CN207344579U - Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms - Google Patents
Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms Download PDFInfo
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- CN207344579U CN207344579U CN201721368579.2U CN201721368579U CN207344579U CN 207344579 U CN207344579 U CN 207344579U CN 201721368579 U CN201721368579 U CN 201721368579U CN 207344579 U CN207344579 U CN 207344579U
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- revolute pair
- halfpace
- silent flatform
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Abstract
Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms, including silent flatform, halfpace, end effector hand and four sub-chains, every sub-chain are connected directly with silent flatform；The pivot center between pivot center, the 3rd sub-chain and silent flatform in pivot center, the second sub-chain between first sub-chain and silent flatform between silent flatform is vertical two-by-two, and orthogonal thereto distribution in space；The pivot center between pivot center and the first sub-chain and silent flatform between 4th sub-chain and silent flatform is parallel；First sub-chain is proper constrained motion chain, and the second sub-chain, the 3rd sub-chain and the 4th sub-chain are driven by corresponding actuating unit respectively, realize two-dimensional movement and one-dimensional rotation of the end effector hand in space.The utility model improves the kinematic accuracy of mechanism, solves the problems such as decoupling existing for conventional parallel mechanism is poor, working space is small, control difficulty is big.
Description
Technical field
Space mechanism of robot field is the utility model is related to, especially a kind of four branch's Three Degree Of Freedom isotropism are put down
Face parallel robot mechanism.
Background technology
As the traditional serial mechanism of the development of science and technology cannot meet the life requirement of people, therefore parallel institution should
Transport and give birth to.Compared with traditional serial mechanism, parallel institution possesses stronger bearing capacity, simpler structure type, more
The advantages that high precision.Thus, the research of parallel institution has become one of hot spot that international body is learned.Nowadays, parallel institution
It has been widely used in the field of the high-quality precision and sophisticated technologies such as industrial robot, parallel machine, aerospace.
The parallel institution of early stage is mostly six-degree-of-freedom parallel connection mechanism, and lower-mobility mechanism becomes the heat of research in recent years
Point, especially Three Degree Of Freedom mechanism.Domestic institution learns scholar and has been devised by the mechanism of many this type, and has applied related special
Profit, as number of patent application is：2004100867060th, the patent such as 2017101688794,2017102874690.But for big
Most parallel institutions still have the problems such as mechanism decoupling is poor, working space is small, control difficulty is big.
Utility model content
The purpose of this utility model is to propose a kind of four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms, is used
To solve the problems such as decoupling is poor existing for mechanism, working space is small, control difficulty is big.
To solve the above-mentioned problems, four branch's Three Degree Of Freedom isotropism planar parallel robot of one kind of the utility model
Mechanism uses following technical scheme：Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms, including silent flatform, centre
Platform, end effector hand and four sub-chains, every sub-chain are connected directly with silent flatform；
First sub-chain is two link rotatables connection composition, the first sub-chain both ends respectively with silent flatform and
End effector hand is rotatablely connected, and the pivot center of pivot center, the first sub-chain both ends between the connecting rod is mutually flat
Go and perpendicular to the plane of halfpace；
Second sub-chain and the 3rd sub-chain include telescopic rod, in same sub-chain, telescopic rod
Both ends be rotatablely connected respectively with silent flatform and halfpace, and the pivot center at telescopic rod both ends is parallel to each other, flat
Row is in the plane of halfpace；
4th sub-chain one end is rotatablely connected with silent flatform, and the other end is rotatablely connected with the end effector hand,
And the pivot center at both ends is parallel to each other；It is rotatablely connected between end effector hand and rotatable platform, its pivot center and first
Pivot center between sub-chain and end effector hand coincides, and perpendicular to the plane of halfpace；
Telescopic rod is put down with quiet in pivot center, the second sub-chain between first sub-chain and silent flatform
Pivot center in pivot center, the 3rd sub-chain between platform between telescopic rod and silent flatform is vertical two-by-two, and in sky
Between in orthogonal thereto distribution；Pivot center between 4th sub-chain and silent flatform is put down parallel to the first sub-chain with quiet
Pivot center between platform；
Second sub-chain, the 3rd sub-chain and the 4th sub-chain are driven by corresponding actuating unit respectively
It is dynamic, realize two-dimensional movement and one-dimensional rotation of the end effector hand in space.
Preferably, two connecting rods in first sub-chain are respectively first connecting rod, second connecting rod, and first connects
Bar is connected by the first revolute pair I with silent flatform, and second connecting rod is connected by the second revolute pair with first connecting rod, by the 3rd turn
Dynamic pair I is connected with end effector hand, and the first revolute pair I, the second revolute pair, the axis of the 3rd revolute pair I are parallel to each other and vertically
In the plane of halfpace.
