wherein be provided with mobile platform above fixed platform, L-type stand is provided with in fixed platform side, between this L-type stand roof panel and moving platform, be provided with three side chains, below moving platform, be provided with single-degree-of-freedom wobble heads.
The one end hit exactly in described fixed platform is provided with motor cabinet, mobile platform motor is fixed on motor cabinet, the output of motor is connected by shaft coupling one end with mobile platform leading screw, this one end of this mobile platform leading screw is supported by the mobile platform leading screw upper bracket be fixed on mobile platform motor cabinet, the other end of this mobile platform leading screw is supported by the leading screw undersetting being located at fixed platform opposite side, and the effective travel part of described mobile platform leading screw is connected with mobile platform nut; This mobile platform nut is fixed on bottom mobile platform; Described mobile platform is connected with two mobile platform guide rails that symmetry is fixed in the fixed platform of mobile platform leading screw both sides by the mobile platform slide block be distributed on bottom mobile platform.
The riser lower end of described L-type stand is matrix, is crossed on the side of fixed platform, and the roof panel of this L-type stand is provided with the through hole arranged in isosceles triangle, is equipped with kinematic pair bearing in the both sides of each through hole; Article three, side chain is located in above-mentioned through hole respectively, first side chain and the 3rd side chain are located at by the parallel through hole in the base, riser side of L-type stand, second side chain is located in the through hole of drift angle, the plane of movement of the first side chain and the 3rd side chain is in same plane, and the plane of movement of the second side chain is vertical all the time with the plane of movement of the 3rd side chain with the first side chain;
First side chain is identical with the 3rd branched structure, is RPU structure, mainly comprises connecting rod, motor, guide rail, turns auxiliary shaft, shaft coupling, leading screw, leading screw bearing and U secondary; Two guide rails be parallel to each other wherein are provided with at the first half of connecting rod, each guide rail is equipped with slide block, this slide block is fixed on the bottom of turns auxiliary shaft, the two ends of this turns auxiliary shaft are rotated with the kinematic pair bearing of above-mentioned through hole both sides respectively and are connected, motor cabinet is fixed on the upper end of turns auxiliary shaft, and motor is fixed on motor cabinet; Single-rail is provided with in the middle of the Lower Half of connecting rod, leading screw upper bracket is fixed on the lower end of above-mentioned turns auxiliary shaft, one end of leading screw is connected with motor output end by shaft coupling, feed screw nut is fixed on connecting rod, the leading screw undersetting be enclosed within leading screw is located on single-rail, can slide up and down, form moving sets; The lower end of this connecting rod is connected with moving platform by U pair;
Above-mentioned first and the 3rd two revolute pair axis in side chain are parallel to each other, and be parallel to the secondary axis near connecting rod of U, perpendicular to moving sets axis, the secondary dead in line near moving platform of two U;
Second side chain is UPR structure, turns auxiliary shaft in side chain is rotated with another turns auxiliary shaft and is connected, form the secondary turning cylinder of U, the two ends of the secondary turning cylinder of this U are rotated with the kinematic pair bearing of above-mentioned through hole both sides respectively and are connected, in this side chain, the lower end of connecting rod is connected with moving platform by revolute pair, and other parts of this second side chain are identical with the 3rd side chain with first with connected mode;
The two revolute pair axis of U pair in the axis and first and third side chain of L-type support in above-mentioned second side chain are parallel to each other, the secondary axis near connecting rod of U with the turns auxiliary shaft line parallel in the second side chain and perpendicular to moving sets axis, the axis of the secondary close moving platform of two U in first and third side chain of the turns auxiliary shaft line parallel in the second side chain.
The utility model compared with prior art tool has the following advantages:
1. structure is simple, and the joint number of parallel connection part is only 9 less, is conducive to the integral rigidity improving structure;
2. parallel connection part is 2R1T parallel institution, has two continuous rotating shafts, double rotation freedom degrees partly decoupled, is conducive to reducing the difficulty controlled;
3. the first side chain overlaps vertical with the plane of movement of the second side chain, symmetrical with the plane of movement of the 3rd side chain, and kinematics analysis is simple, is convenient to real-time control;
4. the combination of single-degree-of-freedom wobble heads and moving platform, is conducive to the working space increasing lathe, improves the sensitivity of lathe;
5. mobile platform and parallel connection part independently, effectively avoid the accumulation of error because parts machining error and rigging error cause.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present utility model;
Fig. 2 is the structural representation of the utility model mobile platform;
Fig. 3 is the structural representation sketch of the utility model first and the 3rd side chain;
Fig. 4 is the structural representation sketch of the utility model second side chain.
In figure: 1: fixed platform, 2: mobile platform, 3:L type support, 4: the first side chains, 5: kinematic pair bearing, 6: the second side chains, 7: the three side chains, 8: moving platform, 9: single-degree-of-freedom wobble heads, 10: mobile platform leading screw undersetting, 11: mobile platform leading screw, 12: mobile platform motor cabinet, 13: mobile platform motor, 14: mobile platform guide rail, 15: mobile platform nut, 16: mobile platform slide block, 17: mobile platform screw mandrel upper bracket, 18: mobile platform shaft coupling, 19: guide rail A, 20: connecting rod, 21: side chain motor cabinet, 22: a chain coupling, 23:U is secondary, 24: side chain motor, 25: slide block, 26: turns auxiliary shaft, 27: side chain leading screw upper bracket, 28: feed screw nut, 29: side chain leading screw, 30: side chain leading screw undersetting, 31: guide rail B, the secondary outer shaft of 32:U, 33: revolute pair
Detailed description of the invention
Shown in Fig. 1 based in the series parallel robot in five degrees of freedom schematic diagram of 2R1T parallel institution, fixed platform 1 is provided with mobile platform 2 above, L-type stand 3 is provided with in fixed platform side, between this L-type stand roof panel and moving platform 8, be provided with the first side chain 4, second side chain 7, the 3rd side chain 6, below moving platform, be provided with single-degree-of-freedom wobble heads 9.
Mobile platform motor cabinet 12 is provided with in described fixed platform center, mobile platform motor 13 is fixed on mobile platform motor cabinet, the output of mobile platform motor is connected with one end of mobile platform leading screw 11 by mobile platform shaft coupling 18, this one end of this mobile platform leading screw is supported by the mobile platform leading screw upper bracket 17 be fixed on mobile platform motor cabinet 12, the other end of this mobile platform leading screw is supported by the mobile platform leading screw undersetting 10 in fixed platform, and the effective travel part of described mobile platform leading screw is connected with mobile platform nut 15; This mobile platform nut is fixed on bottom mobile platform; Described mobile platform is connected with two mobile platform guide rails 14 that symmetry is fixed in the fixed platform of mobile platform leading screw both sides by the mobile platform slide block 16 be distributed on bottom mobile platform, and mobile platform leading screw is provided with nut 15, as shown in Figure 2.
The riser lower end of described L-type stand is matrix, is crossed on the side of fixed platform, and the roof panel of this L-type stand is provided with the through hole arranged in isosceles triangle, is equipped with kinematic pair bearing 5 in the both sides of each through hole; Article three, side chain is located in above-mentioned through hole respectively, first side chain and the 3rd side chain are located in the through hole of the side of L-type stand riser, second side chain is located in the through hole of drift angle, the plane of movement of the first side chain and the 3rd side chain is in same plane, and the plane of movement of the second side chain is vertical all the time with the plane of movement of the 3rd side chain with the first side chain;
As shown in Figure 3, first side chain is identical with the 3rd branched structure, for RPU structure, the first half of the connecting rod 20 in them is provided with two the guide rail A19 be parallel to each other, each guide rail is equipped with slide block 25, this slide block is fixed on the bottom of turns auxiliary shaft 26, and the two ends of this turns auxiliary shaft are rotated with the kinematic pair bearing of above-mentioned through hole both sides respectively and connected, side chain motor cabinet 21 is fixed on the upper end of turns auxiliary shaft, and side chain motor 24 is fixed on motor cabinet; Single-rail B31 is provided with in the middle of the Lower Half of connecting rod, side chain leading screw upper bracket 27 is fixed on the lower end of above-mentioned turns auxiliary shaft, one end of side chain leading screw 29 is connected with side chain motor output end by a chain coupling 22, feed screw nut 28 is fixed on connecting rod, the side chain leading screw undersetting 30 be enclosed within side chain leading screw 29 is located on single-rail, can slide up and down, form moving sets; The lower end of this connecting rod is connected with moving platform by U secondary 23;
