CN212241036U - Six-freedom-degree parallel robot mechanism - Google Patents
Six-freedom-degree parallel robot mechanism Download PDFInfo
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- CN212241036U CN212241036U CN202020958912.0U CN202020958912U CN212241036U CN 212241036 U CN212241036 U CN 212241036U CN 202020958912 U CN202020958912 U CN 202020958912U CN 212241036 U CN212241036 U CN 212241036U
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Abstract
The utility model provides a six-freedom parallel robot mechanism, which comprises a movable platform, a static platform, three branched chains, a rotating joint and a motor arranged on the static platform; the number of the rotary joints is equal to that of the branched chains, and the rotary joints are connected with the motor; each branched chain is of a parallelogram structure, one end of each branched chain is hinged with the movable platform, and the other end of each branched chain is rotatably connected with the rotating joint. The utility model discloses six degree of freedom parallel robot mechanisms not only the flexibility is high, and structural rigidity is strong moreover, the bearing capacity is strong and the working space of motion is big, applicable in work on a large scale with the heavy load.
Description
Technical Field
The utility model relates to the technical field of robots, more specifically say, relate to a six degree of freedom parallel robot mechanism.
Background
The parallel mechanism is a group of mechanisms formed by connecting two or more branch mechanisms in parallel. It features that all branch mechanisms can receive the input of driver at the same time and give out output together finally, and belongs to multi-way closed-loop mechanical system in mechanics. With the rapid development of robots, parallel robot mechanisms have been widely used due to their advantages of good rigidity, high motion accuracy, small mechanism inertia, etc. The parallel robot mechanism is widely applied to the technical fields of large-scale simulation equipment, robots, numerical control machines, sensors, micromanipulators, engraving machines, measuring machines and the like.
At present, most of parallel robot mechanisms are three-degree-of-freedom parallel robot mechanisms, and most of the parallel robot mechanisms adopt the expansion and contraction of air cylinders to drive a motion platform to move. Although the motor drive has the advantages of high corresponding speed, high transmission efficiency, high motion precision, easy control and the like, the motor drive also has the defects of high cost, poor environmental adaptability, poor rigidity, low load capacity and the like. Meanwhile, the three-degree-of-freedom parallel robot mechanism is not high in flexibility, so that the motion stroke and the working space of the motion platform are limited, and the machining requirements in the existing fine machining field cannot be met.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the shortcoming and not enough among the prior art, provide a six-degree-of-freedom parallel robot mechanism, this six-degree-of-freedom parallel robot mechanism not only flexibility is high, and structural rigidity is strong moreover, the bearing capacity is strong and the working space of motion is big, applicable in work with the heavy load on a large scale.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a six-freedom-degree parallel robot mechanism is characterized in that: the three-branch chain type three-axis robot comprises a movable platform, a static platform, three branch chains, a rotary joint and a motor arranged on the static platform; the number of the rotary joints is equal to that of the branched chains, and the rotary joints are connected with the motor; each branched chain is of a parallelogram structure, one end of each branched chain is hinged with the movable platform, and the other end of each branched chain is rotatably connected with the rotating joint.
In the above scheme, the utility model discloses a three revolute joint realizes rotatoryly through the motor respectively, and every branch chain and revolute joint rotatable coupling, and then make this parallel robot mechanism have 6 degrees of freedom, and the flexibility is high. In addition, each branched chain adopts a parallelogram structure, the structural rigidity of the mechanism can be improved, and meanwhile, the parallelogram structure has the function of increasing the stroke, so that the working space of the mechanism is increased, and the parallel robot mechanism can adapt to large-range and large-load work.
The utility model also comprises a rotating motor for driving the branched chain to move; the rotating motor is arranged on the rotating joint.
Each branched chain is formed by connecting a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which plays a supporting role, and a parallelogram structure is formed.
The first connecting rod is fixedly connected with the rotary joint; one end of the second connecting rod is rotatably connected with the rotating joint through a rotating motor, and the other end of the second connecting rod is hinged with the fourth connecting rod; one end of the third connecting rod is hinged with the first connecting rod, and the other end of the third connecting rod is hinged with the movable platform; and one end of the fourth connecting rod, which is far away from the second connecting rod, is hinged with the third connecting rod.
And the hinge point of the fourth connecting rod and the third connecting rod is positioned between the two ends of the third connecting rod. The design can further increase the motion stroke of the movable platform, thereby increasing the working space of the mechanism.
The second connecting rod is used as a driving rod of a parallelogram structure; the first connecting rod is used as a rack with a parallelogram structure; and the third connecting rod and the fourth connecting rod are used as driven rods with parallelogram structures.
The movable platform is provided with Hooke hinges the number of which is equal to that of the branched chains; the branched chain is hinged with the movable platform through a Hooke hinge.
The movable platform is provided with a connecting block; one end of the connecting block is connected with the movable platform, and the other end of the connecting block extends out of the movable platform and is connected with the Hooke hinge.
The hookes are distributed on the movable platform in a regular triangle.
The motors are distributed on the static platform in a regular triangle.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect: the utility model discloses six degree of freedom parallel robot mechanisms not only the flexibility is high, and structural rigidity is strong moreover, the bearing capacity is strong and the working space of motion is big, applicable in work on a large scale with the heavy load.
Drawings
Fig. 1 is a schematic diagram one of a six-degree-of-freedom parallel robot mechanism of the present invention;
FIG. 2 is a second schematic diagram of a six-DOF parallel robot mechanism according to the present invention;
FIG. 3 is a top view of the six-DOF parallel robot mechanism of the present invention;
fig. 4 is a bottom view of the six-degree-of-freedom parallel robot mechanism of the present invention;
wherein, 1 is a movable platform, 2 is a static platform, 3 is a rotary joint, 4 is a motor, 5 is a rotary motor, 6 is a connecting rod I, 7 is a connecting rod II, 8 is a connecting rod III, 9 is a connecting rod IV, 10 is a connecting block, and 11 is a Hooke's hinge.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 4, the six-degree-of-freedom parallel robot mechanism of the present invention includes a moving platform 1, a static platform 2, three branched chains, a rotating joint 3, a rotating motor 5 for driving the branched chains to move, and a motor 4 disposed on the static platform 2, wherein the number of the rotating joints 3 is equal to the number of the branched chains, and the rotating joints 3 are connected to the motor 4; each branched chain is of a parallelogram structure, one end of each branched chain is hinged with the movable platform 1, the other end of each branched chain is rotatably connected with the rotating joint 3, and the rotating motor 5 is arranged on the rotating joint 3.
Specifically, the branched chain is formed by connecting a first connecting rod 6, a second connecting rod 7, a third connecting rod 8 and a fourth connecting rod 9 for supporting, and a parallelogram structure is formed. Wherein, the first connecting rod 6 is fixedly connected with the rotary joint 3, one end of the second connecting rod 7 is rotatably connected with the rotary joint 3 through the rotary motor 5, the other end is hinged with the fourth connecting rod 9, and the driving shaft of the rotary motor 5 passes through the first connecting rod 6 and is connected with the second connecting rod 7. One end of the connecting rod III 8 is hinged with the connecting rod I6, the other end of the connecting rod III is hinged with the movable platform 1, and one end of the connecting rod IV 9, which is far away from the connecting rod II 7, is hinged with the connecting rod III 8. In order to further increase the motion stroke of the movable platform 1, the hinge point of the link four 9 and the link three 8 is positioned between the two ends of the link three 8.
The utility model discloses a move platform 1 and be provided with connecting block 10 and the hooke's hinge 11 that equals with branch chain quantity, this connecting block 10 one end with move platform 1 and be connected, the other end stretches out and moves platform 1 and be connected with hooke's hinge 11, the branch chain through hooke's hinge 11 with move platform 1 articulated. In order to improve the driving balance of the movable platform 1, the hookers are distributed on the movable platform 1 in a regular triangle shape compared with the hookers 11, and the motors 4 are distributed on the static platform 2 in a regular triangle shape.
