CN207747038U - A kind of plane grasping mechanism - Google Patents

A kind of plane grasping mechanism Download PDF

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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
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CN
China
Prior art keywords
chain component
connecting rod
sliding block
connect
moving platform
Prior art date
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Expired - Fee Related
Application number
CN201721363656.5U
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Chinese (zh)
Inventor
李晓
曲海波
陈俊城
张怡壮
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Beijing Jiaotong University
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Beijing Jiaotong University
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Priority to CN201721363656.5U priority Critical patent/CN207747038U/en
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Publication of CN207747038U publication Critical patent/CN207747038U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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

A kind of plane grasping mechanism
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.
CN201721363656.5U 2017-10-23 2017-10-23 A kind of plane grasping mechanism Expired - Fee Related CN207747038U (en)

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

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CN201721363656.5U Expired - Fee Related CN207747038U (en) 2017-10-23 2017-10-23 A kind of plane grasping mechanism

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Cited By (2)

* Cited by examiner, † Cited by third party
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

Cited By (3)

* Cited by examiner, † Cited by third party
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

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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