Above-mentioned first and the 3rd two revolute pair axis in side chain are parallel to each other, and be parallel to the secondary axis near connecting rod of U, perpendicular to moving sets axis, the secondary dead in line near moving platform of two U;
As shown in Figure 4, second side chain is UPR structure, turns auxiliary shaft in side chain is rotated with another turns auxiliary shaft and is connected, form the secondary turning cylinder 32 of U, the two ends of the secondary turning cylinder of this U are rotated with the kinematic pair bearing of above-mentioned through hole both sides respectively and are connected, in this side chain, the lower end of connecting rod is connected with moving platform by revolute pair 33, and the connected mode of other parts of this second side chain is identical with the 3rd side chain with first;
The two revolute pair axis of U pair in the axis and first and third side chain of L-type support in above-mentioned second side chain are parallel to each other, the secondary axis near connecting rod of U with the turns auxiliary shaft line parallel in the second side chain and perpendicular to moving sets axis, the axis of the secondary close moving platform of two U in first and third side chain of the turns auxiliary shaft line parallel in the second side chain.
Claims (3)
1. the series parallel robot in five degrees of freedom based on 2R1T parallel institution, it comprises fixed platform, mobile platform, L-type stand, moving platform, three side chains and single-degree-of-freedom wobble heads, it is characterized in that: above described fixed platform, be provided with mobile platform, L-type stand is provided with in fixed platform side, between the roof panel and moving platform of this L-type stand, be provided with three side chains, below moving platform, be provided with single-degree-of-freedom wobble heads;
The one end hit exactly in described fixed platform is provided with motor cabinet, mobile platform motor is fixed on motor cabinet, the output of motor is connected by shaft coupling one end with mobile platform leading screw, this one end of this mobile platform leading screw is supported by the mobile platform leading screw upper bracket be fixed on mobile platform motor cabinet, the other end of this mobile platform leading screw is supported by the leading screw undersetting being located at fixed platform opposite side, and the effective travel part of described mobile platform leading screw is connected with mobile platform nut; This mobile platform nut is fixed on bottom mobile platform; Described mobile platform is connected with two mobile platform guide rails that symmetry is fixed in the fixed platform of mobile platform leading screw both sides by the mobile platform slide block be distributed on bottom mobile platform;
The riser lower end of described L-type stand is matrix, is crossed on the side of fixed platform, and the roof panel of this L-type stand is provided with the through hole arranged in isosceles triangle, is equipped with kinematic pair bearing in the both sides of each through hole; Article three, side chain is located in above-mentioned through hole respectively, first side chain and the 3rd side chain are located at by the parallel through hole in the base, riser side of L-type stand, second side chain is located in the through hole of drift angle, the plane of movement of the first side chain and the 3rd side chain is in same plane, and the plane of movement of the second side chain is vertical all the time with the plane of movement of the 3rd side chain with the first side chain;
Described first side chain is identical with the 3rd branched structure, is RPU structure, mainly comprises connecting rod, motor, guide rail, turns auxiliary shaft, shaft coupling, leading screw, leading screw bearing and U secondary; Two guide rails be parallel to each other wherein are provided with at the first half of connecting rod, each guide rail is equipped with slide block, this slide block is fixed on the bottom of turns auxiliary shaft, the two ends of this turns auxiliary shaft are rotated with the kinematic pair bearing of above-mentioned through hole both sides respectively and are connected, motor cabinet is fixed on the upper end of turns auxiliary shaft, and motor is fixed on motor cabinet; Single-rail is provided with in the middle of the Lower Half of connecting rod, leading screw upper bracket is fixed on the lower end of above-mentioned turns auxiliary shaft, one end of leading screw is connected with motor output end by shaft coupling, feed screw nut is fixed on connecting rod, the leading screw undersetting be enclosed within leading screw is located on single-rail, can slide up and down, the lower end of described connecting rod is connected with moving platform by U pair;
Described second side chain is UPR structure, turns auxiliary shaft in side chain is rotated with another turns auxiliary shaft and is connected, form the secondary turning cylinder of U, the two ends of the secondary turning cylinder of this U are rotated with the kinematic pair bearing of above-mentioned through hole both sides respectively and are connected, in this side chain, the lower end of connecting rod is connected with moving platform by revolute pair, and other parts of this second side chain are identical with the 3rd side chain with first with connected mode.
2. the series parallel robot in five degrees of freedom based on 2R1T parallel institution according to claim 1, it is characterized in that: the described first and the 3rd two revolute pair axis in side chain are parallel to each other, and be parallel to U pair near the axis of connecting rod, perpendicular to moving sets axis, the secondary dead in line near moving platform of two U.
3. the series parallel robot in five degrees of freedom based on 2R1T parallel institution according to claim 1, it is characterized in that: the two revolute pair axis of U pair in the axis and first and third side chain of L-type support in described second side chain are parallel to each other, the secondary axis near connecting rod of U with the turns auxiliary shaft line parallel in the second side chain and perpendicular to moving sets axis, the axis of the secondary close moving platform of two U in first and third side chain of the turns auxiliary shaft line parallel in the second side chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520948773.2U CN205201513U (en) | 2015-11-25 | 2015-11-25 | Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism |
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| CN201520948773.2U CN205201513U (en) | 2015-11-25 | 2015-11-25 | Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism |
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| CN205201513U true CN205201513U (en) | 2016-05-04 |
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| CN201520948773.2U Withdrawn - After Issue CN205201513U (en) | 2015-11-25 | 2015-11-25 | Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106272362A (en) * | 2016-10-07 | 2017-01-04 | 南京理工大学 | A kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution |
| CN107263451A (en) * | 2017-07-31 | 2017-10-20 | 福州大学 | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work |
| CN107351062A (en) * | 2017-07-25 | 2017-11-17 | 天津大学 | A kind of asymmetric Planar Mechanisms series parallel robot in five degrees of freedom |
| CN107671845A (en) * | 2017-11-10 | 2018-02-09 | 燕山大学 | A kind of few joint Planar Mechanisms series parallel robot in five degrees of freedom |
| CN107775065A (en) * | 2017-09-29 | 2018-03-09 | 天津大学 | The coordinated movement of various economic factors synchronisation control means of the wall thickness such as dual robot mirror image milling processing |
| CN108000495A (en) * | 2017-12-13 | 2018-05-08 | 浙江理工大学 | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle |
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2015
- 2015-11-25 CN CN201520948773.2U patent/CN205201513U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106272362A (en) * | 2016-10-07 | 2017-01-04 | 南京理工大学 | A kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution |
| CN107351062A (en) * | 2017-07-25 | 2017-11-17 | 天津大学 | A kind of asymmetric Planar Mechanisms series parallel robot in five degrees of freedom |
| CN107351062B (en) * | 2017-07-25 | 2020-04-24 | 天津大学 | Asymmetric over-constrained five-degree-of-freedom hybrid robot |
| CN107263451A (en) * | 2017-07-31 | 2017-10-20 | 福州大学 | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work |
| CN107775065A (en) * | 2017-09-29 | 2018-03-09 | 天津大学 | The coordinated movement of various economic factors synchronisation control means of the wall thickness such as dual robot mirror image milling processing |
| CN107671845A (en) * | 2017-11-10 | 2018-02-09 | 燕山大学 | A kind of few joint Planar Mechanisms series parallel robot in five degrees of freedom |
| CN108000495A (en) * | 2017-12-13 | 2018-05-08 | 浙江理工大学 | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle |
| CN108000495B (en) * | 2017-12-13 | 2023-12-01 | 浙江理工大学 | Two-rotation one-movement redundant driving parallel mechanism with large swing angle |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20160504 Effective date of abandoning: 20170322 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |