CN207747038U - A kind of plane grasping mechanism - Google Patents
A kind of plane grasping mechanism Download PDFInfo
- Publication number
- CN207747038U CN207747038U CN201721363656.5U CN201721363656U CN207747038U CN 207747038 U CN207747038 U CN 207747038U CN 201721363656 U CN201721363656 U CN 201721363656U CN 207747038 U CN207747038 U CN 207747038U
- Authority
- CN
- China
- Prior art keywords
- chain component
- connecting rod
- sliding block
- connect
- moving platform
- 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.)
- Expired - Fee Related
Links
- 238000004088 simulation Methods 0.000 abstract description 3
- 238000009776 industrial production Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000003754 machining Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001131 transforming Effects 0.000 description 1
Abstract
A kind of plane grasping mechanism, is related to parallel robot technical field.The mechanism includes pedestal, first to fourth chain component, long connecting rod, moving platform.Mechanism is connected and composed by first, second, third, fourth chain component with pedestal, long connecting rod and moving platform.In mechanism, driving is applied on the prismatic pair of each branch, and gear drive can be used in type of drive；Moving platform drives moving platform to make the three-degree-of-freedom motion of two movements, one rotation as end effector when each sliding block slides on pedestal circle rail.The mechanism structure is simple, easy to produce and process, can be used for the fields such as industrial production, movement simulation.
Description
Technical field
The present invention relates to parallel robot technical fields, are a kind of structural redundancy parallel robots that relative freedom is three
Grasping mechanism.
Background technology
Compared with serial mechanism, parallel institution has many advantages, such as that large carrying capacity, fast response time and kinematic accuracy are high.Cause
This is paid close attention to by academia and industrial circle, is paid much attention to its theoretical research and research for application and development.In decades, scholar
Be constantly dedicated to the research and development of New Parallel Manipulator configuration, wherein the structural redundancy parallel institution that relative freedom is three is
Wherein important one kind can be applied to the fields such as complex surface machining, movement simulation.It is therefore proposed that it is a kind of it is new relatively freely
The structural redundancy parallel robot mechanism that degree is three, it is necessary for the research of parallel robot.
Invention content
The technical problem to be solved in the present invention is to provide a kind of novel parallel robot mechanism, i.e., a kind of relative freedom
For three structural redundancy parallel robot mechanism, realize workbench in the transformation of the pose of two movements of plane and a rotation.
The present invention solve its technical problem the technical solution adopted is that：
A kind of plane grasping mechanism, the parallel robot mechanism include：Pedestal, first to fourth chain component, long connecting rod,
Moving platform.
First chain component include：Sliding block, connecting rod.
Constitute the connection between the parts of first chain component：One end of connecting rod forms prismatic pair with sliding block and connect.
Third branch chain component includes：Sliding block, connecting rod.
Constitute the connection between the parts of third branch chain component：One end of connecting rod forms prismatic pair with sliding block and connect.
Second chain component and first chain component are identical, the 4th chain component and the complete phase of third branch chain component
Together.
Mechanism is connected and composed by first, second, third, fourth chain component with pedestal, long connecting rod and moving platform：The
The other end of the connecting rod of one chain component cooperatively forms revolute pair with moving platform and connect, the groove ends of the sliding block of first chain component
Prismatic pair is cooperatively formed with pedestal circular guideway to connect.The other end of the connecting rod of second chain component is cooperatively formed with moving platform to be turned
Dynamic secondary connection, the groove ends of the sliding block of second chain component cooperatively form prismatic pair with pedestal circular guideway and connect.Third branch
The other end of the connecting rod of component and the one end fits of long connecting rod form revolute pair connection, the groove ends of the sliding block of third branch chain component
Prismatic pair is cooperatively formed with pedestal circular guideway to connect.The other end of connecting rod and the other end of long connecting rod of 4th chain component are matched
Conjunction forms revolute pair connection, and the groove ends of the sliding block of the 4th chain component cooperatively form prismatic pair with pedestal circular guideway and connect.
The intermediate ends of long connecting rod form revolute pair with moving platform and connect.
In mechanism, driving is applied on the prismatic pair on each branch, and gear drive can be selected (in figure in type of drive
It omits)；Moving platform is as end effector, when each sliding block slides on circular guideway, moving platform is driven to make two one turn of movements
Dynamic three-degree-of-freedom motion.
