CN213616700U - Three-dimensional rotation two-dimensional movement parallel robot - Google Patents
Three-dimensional rotation two-dimensional movement parallel robot Download PDFInfo
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- CN213616700U CN213616700U CN202022723266.2U CN202022723266U CN213616700U CN 213616700 U CN213616700 U CN 213616700U CN 202022723266 U CN202022723266 U CN 202022723266U CN 213616700 U CN213616700 U CN 213616700U
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Abstract
The utility model relates to a parallel robot technical field just discloses a three-dimensional two-dimensional removal parallel robot that rotates, including deciding the platform, moving the platform, drive branch I, drive branch II, drive branch III, drive branch IV, drive branch V and drive branch VI, decide the platform with move the platform and retrain branch VI and be connected through the drive branch I, II, III, IV, V and a SPR type of five RUS types that the structure is identical, drive branch VI includes second revolute pair, second upper tie rod, second lower tie rod and second ball pair, move the platform through the second revolute pair with the second upper tie rod is connected, the second upper tie rod through moving vice with the second lower tie rod is connected; the utility model discloses in, parallel robot can realize three-dimensional rotation and two-dimensional removal, five degree of freedom parallel robot of tradition relatively, and this robot has simple structure, workspace is big, control easy advantage.
Description
Technical Field
The utility model relates to a parallel robot technical field specifically is a three-dimensional two-dimensional removal parallel robot that rotates.
Background
A Parallel robot, known as a Parallel Mechanism, PM for short, may be defined as a closed-loop Mechanism in which a movable platform and a fixed platform are connected by at least two independent kinematic chains, and the Mechanism has two or more degrees of freedom and is driven in a Parallel manner. Parallel robotic mechanisms have become a research hotspot in the field of mechanics and robotics in the last two decades. The parallel robot has the characteristics of no accumulated error, high precision and capability of placing the driving device on the fixed platform or close to the fixed platform.
In the market, parallel robots are various, but the parallel robots are complex in structure and difficult to flexibly operate in the working process, and a three-dimensional rotating and two-dimensional moving parallel robot needs to be improved.
Disclosure of Invention
Technical problem to be solved
The utility model provides a to prior art not enough, the utility model provides a three-dimensional rotation two-dimensional removes parallel robot has solved the problem that above-mentioned background art provided.
(II) technical scheme
In order to achieve the above object, the utility model provides a following technical scheme: a three-dimensional rotation two-dimensional movement parallel robot comprises a fixed platform, a movable platform, a driving branch I, a driving branch II, a driving branch III, a driving branch IV, a driving branch V and a constraint branch VI, wherein the fixed platform and the movable platform are connected through five RUS-shaped driving branches I, II, III, IV and V with the same structure and a SPR-shaped constraint branch VI, the driving branch I, the driving branch II, the driving branch III, the driving branch IV and the driving branch V respectively comprise a first rotation pair, a first lower connecting rod, a Hooke hinge, a first upper connecting rod and a first ball pair, the fixed platform is connected with the first lower connecting rod through the first rotation pair, the first lower connecting rod is connected with the first upper connecting rod through the Hooke hinge, the first upper connecting rod is connected with the movable platform through the first ball pair, the five first rotating pairs connected with the fixed platform serve as driving devices of each branch, the constraint branch VI comprises a second rotating pair, a second upper connecting rod, a second lower connecting rod and a second ball pair, the movable platform is connected with the second upper connecting rod through the second rotating pair, the second upper connecting rod is connected with the second lower connecting rod through a moving pair, and the second lower connecting rod is connected with the fixed platform through the second ball pair.
Preferably, the rotation direction of the first rotation pair is the same as the direction of the rotation pair fixed on the first lower connecting rod by the hooke joint.
Preferably, the five first ball pairs connected with the movable platform are uniformly distributed on the same circumference with the center of the lower surface of the movable platform as the center of a circle.
Preferably, the five first rotating pairs connected with the fixed platform are uniformly distributed on the same circumference with the center of the upper surface of the fixed platform as the center of a circle.
Preferably, the second revolute pair on the constraint branch VI is arranged at the center of the lower surface of the movable platform, and the second spherical pair on the constraint branch VI is arranged at the center of the upper surface of the fixed platform.
(III) advantageous effects
The utility model provides a three-dimensional two-dimensional removal parallel robot that rotates possesses following beneficial effect:
(1) the utility model discloses in, parallel robot can realize three-dimensional rotation and two-dimensional removal, five degree of freedom parallel robot of tradition relatively, and this robot has simple structure, workspace is big, control easy advantage.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 provided by the present invention;
fig. 2 is a schematic structural diagram of embodiment 1 provided by the present invention;
fig. 3 is a schematic structural diagram of embodiment 2 provided by the present invention;
fig. 4 is a schematic structural diagram of embodiment 2 of the present invention.