The utility model discloses a three revolute joint realizes rotatoryly through motor 4 respectively, and every branch chain and revolute joint 3 rotatable coupling, makes to make this parallel robot mechanism have 6 degrees of freedom, and the flexibility is high. In addition, each branched chain adopts a parallelogram structure, the structural rigidity of the mechanism can be improved, and meanwhile, the parallelogram structure has the function of increasing the stroke, so that the working space of the mechanism is increased, and the parallel robot mechanism can adapt to large-range and large-load work.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A six-freedom-degree parallel robot mechanism is characterized in that: the three-branch chain type three-axis robot comprises a movable platform, a static platform, three branch chains, a rotary joint and a motor arranged on the static platform; the number of the rotary joints is equal to that of the branched chains, and the rotary joints are connected with the motor; each branched chain is of a parallelogram structure, one end of each branched chain is hinged with the movable platform, and the other end of each branched chain is rotatably connected with the rotating joint.
2. The six degree-of-freedom parallel robot mechanism of claim 1, wherein: the rotary motor is used for driving the branched chain to move; the rotating motor is arranged on the rotating joint.
3. The six degree-of-freedom parallel robot mechanism of claim 2, wherein: each branched chain is formed by connecting a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which plays a supporting role, and a parallelogram structure is formed.
4. The six degree-of-freedom parallel robot mechanism of claim 3, wherein: the first connecting rod is fixedly connected with the rotary joint; one end of the second connecting rod is rotatably connected with the rotating joint through a rotating motor, and the other end of the second connecting rod is hinged with the fourth connecting rod; one end of the third connecting rod is hinged with the first connecting rod, and the other end of the third connecting rod is hinged with the movable platform; and one end of the fourth connecting rod, which is far away from the second connecting rod, is hinged with the third connecting rod.
5. The six degree-of-freedom parallel robot mechanism of claim 4, wherein: and the hinge point of the fourth connecting rod and the third connecting rod is positioned between the two ends of the third connecting rod.
6. The six degree-of-freedom parallel robot mechanism of claim 4, wherein: the second connecting rod is used as a driving rod of a parallelogram structure; the first connecting rod is used as a rack with a parallelogram structure; and the third connecting rod and the fourth connecting rod are used as driven rods with parallelogram structures.
7. The six degree-of-freedom parallel robot mechanism of claim 1, wherein: the movable platform is provided with Hooke hinges the number of which is equal to that of the branched chains; the branched chain is hinged with the movable platform through a Hooke hinge.
8. The six degree-of-freedom parallel robot mechanism of claim 7, wherein: the movable platform is provided with a connecting block; one end of the connecting block is connected with the movable platform, and the other end of the connecting block extends out of the movable platform and is connected with the Hooke hinge.
9. The six degree-of-freedom parallel robot mechanism of claim 7, wherein: the hookes are distributed on the movable platform in a regular triangle.
10. The six degree-of-freedom parallel robot mechanism of claim 1, wherein: the motors are distributed on the static platform in a regular triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020958912.0U CN212241036U (en) | 2020-05-29 | 2020-05-29 | Six-freedom-degree parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020958912.0U CN212241036U (en) | 2020-05-29 | 2020-05-29 | Six-freedom-degree parallel robot mechanism |
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| Publication Number | Publication Date |
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| CN212241036U true CN212241036U (en) | 2020-12-29 |
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| CN202020958912.0U Active CN212241036U (en) | 2020-05-29 | 2020-05-29 | Six-freedom-degree parallel robot mechanism |
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| CN (1) | CN212241036U (en) |
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- 2020-05-29 CN CN202020958912.0U patent/CN212241036U/en active Active
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