The present invention compares possessed advantageous effect with prior art：
Parallel institution proposed by the present invention can execute space two and move a rotational motion, the mechanism structure is relatively easy,
Processing easy to produce can be used for the fields such as complex surface machining, movement simulation.
Description of the drawings
A kind of structural schematic diagrams of plane grasping mechanism of Fig. 1；
The structural schematic diagram of Fig. 2 pedestals；
The structural schematic diagram of first chain component of Fig. 3；
The structural schematic diagram of second chain component of Fig. 4；
The structural schematic diagram of Fig. 5 third branch chain components；
The structural schematic diagram of the 4th chain component of Fig. 6；
The structural schematic diagram of Fig. 7 long connecting rods；
The structural schematic diagram of Fig. 8 moving platforms；
In figure：Pedestal 1, first to fourth chain component 2-1,2-2,2-3,2-4, long connecting rod 3, moving platform 4, first to
Double leval jib 5-1,5-2,5-3,5-4, first to fourth sliding block 6-1,6-2,6-3,6-4.
Specific implementation mode
In conjunction with attached drawing, the present invention will be further described.
A kind of structural redundancy parallel robot mechanism that relative freedom is three, the parallel robot mechanism include：Pedestal
1, first to fourth chain component 2-1,2-2,2-3,2-4, long connecting rod 3, moving platform 4.
First chain component include：Connecting rod 5-1, sliding block 6-1.
Constitute the connection between the parts of first chain component：The one end connecting rod 5-1 forms prismatic pair with sliding block 6-1 and connect.
Third branch chain component 2-3 includes：Connecting rod 5-3, sliding block 6-3.
Constitute the connection between the parts of third branch chain component：The one end connecting rod 5-3 forms prismatic pair with sliding block 6-3 and connect.
Second chain component 2-2 and first chain component 2-1 are identical, the 4th chain component 2-4 and third branch chain group
Part 2-3 is identical.
Mechanism by first, second, third, fourth chain component 2-1,2-2,2-3,2-4 and pedestal 1, long connecting rod 3 and
Moving platform 4 connects and composes：The other end of the connecting rod 5-1 of first chain component 2-1 cooperatively forms revolute pair with moving platform 4 and connect,
The groove ends of the sliding block 6-1 of first chain component 2-1 cooperatively form prismatic pair with 1 circular guideway of pedestal and connect.Second chain group
The other end of the connecting rod 5-2 of part 2-2 cooperatively forms revolute pair with moving platform 4 and connect, the sliding block 6-2's of second chain component 2-2
Groove ends cooperatively form prismatic pair with 1 circular guideway of pedestal and connect.The other end and length of the connecting rod 5-3 of third branch chain component 2-3
One end A of connecting rod 3 cooperatively forms revolute pair connection, and the groove ends and pedestal 1 of the sliding block 6-3 of third branch chain component 2-3 are round
Guide rail cooperatively forms prismatic pair connection.The other end of the connecting rod 5-4 of 4th chain component 2-4 and the other end B of long connecting rod 3 coordinate
Revolute pair connection is formed, groove ends and 1 circular guideway of pedestal of the sliding block 6-4 of the 4th chain component 2-4 cooperatively form prismatic pair
Connection.The intermediate ends C of long connecting rod 3 forms revolute pair with moving platform and connect.
In mechanism, driving is applied on the prismatic pair on each branch 2-1,2-2,2-3,2-4, and type of drive can be selected
Gear drive (is omitted) in figure；Moving platform 4 is used as end effector, when each sliding block 6-1,6-2,6-3,6-4 are slided on pedestal 1
When, drive moving platform 4 to make the three-degree-of-freedom motion of two movements, one rotation.
Claims (3)
1. a kind of plane grasping mechanism, the mechanism belong to parallel robot field, include mainly：Pedestal (1), first to fourth
Chain component (2-1,2-2,2-3,2-4), long connecting rod (3), moving platform (4)；
First chain component include：Connecting rod (5-1), sliding block (6-1)；
Constitute the connection between the parts of first chain component：Connecting rod one end (5-1) forms prismatic pair with sliding block (6-1) and connect；
Third branch chain component (2-3) includes：Connecting rod (5-3), sliding block (6-3)；
Constitute the connection between the parts of third branch chain component：Connecting rod one end (5-3) forms prismatic pair with sliding block (6-3) and connect；
Second chain component (2-2) is identical with first chain component (2-1), the 4th chain component (2-4) and third branch
Component (2-3) is identical.