In FIGS. 1-2: 1. fixing a platform; 2. a first rotating pair; 3. a first lower link; 4. hooke's joint; 5. a first upper link; 6. a first ball pair; 7. a movable platform; 8. a second revolute pair; 9. a second upper link; 10. a second lower link; 11. and a second ball pair.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
As shown in fig. 1-2, the utility model provides a technical solution: a three-dimensional rotation two-dimensional movement parallel robot comprises a fixed platform 1, a movable platform 7, a driving branch I, a driving branch II, a driving branch III, a driving branch IV, a driving branch V and a constraint branch VI, wherein the fixed platform 1 and the movable platform 7 are connected through five RUS-shaped driving branches I, II, III, IV and V with the same structure and an SPR-shaped constraint branch VI, the driving branch I, the driving branch II, the driving branch III, the driving branch IV and the driving branch V respectively comprise a first revolute pair 2, a first lower connecting rod 3, a Hooke hinge 4, a first upper connecting rod 5 and a first ball pair 6, the fixed platform 1 is connected with the first lower connecting rod 3 through the first revolute pair 2, the first lower connecting rod 3 is connected with the first upper connecting rod 5 through the Hooke hinge 4, the first upper connecting rod 5 is connected with the movable platform 7 through the first ball pair 6, the five first revolute pairs 2 connected with the fixed platform 1 are used as driving devices of each branch, the first revolute pair 2 is connected with an external motor, the constraint branch VI comprises a second revolute pair 8, a second upper connecting rod 9, a second lower connecting rod 10 and a second ball pair 11, the movable platform 7 is connected with the second upper connecting rod 9 through the second revolute pair 8, the second upper connecting rod 9 is connected with the second lower connecting rod 10 through a moving pair, and the second lower connecting rod 10 is connected with the fixed platform 1 through the second ball pair 11.
Furthermore, the rotating direction of the first rotating pair 2 is the same as that of the rotating pair of the hooke joint 4 fixed on the first lower connecting rod 3, and the rotating directions of the first rotating pair and the rotating pair are the same, so that the first upper connecting rod 5 and the first lower connecting rod 3 can be conveniently controlled to rotate vertically or rotate obliquely.
Furthermore, five first ball pairs 6 connected with the movable platform 7 are uniformly distributed on the same circumference with the center of the lower surface of the movable platform 7 as the center of a circle, the first ball pairs 6 are embedded inside the movable platform 7, when the parallel robot runs, the first ball pairs 6 roll in the movable platform 7, and the movable platform 7 can be stably supported by the uniform distribution of the five first ball pairs 6.
Furthermore, five first rotating pairs 2 connected with the fixed platform 1 are uniformly distributed on the same circumference with the center of the upper surface of the fixed platform 1 as the center of a circle, a plurality of first rotating pairs 2 are uniformly distributed on the fixed platform 1, driving branches between the fixed platform 1 and the movable platform 7 can be uniformly distributed, and the supporting force of the parallel robot is strong.
Furthermore, a second revolute pair 8 on the constraint branch VI is arranged at the center of the lower surface of the movable platform 7, a second ball pair 11 on the constraint branch VI is arranged at the center of the upper surface of the fixed platform 1, and the constraint branch VI is connected with the middle positions of the movable platform 7 and the fixed platform 1, so that the phenomenon that the movable platform 7 is unstable in support can be avoided.
Example 2
As shown in fig. 3-4, the utility model provides a technical solution: a three-dimensional rotation two-dimensional movement parallel robot comprises a fixed platform 1, a movable platform 7, a driving branch I, a driving branch II, a driving branch III, a driving branch IV, a driving branch V and a constraint branch VI, wherein the fixed platform 1 and the movable platform 7 are connected through five RUS-shaped driving branches I, II, III, IV and V with the same structure and a SRR-shaped constraint branch VI, the driving branch I, the driving branch II, the driving branch III, the driving branch IV and the driving branch V respectively comprise a first revolute pair 2, a first lower connecting rod 3, a Hooke hinge 4, a first upper connecting rod 5 and a first ball pair 6, the fixed platform 1 is connected with the first lower connecting rod 3 through the first revolute pair 2, the first lower connecting rod 3 is connected with the first upper connecting rod 5 through the Hooke hinge 4, the first upper connecting rod 5 is connected with the movable platform 7 through the first ball pair 6, the five first revolute pairs 2 connected with the fixed platform 1 are used as driving devices of each branch, the first rotating pair 2 is connected with an external motor, the constraint branch VI comprises a second rotating pair 8, a second upper connecting rod 9, a third rotating pair 10, a second lower connecting rod 11 and a second ball pair 12, the movable platform 7 is connected with the second upper connecting rod 9 through the second rotating pair 8, the second upper connecting rod 9 is connected with the second lower connecting rod 11 through the third rotating pair 10, the second lower connecting rod 11 is connected with the fixed platform 1 through the second ball pair 12, the parallel robot can realize three-dimensional rotation and two-dimensional movement, and compared with the traditional five-freedom-degree parallel robot, the robot has the advantages of simple structure, large working space and easiness in control.
