CN206551012U - A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure - Google Patents
A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure Download PDFInfo
- Publication number
- CN206551012U CN206551012U CN201720192050.3U CN201720192050U CN206551012U CN 206551012 U CN206551012 U CN 206551012U CN 201720192050 U CN201720192050 U CN 201720192050U CN 206551012 U CN206551012 U CN 206551012U
- Authority
- CN
- China
- Prior art keywords
- differential
- hooke
- degree
- hinge
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, including fixed frame, Three Degree Of Freedom parallel moving mechanism and differential driving structure, the differential driving structure is by two differential connecting rods, two Hooke's hinges, two three-dimensional translating connecting rods and end effector are constituted, two differential connecting rods are connected by prismatic pair, one Three Degree Of Freedom translation structure is fixedly connected with a three-dimensional translating connecting rod, a Hooke's hinge is rotatablely installed on a piece three-dimensional translating connecting rod, one Hooke's hinge is rotatablely installed a differential connecting rod, end effector is connected with wherein one differential connecting rod by revolute pair, it is connected with another differential connecting rod by screw pair, the vertical connection end of Hooke's hinge is connected with three-dimensional translating link rotatable, level connection joint end is connected with differential link rotatable.The utility model adds slewing area ability, irredundant driving.
Description
Technical field
The utility model belongs to robotic technology field, specifically a kind of six degree of freedom based on differential driving structure
Parallel institution.
Background technology
Parallel institution is that moving platform is connected with silent flatform by least two independent kinematic chains, with two or two
The free degree above, and a kind of close loop mechanism driven with parallel way.Compared with serial manipulator, parallel robot have with
Lower advantage：Accumulated error is small, precision is higher；Drive device can be placed on fixed platform or close to the position of fixed platform, motion parts
Lightweight, speed is high, and dynamic response is good；Compact conformation, rigidity is high, large carrying capacity.
6DOF parallel institution is to be often referred to parallel machine of the moving platform with 3 translational degree of freedom and 3 one-movement-freedom-degrees
Structure, can be applied to many suitable for over-loading operation task.Compared with serial mechanism, there is parallel institution bearing capacity by force, dynamically to imitate
Should be good the advantages of；And with more complicated kinetic characteristic, because the movement and rotation of moving platform suffer restraints and show very
More special property.
Due to being limited by factors such as physical interferences between Singularity, side chain, the rotation energy of parallel institution moving platform
Power is often all smaller, even relatively simple plane parallel mechanism, the slewing area that can be reached in theory is no more than
180 °, actually can be smaller.
Part in parallel mechanism is by increasing redundant drive side chain come assistance platform across Singularity so as to obtain bigger
Turning power, but redundant drive can cause Planar Mechanisms so as to produce internal force, mechanism is faced the control problem of complexity；Also one
Parallel institution is divided then to select to increase redundant drive in some side chains, but which results in the appearance of mixed structure, so as to change original
There is the load transmission characteristic of parallel institution.
On automatic production line, existing parallel institution scheme is mainly positioned against the end increase actuator of parallel institution
(handgrip or sucker etc.) realizes crawl function, and this requires to increase servicing unit on the moving platform of parallel institution, or even needs
Motor is set up, the weight of parallel institution moving component is directly increased, the dynamic characteristic of parallel institution is had a strong impact on.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of six-degree-of-freedom parallel based on differential driving structure
Structure, increases slewing area ability, irredundant driving, with the carpal turning power of conventional serial industrial robot.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, it is characterised in that including：
Fixed frame；
Two Three Degree Of Freedom translation structures, two Three Degree Of Freedom translation symmetrical configurations are arranged on fixed frame both sides；
Differential driving structure, the differential driving structure is by two differential connecting rods, two Hooke's hinges, two three-dimensional translating connecting rods
Constituted with end effector, two differential connecting rods are connected by prismatic pair；
One Three Degree Of Freedom translation structure, which is fixedly connected on a three-dimensional translating connecting rod, a three-dimensional translating connecting rod, rotates peace
A Hooke's hinge is filled, a Hooke's hinge is rotatablely installed a differential connecting rod, and end effector is connected with two differential connecting rods respectively；
Hooke's hinge has level connection joint end and vertical connection end, and vertical connection end and the three-dimensional translating connecting rod of the Hooke's hinge turn
Dynamic connection, level connection joint end are connected with differential link rotatable.
The level connection joint end and vertical connection end of described two Hooke's hinges are stretched out towards opposite direction, one of Hooke
Setting is stretched out in the vertical connection end of hinge straight up, and setting is stretched out in the vertical connection end of another Hooke's hinge straight down.
The end effector is connected by revolute pair with one of differential connecting rod, passes through spiral shell with another differential connecting rod
Rotation is secondary to be connected, and the central axis of the end effector using differential connecting rod is rotated as center of rotation.