Preferably, the first cylindrical pair I and the 3rd revolute pair II are further included in second sub-chain, it is described flexible
Bar is formed by connecting by third connecting rod I and fourth link I, and third connecting rod I is connected by the first cylindrical pair I with silent flatform, by
Two prismatic pairs are connected with fourth link I, and fourth link I is connected by the 3rd revolute pair II with halfpace, I He of the first cylindrical pair
The axis of 3rd revolute pair II is parallel with the plane of halfpace.
Preferably, the first cylindrical pair II and the 3rd revolute pair III are further included in the 3rd sub-chain, it is described to stretch
Contracting bar is formed by connecting by third connecting rod II and fourth link II, third connecting rod II is connected by the first cylindrical pair II with silent flatform,
By being connected by the second prismatic pair with fourth link II, fourth link II is connected by the 3rd revolute pair III with halfpace,
First cylindrical pair II and the axis of the 3rd revolute pair III are parallel with the plane of halfpace.
Preferably, the 4th sub-chain includes first the II, second universal hinge of revolute pair, three moving sets, the
Four universal hinges, the 5th connecting rod, six-bar linkage and seven-link assembly, the 5th connecting rod are connected with silent flatform by the first revolute pair II, are logical
Cross the second universal hinge to connect with six-bar linkage, seven-link assembly is connected by three moving sets and six-bar linkage, is universal by the 4th
Hinge is connected with the end effector hand, and the axis of the first revolute pair II is perpendicular to the plane of halfpace；End effector
Hand is connected by independent revolute pair with halfpace, and the axis of independent revolute pair is rotated with the in first sub-chain the 3rd
The axis of pair I coincides.
Preferably, the actuating unit is servomotor.
Preferably, the halfpace monnolithic case is cuboid, the second sub-chain and the 3rd sub-chain
It is connected on two adjacent sides of halfpace.
Preferably, the independent revolute pair is installed on the center of halfpace, its axis is perpendicular to halfpace.
The beneficial effects of the utility model are：The utility model can realize two-dimensional movement and one-dimensional rotation, its speed is refined can
It is unit battle array than matrix, therefore the input of the mechanism platform and the output of mechanism have one-to-one corresponding control planning, subtract significantly
Influencing each other between a sub-chain is lacked.Singular position is not present in the utility model in space, improves mechanism
Kinematic accuracy, while solve the problems such as decoupling existing for conventional parallel mechanism is poor, working space is small, control difficulty is big.
There is good development prospect in the fields such as industrial robot, parallel machine, aerospace.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model；
Marked in figure：10th, silent flatform, 20, halfpace, 30, end effector hand；
L1, the first sub-chain, R11, the first revolute pair I, R12, the second revolute pair, R13, the 3rd revolute pair I, 1-1,
First connecting rod, 1-2, second connecting rod；
L2, the second sub-chain, C21, the first cylindrical pair I, R23, the 3rd revolute pair II, 2-1, third connecting rod I, 2-2,
Fourth link I；
L3, the 3rd sub-chain, C31, the first cylindrical pair II, R33, the 3rd revolute pair III, 3-1, third connecting rod II, the
Double leval jib II；
L4, the 4th sub-chain, R41, the first revolute pair II, U42, the second universal hinge, U44, the 4th universal hinge, 4-1,
5th connecting rod, 4-2, six-bar linkage, 4-3, seven-link assembly；
R50, independent revolute pair.
Embodiment
Below in conjunction with the accompanying drawings, by specific embodiment, the technical solution of the utility model is described further.
Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms, as shown in Figure 1, wherein 10 be silent flatform, 20
It is end effector hand for halfpace, 30, L1, L2, L3, L4 represent four sub-chains respectively, and every sub-chain is equal
It is connected with silent flatform 10, the silent flatform 10 can be the different portions of the same position either same mechanism of same mechanism
Position or different mechanisms, and its shape is not also unique, and the halfpace 20 is cuboid.
First sub-chain L1 includes I R11 of the first revolute pair, the second revolute pair R12, the 3rd revolute pair I R13 and first
Connecting rod 1-1 and second connecting rod 1-2, first connecting rod 1-1 are connected by I R11 of the first revolute pair with silent flatform 10, second connecting rod 1-2
It is connected, is connected by I R13 of the 3rd revolute pair with end effector hand 30, first with first connecting rod 1-1 by the second revolute pair R12
The axis of I R11 of revolute pair and the second revolute pair R12 are parallel to each other and perpendicular to the planes of halfpace 20；
Second sub-chain L2 include I C21 of the first cylindrical pair, I 2-1 of telescopic rod that is formed by connecting by the second prismatic pair and
The both ends of 3rd revolute pair, II R23, I 2-1 of telescopic rod are connected with silent flatform 10 by I C21 of the first cylindrical pair, are rotated by the 3rd
II R23 of pair is connected with halfpace 20, the axis of the first cylindrical pair I C21 and II R23 of the 3rd revolute pair and putting down for halfpace 20
Face is parallel；
3rd sub-chain L3 include II 3-1 of telescopic rod that II C31 of the first cylindrical pair, the second prismatic pair be formed by connecting and
The both ends of 3rd revolute pair III R33, II 3-1 of telescopic rod are connected by II C31 of the first cylindrical pair with silent flatform 10, by
Three revolute pairs, III R33 is connected with halfpace 20, and the axis of the first cylindrical pair II C31 and III R33 of the 3rd revolute pair are parallel to each other,
It is and all parallel with the plane of halfpace 20；
4th sub-chain L4 includes II R41 of the first revolute pair, the second universal hinge U42, three moving sets and the 40000th
The linkage of scalable movement is connected into by three moving sets to hinge U44, head rod 4-2 and the second connecting rod 4-3,
It is arranged between the second universal hinge U44 of universal hinge U42 and the 4th, linkage head rod 4-2 one end passes through the 20000th
It is connected to hinge U42 with one section of connecting rod 4-1, this section of connecting rod 4-1 is connected by II R41 of the first revolute pair and corresponding silent flatform 10 again
Connect, and the axis of II R41 of the first revolute pair is perpendicular to the plane of halfpace 20, the one of the second connecting rod of linkage 4-3
End is connected by the 4th universal hinge U44 end effectors hand 30, and end effector hand 30 passes through independent revolute pair R50 and halfpace 20
Center connection, the axis phase of the axis of independent revolute pair R50 and I R13 of the 3rd revolute pair in the first sub-chain L1
Overlap.
Preferably, the second sub-chain L2 and the 3rd sub-chain L3 are connected to 2 liang of halfpace
On a adjacent side.
The axis of I R11 of the first revolute pair of the first sub-chain L1, the first circle of the second sub-chain L2
The axis of the axis of I C21 of column pair and II C31 of the first cylindrical pair of the 3rd sub-chain L3 are vertical two-by-two, in just in space
Hand over distribution, the axis of II R41 of the first revolute pair of Article 4 sub-chain L4 parallel to first article of sub-chain L1 the
The axis of one revolute pair, I R11.
The first sub-chain L1 is proper constrained motion chain, not comprising driving pair, the second sub-chain L2's
Driving pair is that the driving pair of its first cylindrical pair I C21, the 3rd sub-chain L3 are II C31 of its first cylindrical pair, the 4th branch
The driving pair of kinematic chain L4 is II R41 of the first revolute pair.
Driving pair in every sub-chain is driven using servomotor, and by sub-chain to end effector hand
30 provide power.Since the first sub-chain L1 does not contain driving pair, thus only serve and provide one in the horizontal plane for mechanism
A effect of contraction, servomotor give halfpace 20 in level by the second sub-chain L2 and the 3rd sub-chain L3
With power on direction, so as to drive end effector hand 30 to be moved in the horizontal direction, pass through the 4th sub-chain L4 bands
Dynamic end effector hand 30 is rotated in vertical direction, so as to fulfill two-dimensional movement of the parallel institution in space and one-dimensional
Rotate.
Claims (8)
1. four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms, including silent flatform（10）, halfpace（20）, end
Hold manipulator（30）And four sub-chains, every sub-chain is and silent flatform（10）It is connected directly, its feature exists
In：First sub-chain（L1）For two link rotatable connection compositions, the first sub-chain（L1）Put down respectively with quiet at both ends
Platform（10）With end effector hand（30）It is rotatablely connected, pivot center, the first sub-chain between the connecting rod（L1）Both ends
Pivot center be parallel to each other and perpendicular to halfpace（20）Plane；
Second sub-chain（L2）With the 3rd sub-chain（L3）Include telescopic rod, in same sub-chain, stretch
The both ends of contracting bar respectively with silent flatform（10）And halfpace（20）Rotation connection, and the pivot center phase at telescopic rod both ends
It is mutually parallel, each parallel to halfpace（20）Plane；
4th sub-chain（L4）One end and silent flatform（10）Rotation connection, the other end and the end effector hand（30）Turn
Dynamic connection, and the pivot center at both ends is parallel to each other；End effector hand（30）With halfpace（20）Between be rotatablely connected, its
Pivot center and the first sub-chain（L1）With end effector hand（30）Between pivot center coincide, and perpendicular to centre
Platform（20）Plane；
First sub-chain（L1）With silent flatform（10）Between pivot center, the second sub-chain（L2）In stretch
Bar and silent flatform（10）Between pivot center, the 3rd sub-chain（L3）Middle telescopic rod and silent flatform（10）Between rotation
Axis is vertical two-by-two, and orthogonal thereto distribution in space；4th sub-chain（L4）With silent flatform（10）Between rotation axis
Line is parallel to the first sub-chain（L1）And silent flatform（10）Between pivot center；
Second sub-chain（L2）, the 3rd sub-chain（L3）With the 4th sub-chain（L4）Respectively by corresponding power
Mechanism drives, and realizes end effector hand（30）Two-dimensional movement and one-dimensional rotation in space.
2. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 1, it is characterised in that：
First sub-chain（L1）In two connecting rods be respectively first connecting rod（1-1）, second connecting rod（1-2）, first connects
Bar（1-1）Pass through the first revolute pair I（R11）With silent flatform（10）Connection, second connecting rod（1-2）Pass through the second revolute pair（R12）
With first connecting rod（1-1）Connection, pass through the 3rd revolute pair I（R13）With end effector hand（30）Connection, the first revolute pair I
（R11）, the second revolute pair（R12）, the 3rd revolute pair I（R13）Axis be parallel to each other and perpendicular to halfpace（20）It is flat
Face.
3. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 1, it is characterised in that：
Second sub-chain（L2）In further include the first cylindrical pair I（C21）With the 3rd revolute pair II（R23）, it is described flexible
Bar is by third connecting rod I（2-1）With fourth link I（2-2）It is formed by connecting, third connecting rod I（2-1）Pass through the first cylindrical pair I（C21）
With silent flatform（10）Connection, pass through the second prismatic pair and fourth link I（2-2）Connection, fourth link I（2-2）Pass through the 3rd turn
Dynamic pair II（R23）With halfpace（20）Connection, the first cylindrical pair I（C21）With the 3rd revolute pair II（R23）Axis with
Between platform（20）Plane it is parallel.
4. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 1, it is characterised in that：
3rd sub-chain（L3）In further include the first cylindrical pair II（C31）With the 3rd revolute pair III（R33）, it is described flexible
Bar is by third connecting rod II（3-1）With fourth link II（3-2）It is formed by connecting, third connecting rod II（3-1）Pass through the first cylindrical pair II
（C31）With silent flatform（10）Connect, by passing through the second prismatic pair and fourth link II（3-2）Connection, fourth link II（3-2）
Pass through the 3rd revolute pair III（R33）With halfpace（20）Connection, the first cylindrical pair II（C31）With the 3rd revolute pair III（R33）
Axis and halfpace（20）Plane it is parallel.
5. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 1, it is characterised in that：
4th sub-chain（L4）Including the first revolute pair II（R41）, the second universal hinge（U42）, three moving sets, the 4th
Universal hinge（U44）, the 5th connecting rod（4-1）, six-bar linkage（4-2）With seven-link assembly（4-3）, the 5th connecting rod（4-1）Pass through first
Revolute pair II（R41）And silent flatform（10）Connection, pass through the second universal hinge（U42）With six-bar linkage（4-2）Connection, seven-link assembly
（4-3）Pass through three moving sets and six-bar linkage（4-2）Connection, pass through the 4th universal hinge（U44）With the end effector hand
（30）Connection, and the first revolute pair II（R41）Axis perpendicular to halfpace（20）Plane；End effector hand（30）It is logical
Cross independent revolute pair（R50）With halfpace（20）Connection, independent revolute pair（R50）Axis and first sub-chain
（L1）In the 3rd revolute pair I（R13）Axis coincide.
6. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 1, it is characterised in that：
The actuating unit is servomotor.
7. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 1, it is characterised in that：
The halfpace（20）Monnolithic case is cuboid, the second sub-chain（L2）With the 3rd sub-chain（L3）Respectively
It is connected between platform（20）On two adjacent sides.
8. four branches Three Degree Of Freedom isotropism plane parallel robot mechanism according to claim 5, it is characterised in that：
The independent revolute pair（R50）Installed in halfpace（20）Center, its axis is perpendicular to halfpace（20）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721368579.2U CN207344579U (en) | 2017-10-23 | 2017-10-23 | Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721368579.2U CN207344579U (en) | 2017-10-23 | 2017-10-23 | Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms |
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| Publication Number | Publication Date |
|---|---|
| CN207344579U true CN207344579U (en) | 2018-05-11 |
Family
ID=62356126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721368579.2U Withdrawn - After Issue CN207344579U (en) | 2017-10-23 | 2017-10-23 | Four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639629A (en) * | 2017-10-23 | 2018-01-30 | 河南科技大学 | A kind of four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms |
| CN113843779A (en) * | 2021-10-20 | 2021-12-28 | 成都工业学院 | All-directional moving parallel robot |
-
2017
- 2017-10-23 CN CN201721368579.2U patent/CN207344579U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639629A (en) * | 2017-10-23 | 2018-01-30 | 河南科技大学 | A kind of four branch's Three Degree Of Freedom isotropism plane parallel robot mechanisms |
| CN113843779A (en) * | 2021-10-20 | 2021-12-28 | 成都工业学院 | All-directional moving parallel robot |
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