Furthermore, five first ball pairs 6 connected with the movable platform 7 are uniformly distributed on the same circumference with the center of the lower surface of the movable platform 7 as the center of a circle, the five first ball pairs 6 are connected together to form a circular ring shape, and the plurality of first ball pairs 6 are uniformly distributed, so that the movable platform 7 is supported by the following driving branches.
Furthermore, five first rotating pairs 2 connected with the fixed platform 1 are uniformly distributed on the same circumference with the center of the upper surface of the fixed platform 1 as the center of a circle, and the five first rotating pairs 2 are connected together to form a circular ring.
Furthermore, a second revolute pair 8 on the constraint branch VI is arranged at the center of the lower surface of the movable platform 7, a second ball pair 12 on the constraint branch VI is arranged at the center of the upper surface of the fixed platform 1, and the constraint branch VI supports the middle of the movable platform 7.
Furthermore, the rotating direction of the first rotating pair 2 is the same as that of the rotating pair of the hooke joint 4 fixed on the first lower connecting rod 3, and the rotating directions of the first rotating pair and the rotating pair are the same, so that the rotating inclination angle of the first upper connecting rod 5 or the first lower connecting rod 3 can be conveniently controlled.
Further, the rotation direction of the second rotation pair 8 is the same as the rotation direction of the third rotation pair 10.
To sum up, the utility model discloses a work flow: when the robot is used, the driving branches I, II, III, IV and V are used for driving the platform above the driving branches to realize three-dimensional rotation and two-dimensional movement, and compared with the traditional five-degree-of-freedom parallel robot, the robot has the advantages of simple structure, stable support and easiness in control.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a three-dimensional rotation two-dimensional movement parallel robot, includes fixed platform (1), moves platform (7), drive branch I, drive branch II, drive branch III, drive branch IV, drive branch V and restraint branch VI, its characterized in that: the fixed platform (1) is connected with the movable platform (7) through five RUS-type driving branches I, II, III, IV and V with completely same structures and an SPR-type constraint branch VI, the driving branch I, the driving branch II, the driving branch III, the driving branch IV and the driving branch V respectively comprise a first revolute pair (2), a first lower connecting rod (3), a Hooke hinge (4), a first upper connecting rod (5) and a first ball pair (6), the fixed platform (1) is connected with the first lower connecting rod (3) through the first revolute pair (2), the first lower connecting rod (3) is connected with the first upper connecting rod (5) through the Hooke hinge (4), the first upper connecting rod (5) is connected with the movable platform (7) through the first ball pair (6), and the five first revolute pairs (2) connected with the fixed platform (1) are used as driving devices of each branch, the restraint branch VI comprises a second revolute pair (8), a second upper connecting rod (9), a second lower connecting rod (10) and a second ball pair (11), the movable platform (7) is connected with the second upper connecting rod (9) through the second revolute pair (8), the second upper connecting rod (9) is connected with the second lower connecting rod (10) through a moving pair, and the second lower connecting rod (10) is connected with the fixed platform (1) through the second ball pair (11).
2. A three-dimensional rotation two-dimensional movement parallel robot according to claim 1, wherein: the rotating direction of the first rotating pair (2) is the same as the rotating pair direction of the Hooke joint (4) fixed on the first lower connecting rod (3).
3. A three-dimensional rotation two-dimensional movement parallel robot according to claim 1, wherein: five first ball pairs (6) connected with the movable platform (7) are uniformly distributed on the same circumference with the center of the lower surface of the movable platform (7) as the center of a circle.
4. A three-dimensional rotation two-dimensional movement parallel robot according to claim 1, wherein: five first rotating pairs (2) connected with the fixed platform (1) are uniformly distributed on the same circumference with the center of the upper surface of the fixed platform (1) as the center of a circle.
5. A three-dimensional rotation two-dimensional movement parallel robot according to claim 1, wherein: the second revolute pair (8) on the constraint branch VI is arranged at the center of the lower surface of the movable platform (7), and the second ball pair (11) on the constraint branch VI is arranged at the center of the upper surface of the fixed platform (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022723266.2U CN213616700U (en) | 2020-11-23 | 2020-11-23 | Three-dimensional rotation two-dimensional movement parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022723266.2U CN213616700U (en) | 2020-11-23 | 2020-11-23 | Three-dimensional rotation two-dimensional movement parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213616700U true CN213616700U (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022723266.2U Expired - Fee Related CN213616700U (en) | 2020-11-23 | 2020-11-23 | Three-dimensional rotation two-dimensional movement parallel robot |
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| Country | Link |
|---|---|
| CN (1) | CN213616700U (en) |
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2020
- 2020-11-23 CN CN202022723266.2U patent/CN213616700U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210706 Termination date: 20211123 |