2. a kind of plane grasping mechanism according to claim 1, it is characterised in that：Pass through first, second, third, fourth
Branch chain component (2-1,2-2,2-3,2-4) is connected and composed with pedestal (1), long connecting rod (3) and moving platform (4)：First chain component
The other end of the connecting rod (5-1) of (2-1) cooperatively forms revolute pair with moving platform (4) and connect, the sliding block of first chain component (2-1)
The groove ends of (6-1) cooperatively form prismatic pair and connect with pedestal (1) circular guideway；The connecting rod (5-3) of third branch chain component (2-3)
The other end cooperatively form revolute pair with one end A of long connecting rod (3) and connect, the sliding block (6-3) of third branch chain component (2-3) it is recessed
Slot end cooperatively forms prismatic pair and connect with pedestal (1) circular guideway.
3. a kind of plane grasping mechanism according to claim 1, it is characterised in that：The connecting rod of second chain component (2-2)
The other end of (5-2) cooperatively forms revolute pair with moving platform (4) and connect, the groove of the sliding block (6-2) of second chain component (2-2)
End cooperatively forms prismatic pair and connect with pedestal (1) circular guideway；The other end of the connecting rod (5-4) of 4th chain component (2-4) with
The other end B of long connecting rod (3) cooperatively forms revolute pair connection, the groove ends and base of the sliding block (6-4) of the 4th chain component (2-4)
Seat (1) circular guideway cooperatively forms prismatic pair connection；The intermediate ends C of long connecting rod (3) forms revolute pair with moving platform (4) and connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721363656.5U CN207747038U (en) | 2017-10-23 | 2017-10-23 | A kind of plane grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721363656.5U CN207747038U (en) | 2017-10-23 | 2017-10-23 | A kind of plane grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207747038U true CN207747038U (en) | 2018-08-21 |
Family
ID=63146746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721363656.5U Expired - Fee Related CN207747038U (en) | 2017-10-23 | 2017-10-23 | A kind of plane grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207747038U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146587A (en) * | 2021-01-12 | 2021-07-23 | 山东理工大学 | Single-layer single-section guide rail type plane robot with double parallelograms |
| CN113876432A (en) * | 2021-12-09 | 2022-01-04 | 北方工业大学 | Redundant parallel femoral fracture reduction robot |
-
2017
- 2017-10-23 CN CN201721363656.5U patent/CN207747038U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146587A (en) * | 2021-01-12 | 2021-07-23 | 山东理工大学 | Single-layer single-section guide rail type plane robot with double parallelograms |
| CN113146587B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Single-layer single-section guide rail type plane robot with double parallelograms |
| CN113876432A (en) * | 2021-12-09 | 2022-01-04 | 北方工业大学 | Redundant parallel femoral fracture reduction robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101407059B (en) | Four-freedom degree industrial robot | |
| CN108621130B (en) | Parallel mechanism with two motion modes of 2R1T and 2T1R | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN203619682U (en) | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees | |
| CN105834576A (en) | Redundant-driven friction stir welding parallel robot | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CN207747038U (en) | A kind of plane grasping mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN202805186U (en) | Six-degree-of-freedom industrial robot | |
| CN102785239A (en) | Industrial robot of six-degrees of freedom | |
| CN107336219B (en) | Parallel mechanism with two-movement three-rotation five-degree-of-freedom | |
| CN107175654B (en) | Structure redundancy parallel mechanism with two rotation and two movement | |
| CN201625978U (en) | Completely decoupled one-translational two-rotational three-freedom-of-degree spatial parallel mechanism | |
| CN204450527U (en) | A kind of sphere parallel mechanism with 2 rotational freedoms | |
| CN108656087A (en) | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN106002936B (en) | One kind three translates a rotating parallel device people platform manipulator | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN107471201A (en) | A kind of relative freedom is three structural redundancy parallel robot mechanism | |
| CN105856204A (en) | Holohedral symmetry parallel robot for machining complex curved surface | |
| CN103846911A (en) | High-speed parallel manipulator with six degrees of freedom | |
| CN205766123U (en) | A kind of holohedral symmetry parallel robot for complex surface machining | |
| CN106363608B (en) | There are two types of the parallel robot devices of operation mode for tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 Termination date: 20191023 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |