CN2511447Y - Parallel robot mechanism with two dimensions - Google Patents
Parallel robot mechanism with two dimensions Download PDFInfo
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- CN2511447Y CN2511447Y CN 01277647 CN01277647U CN2511447Y CN 2511447 Y CN2511447 Y CN 2511447Y CN 01277647 CN01277647 CN 01277647 CN 01277647 U CN01277647 U CN 01277647U CN 2511447 Y CN2511447 Y CN 2511447Y
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- parallel
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- utility
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Abstract
The utility model belongs to the industrial robot field, in particular to a parallel robot mechanism with two dimensions. The utility model aims to provide a light parallel robot mechanism with two dimensions of three dimension structure. The utility model comprises a main frame, a moving platform, a transitional part and branched chains; the main frame is provided with a rotating pair, the moving platform is connected with the main frame through two branches to form a parallel structure; two branched chains respectively comprise two parallel mechanisms respectively as a driving rod assembly and a driven rod assembly, and the rotating hinge connection is completely adopted among all moving parts. Each driving rod assembly and each driven rod assembly respectively adopt a plurality of rods to form a three dimension structure. The utility model adopts a parallel branched chain structure to realize the translational movement of the platform, has the movement pairs all as rotation hinges as well as simple and reliable structure, and has the advantages of high speed, low cost, light weight and high rigidity and so on.
Description
Technical field
The invention belongs to the industrial robot field, particularly three-dimensional two-degrees-of-freedom translation parallel robot mechanism.
Background technology
Existing parallel robot adopts 3-6 free degree symmetrical structure mostly, generally adopts ball pivot, Hooke's hinge or moving sets to realize the spatial movement of the 3-6 free degree as kinematic pair, and working space generally do not have predominant direction, complex structure, and manufacturing cost is higher.For example common Stewart parallel institution links with six branches between the upper mounting plate of this mechanism and the lower platform, and each branch two ends is two ball pivots, and the centre is a moving sets.Driver promotes moving sets and relatively moves, and changes the length of each bar, and the position of upper mounting plate and attitude are changed.
Yet, in the automatic production line of industries such as light industry, medicine, food and electronics, often need end effector in the plane, to carry out the manipulator of high speed operation such as operations such as letter sorting, packing, encapsulation, therefore adopt multiple degrees of freedom spatial parallel tool hand then to seem again and there is no need, or manufacturing cost is too high.
Summary of the invention
The object of the present invention is to provide a kind of high speed, low cost, light-duty two-degrees-of-freedom translation parallel robot mechanism of stereochemical structure.
The present invention is made up of frame, moving platform and two pairs of side chains.Frame is connected with moving platform by two side chains, forms the closed loop parallel-connection structure.Comprise two parallel mechanisms of group of drive rods and follower lever group in each side chain, group of drive rods and follower lever group are made up of three equal length parallel bars respectively, are connected with transition piece between group of drive rods and follower lever group.Drive two group of drive rods in the side chain respectively with two rack-mounted servomotors and rotate, and planar do the two-freedom translation by follower lever group drive moving platform.Moving platform has only translational motion in motion process, the moving platform direction does not change.All adopt turning joint to be connected between each connecting rod and transition piece, connecting rod and frame, connecting rod and the moving platform, each rotating hinge axis is parallel to each other.
Because motor is contained on the frame in the mechanism of the present invention, the mechanism kinematic quality is little, and inertia force is little, helps realizing high-speed motion; Adopt stereochemical structure, big perpendicular to plane of movement direction rigidity; Mechanism and the job area that can effectively improve predominant direction after translational degree of freedom is connected in series overcome the little shortcoming of working space of general parallel institution; Kinematic pair all is rotating hinge, and is simple and reliable for structure, low cost of manufacture.
The present invention adopts the parallelogram branched structure to realize the translation of moving platform, and kinematic pair all be turning joint, and is simple and reliable for structure, and low cost of manufacture has advantages such as high speed, low-cost, in light weight, high rigidity.
Description of drawings Fig. 1: be the robot mechanism of embodiment 1; Fig. 2: be the robot mechanism of embodiment 2.
The specific embodiment
Embodiment 1: as shown in Figure 1: frame 1 keeps motionless, and movable platform 6 can be done the two-freedom translation.Be connected by two side chains between frame 1 and the moving platform 6, be parallel to each other in the group of drive rods 2 in each side chain and three isometric bars connect frame 1 and transition piece 4; Be parallel to each other in the follower lever group 5 and isometric three bars connect transition piece 4 and moving platform 6.Between connecting rod and the frame, between connecting rod and the transition piece, the rotating hinge 3 that adopts axis to be parallel to each other between connecting rod and the moving platform is connected.Each group of drive rods is driven around frame by a drive motors and rotates, and motor can drive any bar in three parallel bars of group of drive rods, and realization moving platform 6 relative frames 1 are done translation.
Embodiment 2: as shown in Figure 2: frame 1 is installed on the moving sets 7, moves at leading screw or cog belt driving lower edge moving sets 7, and movable platform 6 relative frames are done the two-freedom translation.Be connected by two side chains between frame 1 and the moving platform 6, group of drive rods 2 and follower lever group 5 in each side chain are parallel mechanism, do translation with the relative frame of constraint moving platform.Between each connecting rod and frame 1, connecting rod and the transition piece 4, all adopt rotating hinge 3 to be connected between connecting rod and the moving platform.This mechanism can realize the Three Degree Of Freedom translation.
Claims (4)
1. two-degrees-of-freedom translation parallel robot mechanism, it is made up of frame, moving platform, transition piece and side chain; It is characterized in that two driving servomotors are installed on the frame, moving platform is connected with frame by two branches, forms parallel closed loop structure; Two side chains respectively contain two parallel mechanisms, respectively as group of drive rods and follower lever group, adopt turning joint to connect between each movement parts fully; Each group of drive rods and follower lever group adopt many bars to constitute stereochemical structure respectively.
2. a kind of two-degrees-of-freedom translation parallel robot mechanism as claimed in claim 1 is characterized by described hinge and is revolute pair.
3. a kind of two-degrees-of-freedom translation parallel robot mechanism as claimed in claim 1 is characterized by group of drive rods in described each side chain and follower lever group and is and is parallel to each other and three isometric bars are formed.
4. a kind of two-degrees-of-freedom translation parallel robot mechanism as claimed in claim 1, it is characterized by branched structure is parallelogram.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01277647 CN2511447Y (en) | 2001-12-31 | 2001-12-31 | Parallel robot mechanism with two dimensions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01277647 CN2511447Y (en) | 2001-12-31 | 2001-12-31 | Parallel robot mechanism with two dimensions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2511447Y true CN2511447Y (en) | 2002-09-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01277647 Expired - Fee Related CN2511447Y (en) | 2001-12-31 | 2001-12-31 | Parallel robot mechanism with two dimensions |
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| CN (1) | CN2511447Y (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100344418C (en) * | 2005-12-31 | 2007-10-24 | 浙江工业大学 | Two-freedom parallel-connecting mechanism with passive constrained branch |
