CN206406048U - Serial-parallel mirror mechanical arm - Google Patents
Serial-parallel mirror mechanical arm Download PDFInfo
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- CN206406048U CN206406048U CN201621048725.9U CN201621048725U CN206406048U CN 206406048 U CN206406048 U CN 206406048U CN 201621048725 U CN201621048725 U CN 201621048725U CN 206406048 U CN206406048 U CN 206406048U
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- revolute joint
- fixed
- mechanical arm
- ball pivot
- rod member
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Abstract
A kind of serial-parallel mirror mechanical arm, mainly it is made up of rod member, revolute joint, 6-dof parallel platform, revolute joint is made up of mandrel and outer sleeve, outer sleeve can be rotated around mandrel, some rod members are connected to become a shaft-like serial mechanism by revolute joint, and the end of last rod member is fixedly connected with the table top of determining of 6-dof parallel platform；Actuator is fixed on the dynamic table top of 6-dof parallel platform.This mechanical arm, with multiple frees degree, passes through the rotation of each revolute joint, the actuator of end is set to reach near target point, then control system sends instruction that is mobile or rotating to 6-dof parallel platform, moves table top and produces corresponding sports, actuator is accurate to up to target point.This mechanical arm can easily and accurately reach target point in larger space, be particularly suitable for use in working range greatly, and need randomly, continually to convert the occasion of target point.Using this mechanical arm, the performance of the mechanisms such as Exploring on man-machine cooperation manipulator, medicine equipment can be significantly improved.
Description
Technical field
The utility model is related to robot field, specifically a kind of to be used for pinpoint serial-parallel mirror mechanical arm.
Background technology
Serial mechanism is widely used in manipulator, robot, and its advantage is that working range is big, has the disadvantage to be carried out with inverse arithmetic
Pose Control is extremely complex, needs to use teaching mode in advance during practice, obtains the control parameter for reaching target point so that
Operationally need randomly, continually convert target point occasion, it is impossible to use.Parallel institution working range is relatively small,
But it is fairly simple that Pose Control is carried out with inverse arithmetic, instruction can be sent by control system at any time, it is reached target point.
Thinking of the present utility model is into mechanical arm, first with serial mechanism during work by serial mechanism with parallel institution hybrid combining
The big characteristic of working range, end effector is moved near target point, then by command operating parallel institution, end is held
Row device is accurately positioned.This mechanical arm be expected to be widely used for Exploring on man-machine cooperation manipulator, assembly manipulator, medicine equipment, sampling and
Optical instrument etc..
Utility model content
The purpose of this utility model, be to provide a kind of serial mechanism and parallel institution hybrid combining into mechanical arm, its work
Make that scope is big, control is simple, registration.For fields such as Exploring on man-machine cooperation manipulator, medicine equipments.
For this purpose, technical solution adopted in the utility model is as follows：
A kind of serial-parallel mirror mechanical arm, is mainly made up of rod member, revolute joint, 6-dof parallel platform, it is characterized in that：
Revolute joint is made up of mandrel and outer sleeve, and outer sleeve can be rotated around mandrel, and some rod members are connected into by revolute joint
For a shaft-like serial mechanism, connection method is that the end of the first rod member is fixed on the mandrel of the first revolute joint, the second bar
The front end of part is fixed on the outer sleeve of above-mentioned first revolute joint, and the end of the second rod member is fixed on the core of the second revolute joint
On axle；Other rod member and revolute joint all method described above are sequentially connected；The quantity of revolute joint in mechanical arm compares rod member
Few one of quantity；The end of last rod member is fixedly connected with the table top of determining of 6-dof parallel platform；Actuator is fixed
On the dynamic table top of 6-dof parallel platform.
Further feature is, 6-dof parallel platform determined by one table top, 6 determine ball pivot seat, dynamic table top, 6
Individual dynamic ball pivot seat, 6 two ends are constituted for the electric expansion bar of ball pivot head；Constituted mode be 6 determine ball pivot seat be fixedly mounted on it is fixed
On table top, 6 dynamic ball pivot seats are fixedly mounted on dynamic table top, the ball pivot head at 6 electric expansion bar two ends, respectively rotatable set
Determine mounted in 6 in ball pivot seat and 6 dynamic ball pivot seats.
Further feature is that electric expansion bar is by 1 outer sleeve, 1 motor, 1 screw rod, 1 nut, 1 inner sleeve
Cylinder, 2 ball pivot heads are constituted；Constituted mode is the fixed ball pivot head of motor rear end；Motor front end is fixed on overcoat tube rear end,
Fixed screw rod on motor shaft, nut is fixed on inner sleeve tube rear end, and screw rod is through nut formation screw pair, and inner sleeve front end is from outer
Barrel forward end is passed, the fixed ball pivot head in inner sleeve front end.
This serial-parallel mirror mechanical arm course of work is such：Obvious this multiple rod members are connected and composed with revolute joint
Mechanical arm, with multiple frees degree, by the rotation of each revolute joint the actuator of end can be made to reach target point attached
Closely, six on instruction that is mobile or rotating, platform are then sent by control system to 6-dof parallel platform electronic to stretch
Contracting bar then each stretches out or retracted, and moves table top and produces corresponding sports, the actuator being fixed on dynamic table top is accurate to up to target
Point.
The beneficial effects of the utility model are：As a result of the big rod member cascade machine of multiple degrees of freedom and motion space
Structure, with being easy to the 6-dof parallel platform of control to cooperate so that this mechanical arm can in larger space, it is convenient,
Target point is accurately arrived at, is particularly suitable for use in needing the occasion for randomly, continually converting target point during work.Using this machine
Tool arm, can significantly improve the performance of the mechanisms such as Exploring on man-machine cooperation manipulator, medicine equipment.
Brief description of the drawings
Structure of the present utility model is elaborated below in conjunction with the accompanying drawings：
Accompanying drawing 1 is the three-dimensional structure sketch of serial-parallel mirror mechanical arm.
Accompanying drawing 2 is the three-dimensional structure sketch of the 6-dof parallel platform in serial-parallel mirror mechanical arm.
Accompanying drawing 3 is the axial section of the electric expansion bar in serial-parallel mirror mechanical arm.
In the accompanying drawings, 1 it is the first rod member, 2 be the first revolute joint, 3 be the second rod member, 4 be the second revolute joint, 5 is
3rd rod member, 6 be the 3rd revolute joint, 7 be the 4th rod member, 8 be the 4th revolute joint, 9 be the 5th rod member, 10 be parallel connection six from
By degree platform, 11 be actuator, 10a be determine table top, 10b be determine ball pivot seat, 10c be electric expansion bar, 10d be ball pivot,
10e is that table top, 10ca are that ball pivot head, 10cb are that inner sleeve, 10cc are that outer sleeve, 10cd are that screw rod, 10ce are nut, 10cf
It is motor.
Embodiment
Below by taking the mechanical arm that 5 sections of rod members are constituted as an example, concrete structure of the present utility model is described in detail.Such as accompanying drawing institute
Show that the serial-parallel mirror mechanical arm is mainly made up of rod member, revolute joint, 6-dof parallel platform, its structure is the first rod member
1 end is fixed on the mandrel of the first revolute joint 2；The front end of second rod member 3 is fixed on the outer of above-mentioned first revolute joint 2
On sleeve, the end of the second rod member 3 is fixed on the mandrel of the second revolute joint 4；The front end of 3rd rod member 5 is fixed on above-mentioned
On the outer sleeve in two-revolution joint 4, the end of the 3rd rod member 5 is fixed on the mandrel of the 3rd revolute joint 6；4th rod member 7
Front end is fixed on the outer sleeve of the 3rd revolute joint 6, and the end of the 4th rod member 7 is fixed on the mandrel of the 4th revolute joint 8；
The front end of 5th rod member 9 is fixed on the outer sleeve of the 4th revolute joint 8, the end of the 5th rod member 9 and 6-dof parallel platform
The 10 table top 10a that determines is fixedly connected；Actuator 11 is fixed on the dynamic table top 10e of 6-dof parallel platform 10.Parallel connection six is certainly
By degree platform 10 determined by one table top 10a, 6 determine ball pivot seat 10b, dynamic table top 10e, 6 dynamic ball pivot seat 10d, 6 two ends
Constituted for the electric expansion bar 10c of ball pivot head.Constituted mode, which is 6, to be determined ball pivot seat 10b and is fixedly mounted on and determines on table top 10a, 6
Dynamic ball pivot seat 10d is fixedly mounted on dynamic table top 10e, and the ball pivot head 10a at 6 electric expansion bar 10c two ends is rotatable respectively
6 are sleeved on to determine in the dynamic ball pivot seat 10d of ball pivot seat 10b and 6.Electric expansion bar 10c concrete structure is by 1 outer sleeve
10cc, 1 motor 10cf, 1 screw rod 10cd, 1 nut 10ce, 1 inner sleeve 10cb, 2 ball pivot head 10ca are constituted；Constitute
Mode is the fixed ball pivot head 10ca in motor 10cf rear ends.Motor 10cf front ends are fixed on outer sleeve 10cc rear ends, motor
Fixed screw rod 10cd on 10cf axles, nut 10ce are fixed on inner sleeve 10cb rear ends, and screw rod 10cd is formed through nut 10ce
Screw pair, inner sleeve 10cb front ends are passed from outer sleeve 10cc front ends, the fixed ball pivot head 10ca in inner sleeve 10cb front ends.
A kind of preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, it is all at this
Any modifications, equivalent substitutions and improvements done within utility model thinking and principle etc., are both contained in guarantor of the present utility model
Within the scope of shield.
Claims (3)
1. a kind of serial-parallel mirror mechanical arm, is mainly made up of rod member, revolute joint, 6-dof parallel platform, it is characterized in that：Return
Turn joint to be made up of mandrel and outer sleeve, outer sleeve can be rotated around mandrel, and some rod members are connected to become by revolute joint
One shaft-like serial mechanism, connection method is that the end of the first rod member is fixed on the mandrel of the first revolute joint, the second rod member
Front end be fixed on the outer sleeve of above-mentioned first revolute joint, the end of the second rod member is fixed on the mandrel of the second revolute joint
On, rod member and revolute joint all method described above thereafter are sequentially connected；The quantity of revolute joint in mechanical arm is than rod member
Quantity is few one；The end of last rod member is fixedly connected with the table top of determining of 6-dof parallel platform；Actuator is fixed on
On the dynamic table top of 6-dof parallel platform.
2. serial-parallel mirror mechanical arm according to claim 1, it is characterised in that：6-dof parallel platform determines platform by one
Face, 6 determine ball pivot seat, dynamic table top, 6 dynamic ball pivots seats, 6 two ends and constituted for the electric expansion bars of ball pivot head；Composition side
Formula is 6 and determines ball pivot seat and be fixedly mounted on and determine on table top, and 6 dynamic ball pivots seats are fixedly mounted on dynamic table top, 6 electric expansion bars
The ball pivot head at two ends, is rotatably sleeved on 6 and determines in ball pivot seat and 6 dynamic ball pivot seats respectively.
3. serial-parallel mirror mechanical arm according to claim 2, it is characterised in that：
Electric expansion bar is made up of 1 outer sleeve, 1 motor, 1 screw rod, 1 nut, 1 inner sleeve, 2 ball pivot heads；Structure
It is the fixed ball pivot head of motor rear end into mode；Motor front end is fixed on fixed screw rod on overcoat tube rear end, motor shaft,
Nut is fixed on inner sleeve tube rear end, and screw rod is passed through nut formation screw pair, inner sleeve front end from outer sleeve front end, inner sleeve
The fixed ball pivot head in front end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621048725.9U CN206406048U (en) | 2016-09-12 | 2016-09-12 | Serial-parallel mirror mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621048725.9U CN206406048U (en) | 2016-09-12 | 2016-09-12 | Serial-parallel mirror mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN206406048U true CN206406048U (en) | 2017-08-15 |
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ID=59549020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621048725.9U Active CN206406048U (en) | 2016-09-12 | 2016-09-12 | Serial-parallel mirror mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN206406048U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN108015750A (en) * | 2018-01-15 | 2018-05-11 | 上海联影医疗科技有限公司 | Medical mechanical arm |
| CN108098731A (en) * | 2017-08-30 | 2018-06-01 | 安徽工程大学 | Intelligent mobile equipment and driving method with executing agency |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN110115636A (en) * | 2019-06-28 | 2019-08-13 | 曹延香 | It is a kind of to increase steady stabilization formula surgical instrument |
| CN111390875A (en) * | 2020-04-14 | 2020-07-10 | 桂林师范高等专科学校 | Multi freedom robot arm |
| CN117140540A (en) * | 2023-08-04 | 2023-12-01 | 上海智元新创技术有限公司 | Fastening system and pick-up fastening method of fastening system |
-
2016
- 2016-09-12 CN CN201621048725.9U patent/CN206406048U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098731A (en) * | 2017-08-30 | 2018-06-01 | 安徽工程大学 | Intelligent mobile equipment and driving method with executing agency |
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN108015750A (en) * | 2018-01-15 | 2018-05-11 | 上海联影医疗科技有限公司 | Medical mechanical arm |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| CN110115636A (en) * | 2019-06-28 | 2019-08-13 | 曹延香 | It is a kind of to increase steady stabilization formula surgical instrument |
| CN110115636B (en) * | 2019-06-28 | 2022-08-26 | 盐城诺诚祈瑞智能科技有限公司 | Stability-increasing anti-shaking surgical instrument |
| CN111390875A (en) * | 2020-04-14 | 2020-07-10 | 桂林师范高等专科学校 | Multi freedom robot arm |
| CN117140540A (en) * | 2023-08-04 | 2023-12-01 | 上海智元新创技术有限公司 | Fastening system and pick-up fastening method of fastening system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181120 Address after: 311200 first floor, 4 building, 389 Hongxing Road, Xiaoshan economic and Technological Development Zone, Xiaoshan District, Hangzhou, Zhejiang. Patentee after: Hangzhou Chen Zheng Zheng Technology Co., Ltd. Address before: Room 705, 9 Building, No. 1 Courtyard, Dewai Xinfeng Street, Xicheng District, Beijing Co-patentee before: Zhang Lei Patentee before: Ma Jianqun |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201027 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Patentee after: Xianju Boyuan surgical medical equipment Co., Ltd Address before: Hung Hing Road, Xiaoshan economic and Technological Development Zone of Xiaoshan District of Hangzhou City, Zhejiang province 311200 No. 389 Building No. 4 Building Patentee before: HANGZHOU GUOCHEN ZHENGYU TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210310 Address after: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Patentee after: Xianju Xingzhi Technology Co.,Ltd. Address before: 317317 Baita Industrial Cluster, Baita Town, Xianju County, Taizhou City, Zhejiang Province Patentee before: Xianju Boyuan surgical medical equipment Co., Ltd |
|
| TR01 | Transfer of patent right |