CN206066430U - A kind of four-freedom parallel connection robot mechanism - Google Patents
A kind of four-freedom parallel connection robot mechanism Download PDFInfo
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- CN206066430U CN206066430U CN201621095605.4U CN201621095605U CN206066430U CN 206066430 U CN206066430 U CN 206066430U CN 201621095605 U CN201621095605 U CN 201621095605U CN 206066430 U CN206066430 U CN 206066430U
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- leg
- rotating shaft
- axis
- drive rod
- pedestal
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Abstract
This utility model provides a kind of four-freedom parallel connection robot mechanism, including frame, moving platform and the first leg being connected between frame and moving platform, second leg, 3rd leg and the 4th leg, the bottom of the first leg is rotatably installed in frame by the first cross connecting piece, the top of the first leg is arranged on moving platform by the 3rd axis of rotation, the bottom of the second leg is rotatably installed in frame by the second cross connecting piece, the top of the second leg is connected on moving platform by the 6th axis of rotation, the bottom of the 3rd leg is rotatably installed in frame by the 3rd cross connecting piece, the top of the 3rd leg is arranged on moving platform by the 9th axis of rotation, the bottom of the 4th leg is rotatably installed in frame by the 4th cross connecting piece, the top of the 4th leg is rotatably installed on moving platform by spherical linkage；Mechanism structure of the present utility model is simple, kinematic pair number is few, rigidity is high, and work space is big, and dynamic property is good, and easily controllable, has a good application prospect.
Description
Technical field
This utility model is related to robot mechanism technical field, more particularly to a kind of four-freedom parallel connection robot mechanism.
Background technology
Relative to serial mechanism, parallel institution has the advantages that rigidity is big, bearing capacity is strong, cumulative errors are little, high precision,
Six-degree-of-freedom parallel connection mechanism can realize the position of six-freedom degree and stance adjustment, but generally, due to degree of freedom
The increase of number, number of branches also accordingly can increase, the complexity also just corresponding increase of control process.
In recent years, the four-freedom parallel mechanism in minority carrier generation lifetime is constantly by attention and the green grass or young crops of researcher
Look at, and rigidity is high, work space is larger, and kinematic dexterity is good, and simple such parallel institution of control is to be badly in need of now, and
The design that four-freedom parallel mechanism is used as marine motor simulator is less, is used as the stable leveling platform of marine drilling
Design does not have substantially.
Utility model content
In view of this, this utility model provides a kind of work space is big, rigidity is big and easily controllable four-degree-of-freedom simultaneously
Connection robot mechanism.
This utility model provides a kind of four-freedom parallel connection robot mechanism, including frame, moving platform and is connected to machine
The first leg, the second leg, the 3rd leg and the 4th leg between frame and moving platform, first leg, described second
Foot, the 3rd leg and the 4th leg are scalable, and the bottom of first leg passes through one first cross connecting piece
It is rotatably installed in the frame, first cross connecting piece includes orthogonal first rotating shaft and the second rotating shaft, described
First leg can pass through the 3rd axis of rotation rotating around the first rotating shaft and the second axis of rotation, the top of first leg
On the moving platform, the bottom of second leg is rotatably installed in the frame by the second cross connecting piece,
Second cross connecting piece includes orthogonal 4th rotating shaft and the 5th rotating shaft, and second leg can be rotating around described
Four rotating shafts and the 5th axis of rotation, the top of second leg are connected on the moving platform by the 6th axis of rotation, institute
The bottom for stating the 3rd leg is rotatably installed in the frame by the 3rd cross connecting piece, and the 3rd cross connecting piece includes
Orthogonal 7th rotating shaft and eighth-turn axle, the 3rd leg can turn rotating around the 7th rotating shaft and the eighth-turn axle
Dynamic, the top of the 3rd leg is arranged on the moving platform by the 9th axis of rotation, and the bottom of the 4th leg leads to
Cross the 4th cross connecting piece to be rotatably installed in the frame, the 4th cross connecting piece includes orthogonal tenth rotating shaft
With the 11st rotating shaft, the 4th leg can be rotating around the tenth rotating shaft and the 11st axis of rotation, described 4th
The top of foot is rotatably installed on the moving platform by spherical linkage.
Further, it is fixed with the first pedestal, the second pedestal, the 3rd pedestal and the 4th pedestal in the frame, this four
Line composition one in pedestal two-by-two between adjacent susceptors is square, and the first rotating shaft rotates connection first pedestal, institute
State the 4th axis of rotation and connect second pedestal, the 7th axis of rotation connects the 3rd pedestal, the tenth rotating shaft
Rotate connection the 4th pedestal.
