CN213616701U

CN213616701U - Parallel robot

Info

Publication number: CN213616701U
Application number: CN202022725089.1U
Authority: CN
Inventors: 王学雷; 冯志新; 朱青松; 吕世霞; 郝瑞参; 商宇凡
Original assignee: Beijing Polytechnic
Current assignee: Beijing Polytechnic
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-07-06
Anticipated expiration: 2030-11-23

Abstract

The utility model relates to the technical field of parallel robots, and discloses a parallel robot, which comprises a moving platform, a machine base, a drive branch I, a drive branch II, a drive branch III, a drive branch IV and a drive branch V, wherein the drive branch I is SRR type driving branch, the driving branch II, the driving branch III, the driving branch IV and the driving branch V are respectively four URS type driving branches with the same structure, and the driving branch I includes a first rotation pair, the first upper link, the second rotation pair, the first lower link and the first ball pair, the moving platform is connected with the first upper link through the first rotation pair, the first The upper link is connected with the first lower link through the second rotation pair; in the present utility model, the parallel robot can realize three-dimensional rotation and two-dimensional movement. Compared with the traditional five-degree-of-freedom parallel robot, the robot has a simple structure. , The advantages of large working space, easy control and foldable.

Description

Parallel robot

Technical Field

The utility model relates to a parallel robot technical field specifically is a parallel robot.

Background

In 1978, Hunt first proposed a six-degree-of-freedom parallel mechanism as a robotic manipulator, thereby pulling the sequence of parallel robotic studies open, but in the next 10 years, parallel robotic studies appear to be in the hold. Until the end of the 80 s and the beginning of the 90 s, the parallel robot attracts wide attention and becomes a hot spot of international research. 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.

The traditional parallel robot has complex component structure, is inconvenient to fold, occupies large space and is to be improved.

Disclosure of Invention

Technical problem to be solved

Not enough to prior art, the utility model provides a 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 parallel robot comprises a movable platform, a base, a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V, wherein the driving branch I is an SRR type driving branch, the driving branch II, the driving branch III, the driving branch IV and the driving branch V are URS type driving branches with completely identical structures, the driving branch I comprises a first revolute pair, a first upper connecting rod, a second revolute pair, a first lower connecting rod and a first ball pair, the movable platform is connected with the first upper connecting rod through the first revolute pair, the first upper connecting rod is connected with the first lower connecting rod through the second revolute pair, the first lower connecting rod is connected with the base through the first ball pair, and the driving branches II, III, IV and V respectively comprise a Kehu hinge, a second lower connecting rod, a third revolute pair, The engine base is connected with the second lower connecting rod through the hook joint, the second lower connecting rod is connected with the second upper connecting rod through the third revolute pair, the second upper connecting rod is connected with the movable platform through the second revolute pair, and the second revolute pair and the third revolute pair are respectively used as driving devices.

Preferably, the rotation direction of the first rotation pair is the same as the rotation direction of the second rotation pair.

Preferably, the rotation direction of the third rotation pair is perpendicular to the direction of the rotation pair in which the hooke joint is fixed on the second lower connecting rod.

Preferably, the first rotating pair and the second ball pair 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 first ball pair and the hook joint which are connected with the base are uniformly distributed on the same circumference which takes the center of the upper surface of the movable platform as the center of a circle.

(III) advantageous effects

The utility model provides a parallel robot 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, this robot has simple structure, workspace is big, control is easy, can folding 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 the figure: 1. a movable platform; 2. a first rotating pair; 3. a first upper link; 4. a second revolute pair; 5. a first lower link; 6. a first ball pair; 7. a machine base; 8. hooke's joint; 9. a second lower link; 10. a third revolute pair; 11. a second upper link; 12. 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 parallel robot comprises a movable platform 1, a base 7, a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V, wherein the driving branch I is an SRR type driving branch, the driving branch II, the driving branch III, the driving branch IV and the driving branch V are four URS type driving branches with completely same structures respectively, the driving branch I comprises a first revolute pair 2, a first upper connecting rod 3, a second revolute pair 4, a first lower connecting rod 5 and a first ball pair 6, the movable platform 1 is connected with the first upper connecting rod 3 through the first revolute pair 2, the first upper connecting rod 3 is connected with the first lower connecting rod 5 through the second revolute pair 4, the first lower connecting rod 5 is connected with the base 7 through the first ball pair 6, the driving branches II, III, IV and V respectively comprise a hooke joint 8, a second lower connecting rod 9, a third revolute pair 10, a second upper connecting rod 11 and a second ball pair 12, the machine base 7 is connected with a second lower connecting rod 9 through a Hooke hinge 8, the second lower connecting rod 9 is connected with a second upper connecting rod 11 through a third revolute pair 10, the second upper connecting rod 11 is connected with the movable platform 1 through a second spherical pair 12, the second revolute pair 4 and the third revolute pair 10 are respectively used as driving devices, and the parallel robot can realize three-dimensional rotation and two-dimensional movement.

Further, the rotation direction of the first rotating pair 2 is the same as that of the second rotating pair 4, and the rotation directions of the first rotating pair and the second rotating pair are the same, so that the movement of the first upper connecting rod 3 and the first lower connecting rod 5 can be facilitated.

Further, the rotation direction of the third rotation pair 10 is perpendicular to the rotation pair direction of the hooke joint 8 fixed on the second lower connecting rod 9.

Furthermore, the first rotating pair 2 and the second ball pair 12 connected with the movable platform 1 are uniformly distributed on the same circumference by taking the center of the lower surface of the movable platform 1 as the center of a circle, one first rotating pair 2 is connected with the movable platform 1, and four second ball pairs 12 are connected with the movable platform 1, so that the five structural elements are uniformly distributed, and the movable platform 1 is stably supported by the driving branches I, II, III, IV and V.

Furthermore, a first ball pair 6 and a hook joint 8 which are connected with the base 7 are uniformly distributed on the same circumference which takes the center of the upper surface of the movable platform 1 as the center of a circle, one first ball pair 6 is provided, and four hook joints 8 are provided.

Example 2

As shown in fig. 3-4, the utility model provides a technical solution: a parallel robot comprises a movable platform 1, a base 7, a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V, wherein the driving branch I is a URU-shaped driving branch, the driving branch II, the driving branch III, the driving branch IV and the driving branch V are four URS-shaped driving branches with completely same structures respectively, the driving branch I comprises a first Hooke hinge 2, a first upper connecting rod 3, a first revolute pair 4, a first lower connecting rod 5 and a second Hooke hinge 6, the movable platform 1 is connected with the first upper connecting rod 3 through the first Hooke hinge 2, the first upper connecting rod 3 is connected with the first lower connecting rod 5 through the first revolute pair 4, the first lower connecting rod 5 is connected with the base 7 through the second Hooke hinge 6, the driving branches II, III, IV and V respectively comprise a third Hooke hinge 8, a second lower connecting rod 9, a second revolute pair 10, a second upper connecting rod 11 and a second spherical pair 12, the machine base 7 is connected with a second lower connecting rod 9 through a third hook hinge 8, the second lower connecting rod 9 is connected with a second upper connecting rod 11 through a second revolute pair 10, the second upper connecting rod 11 is connected with the movable platform 1 through a second ball pair 12, the first revolute pair 4 and the second revolute pair 10 are used as driving devices, the parallel robot can achieve three-dimensional movement and two-dimensional rotation, and compared with a traditional five-freedom-degree parallel robot, the robot has the advantages of being simple in structure, large in working space, easy to control and capable of being folded.

Furthermore, the direction of a rotating pair fixed by the first hooke joint 2 and the movable platform 1 is parallel to the axis of the first rotating pair 4, and the axis of the first rotating pair 4 is perpendicular to the axis of a rotating pair fixed on the second hooke joint 6 on the first lower connecting rod 5.

Further, the rotation direction of the second revolute pair 10 is perpendicular to the direction of the revolute pair in which the third hooke joint 8 is fixed on the second lower link 9.

Furthermore, a first hook joint 2 and a ball pair 12 which are connected with the movable platform 1 are uniformly distributed on the same circumference which takes the center of the lower surface of the movable platform 1 as the center of a circle, one first hook joint 2 is provided, the number of the ball pairs 12 is four, five structural elements are distributed on the circumference, and the driving branches I, II, III, IV and V can stably support the movable platform 1.

Furthermore, a second hooke joint 6 and a third hooke joint 8 connected with the base 7 are uniformly distributed on the same circumference with the center of the upper surface of the movable platform 1 as the center of a circle, one second hooke joint 6 is provided, and four third hooke joints 8 are provided.

To sum up, the utility model discloses a work flow: when the robot is used, the driving branches I, II, III, IV and V can drive the movable platform 1 to move in three dimensions or rotate in two dimensions, and compared with the traditional five-degree-of-freedom parallel robot, the robot has the advantages of simple structure, large working space, easiness in control and capability of being folded.

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

1. The utility model provides a parallel robot, is including moving platform (1), frame (7), drive branch I, drive branch II, drive branch III, drive branch IV and drive branch V, its characterized in that: the driving branch I is an SRR type driving branch, the driving branch II, the driving branch III, the driving branch IV and the driving branch V are URS type driving branches with completely identical structures, the driving branch I comprises a first revolute pair (2), a first upper connecting rod (3), a second revolute pair (4), a first lower connecting rod (5) and a first ball pair (6), the movable platform (1) is connected with the first upper connecting rod (3) through the first revolute pair (2), the first upper connecting rod (3) is connected with the first lower connecting rod (5) through the second revolute pair (4), the first lower connecting rod (5) is connected with the machine base (7) through the first ball pair (6), and the driving branches II, III, IV and V respectively comprise a Hooke hinge (8), a second lower connecting rod (9), The engine base (7) is connected with the second lower connecting rod (9) through the hook joint (8), the second lower connecting rod (9) is connected with the second upper connecting rod (11) through the third revolute pair (10), the second upper connecting rod (11) is connected with the movable platform (1) through the second ball pair (12), and the second revolute pair (4) and the third revolute pair (10) are respectively used as driving devices.

2. A parallel robot according to claim 1, characterized in that: the rotating direction of the first rotating pair (2) is the same as that of the second rotating pair (4).

3. A parallel robot according to claim 1, characterized in that: the rotating direction of the third rotating pair (10) is vertical to the rotating pair direction of the hook joint (8) fixed on the second lower connecting rod (9).

4. A parallel robot according to claim 1, characterized in that: the first rotating pair (2) and the second ball pair (12) which are connected with the movable platform (1) are uniformly distributed on the same circumference which takes the center of the lower surface of the movable platform (1) as the circle center.

5. A parallel robot according to claim 1, characterized in that: the first ball pair (6) and the Hooke's joint (8) which are connected with the machine base (7) are uniformly distributed on the same circumference which takes the center of the upper surface of the movable platform (1) as the center of a circle.