The level connection joint end of the Hooke's hinge and central axis and the central axis of vertical connection end are mutually perpendicular to.
The central axis at the level connection joint end of described two Hooke's hinges is parallel to each other, the vertical connection end of two Hooke's hinges
Central axis is parallel to each other.
The utility model is simple in construction, reasonable in design, by differential driving structure and being arranged at differential driving structure both sides
Three Degree Of Freedom translation structure, constitute six-degree-of-freedom parallel connection mechanism, increase parallel institution large rotation ability.Mechanism has
The carpal turning power of conventional serial industrial robot, irredundant driving, meet practical engineering application in the urgent need to especially
It is with a wide range of applications in Intelligent assembly, intelligence manufacture field.
Brief description of the drawings
Accompanying drawing 1 is the utility model dimensional structure diagram；
Accompanying drawing 2 is the dimensional structure diagram of the utility model differential driving structure.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model will be further described below in conjunction with the accompanying drawings.
As shown in figure 1 and 2, the utility model discloses a kind of six-degree-of-freedom parallel based on differential driving structure
Structure, including fixed frame 3, two Three Degree Of Freedom translation structures 2 and differential driving structure 1, two 2 pairs of Three Degree Of Freedom translation structures
Claim to be arranged on the both sides of fixed frame 3, by two 2 pairs of Three Degree Of Freedom translation structures generally on the basis of the centre of fixed frame 3 o'clock
Claim to set.Differential driving structure 1 is by two differential connecting rods 6, two Hooke's hinges 5, two three-dimensional translating connecting rods 4 and end effector
7 are constituted, and two differential connecting rods 6 are connected by prismatic pair；One Three Degree Of Freedom translation structure 2 is fixedly connected with a three-dimensional translating company
A Hooke's hinge 5 is rotatablely installed on bar 4, a three-dimensional translating connecting rod 4, the rotational installation piece differential of connection of Hooke's hinge 5 connects
Bar 6, end effector 7 is connected by revolute pair with one of differential connecting rod, passes through spiral parafacies with another differential connecting rod
Even, the central axis of the end effector using differential connecting rod is rotated as center of rotation.Hooke's hinge 5 has level connection joint end 51
With vertical connection end 52, the vertical connection end 52 of the Hooke's hinge 52 rotated with three-dimensional translating connecting rod 4 be connected, level connection joint end 51 and
Differential connecting rod 6 rotates connection.So that differential driving structure has the carpal turning power of conventional serial industrial robot,
Whole mechanism does not have motor to be placed on moving component.
Specifically, the level connection joint end 51 of two Hooke's hinges 5 and 52 ends of vertical connection are stretched out towards opposite direction, wherein
Setting is stretched out in the vertical connection end of one Hooke's hinge straight up, and the vertical connection end of another Hooke's hinge is stretched out straight down
Set.The central axis and the central axis of vertical connection end at the level connection joint end of Hooke's hinge are mutually perpendicular to.
The central axis at the level connection joint end of two Hooke's hinges is parallel to each other, the center of the vertical connection end of two Hooke's hinges
Axis is parallel to each other.
Three Degree Of Freedom translation structure in the utility model includes but is not limited to：Any space translation serial mechanism, such as three
The mechanism that the prismatic pair of individual series connection is constituted；Or any space translational parallel connection mechanism, such as Delta mechanisms, Gantry Robot machines
Structure, Cartesian Robot mechanisms, Orthoglide mechanisms or Tsai ' s mechanisms.
The utility model is three flat three turns of six-degree-of-freedom parallel connection mechanisms, with three rotational freedoms and three translations from
By spending.Differential driving structure controls three rotational freedoms：Two differential drive link driving end effectors connect around the differential
The axis rotational motion of bar, forms a rotational freedom；The level connection joint end and vertical connection end of Hooke's hinge are each around wherein
Heart axis is rotated, and forms two rotational freedoms, so that differential driving structure has three rotational freedoms altogether.Three are put down
The dynamic free degree is coupled by the translational motion in the X-axis of three-dimensional translating connecting rod, three directions of Y-axis and Z axis and controlled, and by two three freely
Spend translation structure synchronization motion control；The irredundant driving of mechanism and complicated internal force, control are simple.Pass through the control of the six-freedom degree
System so that differential driving structure has the carpal turning power of conventional serial industrial robot.
It should be noted that described above limited of the present utility model, wound of the present utility model is not being departed from
On the premise of making design, any obvious replacement is belonged within protection domain of the present utility model.
Claims (5)
1. a kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, it is characterised in that including：
Fixed frame；
Two Three Degree Of Freedom translation structures, two Three Degree Of Freedom translation symmetrical configurations are arranged on fixed frame both sides；
Differential driving structure, the differential driving structure is by two differential connecting rods, two Hooke's hinges, two three-dimensional translating connecting rods and end
Actuator is held to constitute, two differential connecting rods are connected by prismatic pair；
One Three Degree Of Freedom translation structure is fixedly connected on a three-dimensional translating connecting rod, a three-dimensional translating connecting rod and is rotatablely installed one
Individual Hooke's hinge a, Hooke's hinge is rotatablely installed a differential connecting rod, and end effector is connected with two differential connecting rods respectively；
Hooke's hinge has level connection joint end and vertical connection end, and vertical connection end and the three-dimensional translating link rotatable of the Hooke's hinge connect
Connect, level connection joint end is connected with differential link rotatable.
2. the six-degree-of-freedom parallel connection mechanism according to claim 1 based on differential driving structure, it is characterised in that described two
The level connection joint end and vertical connection end of individual Hooke's hinge are stretched out towards opposite direction, the vertical connection end of one of Hooke's hinge
Stretch out and set straight up, setting is stretched out in the vertical connection end of another Hooke's hinge straight down.
3. the six-degree-of-freedom parallel connection mechanism according to claim 2 based on differential driving structure, it is characterised in that the end
End actuator is connected by revolute pair with one of differential connecting rod, is connected with another differential connecting rod by screw pair, the end
The central axis of end actuator using differential connecting rod is rotated as center of rotation.
4. the six-degree-of-freedom parallel connection mechanism according to claim 3 based on differential driving structure, it is characterised in that the tiger
The level connection joint end of gram hinge and central axis and the central axis of vertical connection end are mutually perpendicular to.
5. the six-degree-of-freedom parallel connection mechanism according to claim 4 based on differential driving structure, it is characterised in that described two
The central axis at the level connection joint end of individual Hooke's hinge is parallel to each other, and the central axis of the vertical connection end of two Hooke's hinges is mutually put down
OK.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720192050.3U CN206551012U (en) | 2017-03-01 | 2017-03-01 | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720192050.3U CN206551012U (en) | 2017-03-01 | 2017-03-01 | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206551012U true CN206551012U (en) | 2017-10-13 |
Family
ID=60361872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720192050.3U Withdrawn - After Issue CN206551012U (en) | 2017-03-01 | 2017-03-01 | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206551012U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625614A (en) * | 2017-03-01 | 2017-05-10 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom parallel mechanism based on differential driving structure |
-
2017
- 2017-03-01 CN CN201720192050.3U patent/CN206551012U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625614A (en) * | 2017-03-01 | 2017-05-10 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom parallel mechanism based on differential driving structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737581B (en) | The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled | |
| CN103722552B (en) | A kind of controllable multi-degree-of-freedom manipulator | |
| CN103707289A (en) | Controllable multi-degree of freedom welding robot | |
| CN104096998A (en) | Multi-degree of freedom parallel mechanism type spot welding robot | |
| CN1903519A (en) | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing | |
| CN201168960Y (en) | Four-freedom degree parallel mechanism | |
| CN102626870A (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN102476383A (en) | Planar articulated robot arm mechanism | |
| CN105522556A (en) | Four-degree-of-freedom multi-loop series-parallel mechanical arm | |
| CN201881384U (en) | Arm mechanism of planar multi-joint robot | |
| CN108638031A (en) | Parallel institution with two kinds of motor patterns of 2T1R and 3T | |
| CN107225559A (en) | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions | |
| CN102490177A (en) | Four-freedom-degree parallel-connection robot | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN103302661A (en) | Fully-decoupled one-movement two-rotation and three-degree-of-freedom parallel mechanism | |
| CN206551012U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure | |
| CN206263949U (en) | A kind of three flat two turns of five-freedom parallel structures | |
| CN102581848B (en) | Parallel positioning platform with three-rotation one-translation freedom degree | |
| CN103302510A (en) | Parallel mechanism with two floatable staggered spindles | |
| CN204487596U (en) | Based on the New Type of Robot Arm in double inclined plane deflection joint | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN106625591A (en) | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion | |
| CN206551011U (en) | A kind of six-freedom parallel device based on crawl parallel institution | |
| CN207104907U (en) | A kind of SCARA motion parallel connection mechanisms with rectangular workspace | |
| CN206578816U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171128 Address after: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 1 unit 17.. Patentee after: DONGGUAN SONGSHAN LAKE ROBOT INDUSTRIAL DEVELOPMENT CO.,LTD. Address before: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 2 unit 17.. Patentee before: DONGGUAN SONGSHAN LAKE TECHXINSTITUTE Co.,Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171013 Effective date of abandoning: 20230509 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171013 Effective date of abandoning: 20230509 |