Further, the 5th pedestal, the 6th pedestal, the 7th pedestal and the 8th pedestal are fixed with the moving platform, this four
Line composition one in individual pedestal two-by-two between adjacent susceptors is square, and the 3rd axis of rotation connects the 5th pedestal,
6th axis of rotation connects the 6th pedestal, and the 9th axis of rotation connects the 7th pedestal, the spherical hinge
Chain rotates connection the 8th pedestal.
Further, first leg includes the first drive rod and the second drive rod, and second drive rod is by the
One moving sets do stretching motion in first drive rod, and second leg includes the 3rd drive rod and the 4th drive rod,
4th drive rod does stretching motion in the 3rd drive rod by the second moving sets, and the 3rd leg includes the 5th
Drive rod and the 6th drive rod, the 6th drive rod do stretching motion by three moving sets in the 5th drive rod,
4th leg includes the 7th drive rod and the 8th drive rod, and the 8th drive rod passes through the 4th moving sets the described 7th
Stretching motion is done in drive rod.
Further, the dead in line of the axis of the first rotating shaft and the 7th rotating shaft, the axle of the first rotating shaft
Line, the axis of the 4th rotating shaft are parallel to each other with the axis of the tenth rotating shaft, the axis of the 3rd rotating shaft, the described 6th
The axis of rotating shaft is parallel to each other with the axis of the 9th rotating shaft.
Further, first moving sets, second moving sets, the three moving sets and the 4th moving sets
Driven respectively, moved described in first leg, second leg, the 3rd leg and the 4th leg co- controlling
The attitude of platform and position, realize two rotational freedoms, and the rotating shaft of a rotational freedom is the axis of the first rotating shaft
Direction, the rotating shaft of another rotational freedom and the axes intersect and the axis parallel to the second rotating shaft of the first rotating shaft, go back
Two one-movement-freedom-degrees are realized, the direction of an one-movement-freedom-degree is the axis direction of the first rotating shaft, another movement is certainly
It is the normal vector direction that the 7th rotating shaft and the eighth-turn axle form plane by the direction spent.
Further, first moving sets, second moving sets, the three moving sets and the 4th moving sets
As active drive kinematic pair, type of drive is Motor drive or Driven by Hydraulic Cylinder.
Further, the four-freedom parallel connection robot mechanism can apply to field of marine equipment, including ocean fortune
Dynamic simulator and the stable leveling platform of marine drilling.
The beneficial effect that the technical solution of the utility model is brought is：Four-freedom parallel connection robot of the present utility model
Structure simple structure, kinematic pair number are few, rigidity is high, and work space is big, and dynamic property is good, and easily controllable, should with good
Use prospect.
Description of the drawings
Fig. 1 is the structural representation of this utility model four-freedom parallel connection robot mechanism.
Fig. 2 is another structural representation of this utility model four-freedom parallel connection robot mechanism.
In figure：1- frames, the first pedestals of 11-, the second pedestals of 12-, the 3rd pedestals of 13-, the 4th pedestals of 14-, 2- moving platforms,
The 5th pedestals of 21-, the 6th pedestals of 22-, the 7th pedestals of 23-, the 8th pedestals of 24-, the first legs of 3-, the first cross connecting pieces of 31-,
311- first rotating shafts, the second rotating shafts of 312-, the first drive rods of 32-, the first moving sets of 33-, the second drive rods of 34-, the 3rd turn of 35-
Axle, the second legs of 4-, the second cross connecting pieces of 41-, the 4th rotating shafts of 411-, the 5th rotating shafts of 412-, the 3rd drive rods of 42-, 43-
Two moving sets, the 4th drive rods of 44-, the 6th rotating shafts of 45-, the 3rd legs of 5-, the 3rd cross connecting pieces of 51-, the 7th rotating shafts of 511-,
512- eighth-turn axles, the 5th drive rods of 52-, 53- three moving sets, the 6th drive rods of 54-, the 9th rotating shafts of 55-, 6- the 4th
Foot, the 4th cross connecting pieces of 61-, the tenth rotating shafts of 611-, the 11st rotating shafts of 612-, the 7th drive rods of 62-, the 4th moving sets of 63-,
The 8th drive rods of 64-, 65- spherical linkages.
Specific embodiment
It is to make the purpose of this utility model, technical scheme and advantage clearer, new to this practicality below in conjunction with accompanying drawing
Type embodiment is further described.
Fig. 1 is refer to, embodiment of the present utility model provides a kind of four-freedom parallel connection robot mechanism, including frame
1st, the first leg 3 of the parallel connection between moving platform 2 and frame 1 and moving platform 2, the second leg 4, the 3rd leg 5 and the 4th
Foot 6, is fixed with the first pedestal 11, the second pedestal 12, the 3rd pedestal 13 and the 4th pedestal 14 in frame 1, two in this four pedestals
Line composition one between two adjacent susceptors is square；Be fixed with the downside of moving platform 2 square distribution the 5th pedestal 21,
Six pedestals 22, the 7th pedestal 23 and the 8th pedestal 24, the line composition one in this four pedestals two-by-two between adjacent susceptors are square
Shape.
First leg 3 includes the first cross connecting piece 31, the first drive rod 32 and the second drive rod 33.First drive rod 32
Lower end the first pedestal 11 of connection is rotated by the first cross connecting piece 31, the first cross connecting piece 31 includes orthogonal the
One rotating shaft 311 and the second rotating shaft 312, therefore, the first drive rod 32 can be rotating around 312 turns of first rotating shaft 311 and the second rotating shaft
It is dynamic.First drive rod 32 connects the second drive rod 34, the first drive rod 32 by the first moving sets 33（Cylinder barrel）For hollow, second
Drive rod 34（Piston rod）Stretching motion is done by the first moving sets 33 in the first drive rod 32, so as to adjust the first leg 3
Height.The upper end of the second drive rod 34 connects the 5th pedestal 21 by the 3rd axis of rotation.Wherein, the axle of the second rotating shaft 312
Line and the diameter parallel of the 3rd rotating shaft 35, and it is vertical with the axis of the first moving sets 33.
Second leg 4 includes the second cross connecting piece 41, the 3rd cross connecting piece 45, the 3rd drive rod 42 and the 4th driving
Bar 44.The lower end of the 3rd drive rod 42 rotates the second pedestal 12 of connection, the second cross connecting piece by the second cross connecting piece 41
41 include orthogonal 4th rotating shaft 411 and the 5th rotating shaft 412, therefore, the 3rd drive rod 42 can be rotating around the 4th rotating shaft
411 and the 5th rotating shaft 412 rotate.3rd drive rod 42 connects the 4th drive rod 44, the 3rd drive rod by the second moving sets 43
44（Cylinder barrel）For hollow, the 4th drive rod 42（Piston rod）Flexible fortune is done by the second moving sets 43 in the 3rd drive rod 44
It is dynamic, so as to adjust the height of the second leg 4.The upper end of the 4th drive rod 44 connects the 6th pedestal by the 6th axis of rotation.Its
In, the axis of the 5th rotating shaft 412 and the diameter parallel of the 6th rotating shaft 45, and it is vertical with the axis of the second moving sets 43.
3rd leg 5 includes the 3rd cross connecting piece 51, the 5th drive rod 52 and the 6th drive rod 54.5th drive rod 52
Lower end the 3rd pedestal 13 of connection is rotated by the 3rd cross connecting piece 51, the 4th cross connecting piece 51 includes orthogonal the
Seven rotating shafts 511 and eighth-turn axle 512, therefore, the 5th drive rod 52 can be rotating around 512 turns of the 7th rotating shaft 511 and eighth-turn axle
It is dynamic.5th drive rod 52 connects the 6th drive rod 54, the 5th drive rod 54 by three moving sets 53（Cylinder barrel）For hollow, the 6th
Drive rod 52（Piston rod）Stretching motion is done by three moving sets 53 in the 5th drive rod 54, so as to adjust the 3rd leg 5
Height.The upper end of the 6th drive rod 54 rotates the 7th pedestal 23 of connection by the 9th rotating shaft 55.Wherein, eighth-turn axle 512
Axis and the diameter parallel of the 9th rotating shaft 55, and it is vertical with the axis of three moving sets 53.
4th leg 6 includes the 4th cross connecting piece 61, the 7th drive rod 62 and the 8th drive rod 64.7th drive rod 62
Lower end the 4th pedestal 14 of connection is rotated by the 4th cross connecting piece 61, the 4th cross connecting piece 61 includes orthogonal the
Ten rotating shafts 611 and the 11st rotating shaft 612, therefore, the 7th drive rod 62 can be rotating around the tenth rotating shaft 611 and the 11st rotating shaft
612 rotate.7th drive rod 62 connects the 8th drive rod 64, the 7th drive rod 62 by the 4th moving sets 63（Cylinder barrel）For in
Sky, the 8th drive rod 64（Piston rod）Stretching motion is done by the 4th moving sets 63 in the 7th drive rod 62, so as to adjust the
The height of four legs 6.The upper end of the 8th drive rod 64 rotates the 8th pedestal 24 of connection, the 8th drive rod 64 by spherical linkage 65
Can be rotated in the range of the conical space that spherical linkage 65 is constrained for fulcrum with the junction point of spherical linkage 65.Wherein,
The axis of the 11st rotating shaft 612 is vertical with the axis of the 4th moving sets 63.
Wherein, the dead in line of the axis of first rotating shaft 311 and the 7th rotating shaft 511, the axis and the tenth of the 4th rotating shaft 411
The diameter parallel of rotating shaft 611 and the axis each parallel to first rotating shaft 311, the axis of the 3rd rotating shaft 35, the axle of the 6th rotating shaft 45
The axis of line and the 9th rotating shaft 55 is parallel to each other.
With reference to Fig. 2, Fig. 2 is mechanism in Fig. 1 structure chart after exercise.Line a is first rotating shaft 311 and the 7th rotating shaft
511 common axis, line b are intersected with line a and parallel to 312 axis of the second rotating shaft, and line c is the 7th rotating shaft 511 and eighth-turn axle
512 normal vectors for forming plane.First moving sets 33, the second moving sets 43, three moving sets 53 and the 4th moving sets 63 are distinguished
Driven, wherein the attitude of the first leg 3, the second leg 4,6 co- controlling moving platform 2 of the 3rd leg 5 and the 4th leg is realized
Two rotational freedoms, the rotating shaft of a rotational freedom is line a directions, and the rotating shaft of another rotational freedom is line b directions,
Two one-movement-freedom-degrees are realized also, the direction of an one-movement-freedom-degree is line a directions, and the direction of another one-movement-freedom-degree is line
C directions.
In this utility model embodiment, the first moving sets 33, the second moving sets 43, three moving sets 53 and the 4th moving sets
63 as active drive kinematic pair, and type of drive can be Motor drive or Driven by Hydraulic Cylinder.
This utility model four-freedom parallel connection robot mechanism can apply to field of marine equipment, including marine motor mould
Intend device and the stable leveling platform of marine drilling.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located in figure with parts in accompanying drawing and zero
Part position each other is intended merely to the clear and convenient of expression technology scheme come what is defined.It should be appreciated that the noun of locality
Use should not limit the scope that the application is claimed.
In the case where not conflicting, the feature in embodiment herein-above set forth and embodiment can be combined with each other.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all in this practicality
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (8)
1. a kind of four-freedom parallel connection robot mechanism, including frame and moving platform, it is characterised in that：The four-degree-of-freedom is in parallel
Robot mechanism also includes the first leg, the second leg, the 3rd leg and the 4th leg being connected between frame and moving platform,
First leg, second leg, the 3rd leg and the 4th leg are scalable, under first leg
Portion is rotatably installed in the frame by one first cross connecting piece, and first cross connecting piece includes orthogonal
One rotating shaft and the second rotating shaft, first leg can be rotating around the first rotating shaft and the second axis of rotation, first legs
Top be arranged on the moving platform by the 3rd axis of rotation, the bottom of second leg passes through the second cross connecting piece
It is rotatably installed in the frame, second cross connecting piece includes orthogonal 4th rotating shaft and the 5th rotating shaft, described
Second leg can pass through the 6th axis of rotation rotating around the 4th rotating shaft and the 5th axis of rotation, the top of second leg
It is connected on the moving platform, the bottom of the 3rd leg is rotatably installed in the frame by the 3rd cross connecting piece,
3rd cross connecting piece includes orthogonal 7th rotating shaft and eighth-turn axle, and the 3rd leg can be rotating around described
Seven rotating shafts and the 8th axis of rotation, the top of the 3rd leg are arranged on the moving platform by the 9th axis of rotation
On, the bottom of the 4th leg is rotatably installed in the frame by the 4th cross connecting piece, the 4th cross connection
Part includes orthogonal tenth rotating shaft and the 11st rotating shaft, and the 4th leg can be rotating around the tenth rotating shaft and described
11 axis of rotation, the top of the 4th leg are rotatably installed on the moving platform by spherical linkage.
2. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that：First is fixed with the frame
Pedestal, the second pedestal, the 3rd pedestal and the 4th pedestal, the line composition one in four pedestals two-by-two between adjacent susceptors are square
Shape, the first rotating shaft rotate connection first pedestal, and the 4th axis of rotation connects second pedestal, and the described 7th
Axis of rotation connects the 3rd pedestal, and the tenth axis of rotation connects the 4th pedestal.
3. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that：Is fixed with the moving platform
Five pedestals, the 6th pedestal, the 7th pedestal and the 8th pedestal, the line composition one in four pedestals two-by-two between adjacent susceptors is just
Square, the 3rd axis of rotation connects the 5th pedestal, and the 6th axis of rotation connects the 6th pedestal, and described the
Nine axis of rotation connect the 7th pedestal, and the spherical linkage rotates connection the 8th pedestal.
4. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that：First leg includes first
Drive rod and the second drive rod, second drive rod do stretching motion by the first moving sets in first drive rod,
Second leg includes the 3rd drive rod and the 4th drive rod, and the 4th drive rod passes through the second moving sets the described 3rd
Stretching motion is done in drive rod, the 3rd leg includes the 5th drive rod and the 6th drive rod, and the 6th drive rod passes through
Three moving sets do stretching motion in the 5th drive rod, and the 4th leg includes the 7th drive rod and the 8th driving
Bar, the 8th drive rod do stretching motion by the 4th moving sets in the 7th drive rod.
5. four-freedom parallel connection robot mechanism as claimed in claim 4, it is characterised in that：The axis of the first rotating shaft with
The dead in line of the 7th rotating shaft, the axis of the first rotating shaft, the axis of the 4th rotating shaft and the tenth rotating shaft
Axis is parallel to each other, and the axis of the 3rd rotating shaft, the axis of the 6th rotating shaft are mutually put down with the axis of the 9th rotating shaft
OK.
6. four-freedom parallel connection robot mechanism as claimed in claim 4, it is characterised in that：It is first moving sets, described
Second moving sets, the three moving sets and the 4th moving sets are driven respectively, first leg, described second
Foot, the 3rd leg and the attitude of moving platform and position described in the 4th leg co- controlling, realize two it is rotatably mounted
Degree, the rotating shaft of a rotational freedom is the axis direction of the first rotating shaft, the rotating shaft of another rotational freedom with it is described
The axes intersect of first rotating shaft and the axis parallel to the second rotating shaft, also realize two one-movement-freedom-degrees, an one-movement-freedom-degree
Direction be the first rotating shaft axis direction, the direction of another one-movement-freedom-degree is the 7th rotating shaft and the described 8th
Rotating shaft forms the normal vector direction of plane.
7. four-freedom parallel connection robot mechanism as claimed in claim 4, it is characterised in that：It is first moving sets, described
, as active drive kinematic pair, type of drive is motor for second moving sets, the three moving sets and the 4th moving sets
Drive or Driven by Hydraulic Cylinder.
8. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that：The four-freedom parallel device
Robot mechanism can apply to field of marine equipment, including marine motor simulator and the stable leveling platform of marine drilling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621095605.4U CN206066430U (en) | 2016-09-30 | 2016-09-30 | A kind of four-freedom parallel connection robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621095605.4U CN206066430U (en) | 2016-09-30 | 2016-09-30 | A kind of four-freedom parallel connection robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066430U true CN206066430U (en) | 2017-04-05 |
Family
ID=58439799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621095605.4U Expired - Fee Related CN206066430U (en) | 2016-09-30 | 2016-09-30 | A kind of four-freedom parallel connection robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066430U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181973A (en) * | 2016-09-30 | 2016-12-07 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN110228769A (en) * | 2019-06-19 | 2019-09-13 | 北京机械设备研究所 | A kind of lifting device with balance mechanism |
-
2016
- 2016-09-30 CN CN201621095605.4U patent/CN206066430U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181973A (en) * | 2016-09-30 | 2016-12-07 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN106181973B (en) * | 2016-09-30 | 2019-01-08 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN110228769A (en) * | 2019-06-19 | 2019-09-13 | 北京机械设备研究所 | A kind of lifting device with balance mechanism |
| CN110228769B (en) * | 2019-06-19 | 2020-08-28 | 北京机械设备研究所 | Lifting device with balance mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20170930 |