| CN100395086C (en) * | 2006-07-31 | 2008-06-18 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN102069499A (en) * | 2009-11-19 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
| CN102699910A (en) * | 2012-06-26 | 2012-10-03 | 东莞理工学院 | Manipulator device |
| CN103950026A (en) * | 2014-04-15 | 2014-07-30 | 长春宝钢钢材贸易有限公司 | Simple servo-drive link-type mechanical arm |
| CN104015185A (en) * | 2014-06-12 | 2014-09-03 | 常州大学 | Weak coupling three horizontal moving parallel robot mechanism |
| CN104308841A (en) * | 2014-10-21 | 2015-01-28 | 泉州市微柏工业机器人研究院有限公司 | Heavy-load parallel manipulator |
| CN104942819A (en) * | 2015-05-27 | 2015-09-30 | 中山市鸿之远工业机器人有限公司 | Double-parallel freedom degree parallel connection mechanical arm |
| CN105058370A (en) * | 2015-09-02 | 2015-11-18 | 佛山市新合龙智能装备有限公司 | Parallel robot |
| WO2016095855A1 (en) * | 2014-12-19 | 2016-06-23 | 爱威科技股份有限公司 | Microscope and drive device thereof |
| CN105835034A (en) * | 2016-04-14 | 2016-08-10 | 燕山大学 | Three-degree-of-freedom industrial motion roll-over table |
| CN107327669A (en) * | 2016-05-01 | 2017-11-07 | 西北农林科技大学 | A kind of differential type whole plane moves truss |
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN112366478A (en) * | 2020-09-30 | 2021-02-12 | 四川极速智能科技有限公司 | Automatic power supply plugging and unplugging device |
| CN112477132A (en) * | 2019-09-11 | 2021-03-12 | 北部湾大学 | 3D printer actuating mechanism |
| CN116160320A (en) * | 2022-12-02 | 2023-05-26 | 天津大学 | Reconfigurable hybrid robot for polishing and grinding optical devices |
-
2001
- 2001-12-31 CN CN 01277647 patent/CN2511447Y/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100344418C (en) * | 2005-12-31 | 2007-10-24 | 浙江工业大学 | Two-freedom parallel-connecting mechanism with passive constrained branch |
| CN100395086C (en) * | 2006-07-31 | 2008-06-18 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN102069499A (en) * | 2009-11-19 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102069499B (en) * | 2009-11-19 | 2013-08-28 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
| CN102441891B (en) * | 2011-10-12 | 2013-12-18 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
| CN102699910A (en) * | 2012-06-26 | 2012-10-03 | 东莞理工学院 | Manipulator device |
| CN103950026A (en) * | 2014-04-15 | 2014-07-30 | 长春宝钢钢材贸易有限公司 | Simple servo-drive link-type mechanical arm |
| CN104015185A (en) * | 2014-06-12 | 2014-09-03 | 常州大学 | Weak coupling three horizontal moving parallel robot mechanism |
| CN104308841A (en) * | 2014-10-21 | 2015-01-28 | 泉州市微柏工业机器人研究院有限公司 | Heavy-load parallel manipulator |
| WO2016095855A1 (en) * | 2014-12-19 | 2016-06-23 | 爱威科技股份有限公司 | Microscope and drive device thereof |
| CN104942819A (en) * | 2015-05-27 | 2015-09-30 | 中山市鸿之远工业机器人有限公司 | Double-parallel freedom degree parallel connection mechanical arm |
| CN105058370A (en) * | 2015-09-02 | 2015-11-18 | 佛山市新合龙智能装备有限公司 | Parallel robot |
| CN105835034A (en) * | 2016-04-14 | 2016-08-10 | 燕山大学 | Three-degree-of-freedom industrial motion roll-over table |
| CN105835034B (en) * | 2016-04-14 | 2017-11-24 | 燕山大学 | The mobile roll-over table of Three Degree Of Freedom industry |
| CN107327669A (en) * | 2016-05-01 | 2017-11-07 | 西北农林科技大学 | A kind of differential type whole plane moves truss |
| CN107327669B (en) * | 2016-05-01 | 2019-03-19 | 西北农林科技大学 | A kind of mobile truss of differential type whole plane |
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN112477132A (en) * | 2019-09-11 | 2021-03-12 | 北部湾大学 | 3D printer actuating mechanism |
| CN112366478A (en) * | 2020-09-30 | 2021-02-12 | 四川极速智能科技有限公司 | Automatic power supply plugging and unplugging device |
| CN116160320A (en) * | 2022-12-02 | 2023-05-26 | 天津大学 | Reconfigurable hybrid robot for polishing and grinding optical devices |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |