CN102490177A - Four-freedom-degree parallel-connection robot - Google Patents
Four-freedom-degree parallel-connection robot Download PDFInfo
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- CN102490177A CN102490177A CN2011104136030A CN201110413603A CN102490177A CN 102490177 A CN102490177 A CN 102490177A CN 2011104136030 A CN2011104136030 A CN 2011104136030A CN 201110413603 A CN201110413603 A CN 201110413603A CN 102490177 A CN102490177 A CN 102490177A
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Abstract
The invention discloses a four-freedom-degree parallel-connection robot, which comprises a fixed frame. A first initiative branched chain and a third initiative branched chain can be connected and matched with the inner wall of an opening of a correspondingly-arranged first inner ring through a first guide rail slide block structure. A moving platform is disposed below the fixed frame. The lower ends of the first initiative branched chain, a second initiative branched chain, the third initiative branched chain and a fourth initiative branched chain are connected with the moving platform respectively through a fifth hinge, a sixth hinge, a seventh hinge and an eighth hinge. Hinge seats of the fifth hinge, the sixth hinge, the seventh hinge and the eighth hinge are respectively connected with one end of a slide rod. The lateral wall of each slide rod is connected with the inner wall of an opening on the moving platform in sliding mode through a second guide rail slide block. The bottom of each slide rod is connected with a lead screw nut pair. The robot is capable of performing modular construction design, has superior feed direction, is good in dynamic property, high in location accuracy and repeated location accuracy, and has a high rigidity to mass ratio. The weight of a locating head is small.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel robot of realizing the four-degree-of-freedom operation function.
Background technology
Can know according to patent US4732525, ZL200510015095.5, the multi-coordinate robot of existing band positioning head, its way of realization is generally the lower-mobility parallel institution and is aided with the initiatively hybrid connected structure form of yaw.Wherein, The lower-mobility parallel institution is installed in the location, position that the servomotor on the active branched chain is realized mechanism's moving platform through adjusting; Initiatively yaw is realized the attitude location of end effector through the servomotor that adjusting is installed on the yaw, thereby realizes the multi-coordinate working ability of mechanism.
This type of manipulator, because servomotor and decelerator etc. are installed in the active yaw, its deficiency is: the weight of end effector is excessive, influences the fast forward capability and the dynamic property of mechanism.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, provide that a kind of dynamic property is good, rigidity/mass ratio is big, only depend on the active branched chain driven by servomotor can realize the four-freedom parallel device people of moving platform pose location.
Four-freedom parallel device people of the present invention; It comprises fixed mount; Same circumferencial direction whenever has a perforate at a distance from 90 ° in described fixed mount upper edge; In four perforates, be rotatedly connected through first, second, third, fourth hinge and first, second, third, fourth active branched chain respectively; Wherein the first and the 3rd active branched chain is oppositely arranged; The second and the 4th active branched chain is oppositely arranged; The first, the 3rd hinge comprises first outer ring that links to each other with said fixed mount through the hinge with a rotational freedom and first inner ring that links to each other with first outer ring through the hinge with a rotational freedom respectively; The pivot center that connects the hinge of said first outer ring and fixed mount is nearly frame axis; The pivot center that connects the hinge of said first inner ring and first outer ring is a frame axis far away; Described nearly frame axis and frame axis far away be conllinear not, and first hinge and triple hinged nearly frame axis are parallel to each other, and the second, the 4th hinge comprises second outer ring that links to each other with described fixed mount through the hinge with a rotational freedom respectively, second inner ring that links to each other with second outer ring through the hinge with a rotational freedom and the hinge that links to each other with said second inner ring through the hinge with a rotational freedom; Described hinge can rotate around self axis under the driving of second active branched chain or the 4th active branched chain, and the pivot center that connects said second outer ring and the hinge of fixed mount and the pivot center of the hinge that is connected said second inner ring and second outer ring be conllinear and meet at a bit with the pivot center of hinge not; First with the 3rd active branched chain can with the perforate inwall of first inner ring of relative set through the cooperation that is connected of the first guide rail slide block structure; Slide block in the described first guide rail slide block structure can move up and down in the guide-track groove in the first guide rail slide block structure under the driving of the first and the 3rd active branched chain; Below described fixed mount, be provided with a moving platform; The lower end of said first, second, third, fourth active branched chain links to each other through the 5th, the 6th, the 7th, the 8th hinge respectively with moving platform; Said the 5th, the 6th, the 7th hinge is a pin shaft structure; Said the 8th hinge adopts the Hooke's hinge structure; Said the 5th, the 7th hinge through secondary axis is parallel to each other and arranges with the 6th hinge through axis normal; Five, the hinge seat of the 6th, the 7th, the 8th hinge links to each other with an end of a sliding bar separately, and each described sliding bar is vertical with moving platform to be provided with, and the perforate inwall on the sidewall of each described sliding bar and the moving platform slides through the second guide rail slide block structure and links to each other; Be fixedly connected with a nut in the bottom of each described sliding bar; Each nut is threaded with an end of a leading screw mutually, and the other end of the described leading screw that vertically is provided with described moving platform is installed in the bearing that is arranged on the moving platform, and wherein first leading screw is consistent with the hand of spiral of the 3rd leading screw; Second leading screw is consistent with the hand of spiral of the 4th leading screw; The hand of spiral of the hand of spiral of described first leading screw and the 3rd leading screw and second leading screw and the 4th leading screw is opposite, on described each leading screw, is connected with a gear, is provided with one in the centre of four gears and can distinguishes the central gear of engagement fit with described four gears; The gear shaft of described central gear is installed in the bearing that is arranged on the moving platform, is fixedly connected an end effector in the lower end of the gear shaft of described central gear.
Four-freedom parallel device people beneficial effect of the present invention is: moving platform adopts the version of screw pair and gears engaged, and screw pair is variable to be moved for rotating, for gear provides power.Gears engaged adopts the form of four pinions and a gear wheel engagement, has only four pinions to turn to unanimity that gear wheel is rotated, thereby location, active branched chain position is independent of each other with end effector pose location.Moving platform need not settled servomotor and decelerator, can effectively alleviate its quality, helps manipulator and promotes fast forward capability and dynamic property.This manipulator can carry out modular construction design, has the advantage direction of feed, and the positioning head quality is little, and rigidity/mass ratio is big, dynamic property good, positioning accuracy and repetitive positioning accuracy height.
Description of drawings
Fig. 1 is a four-freedom parallel device people's of the present invention structural representation;
Fig. 2 is the structural representation of the first, the 3rd active branched chain in the mechanism shown in Figure 1;
Fig. 3 is the structural representation of the second, the 4th active branched chain in the mechanism shown in Figure 1;
Fig. 4 is the moving platform cutaway view in the mechanism shown in Figure 1;
Fig. 5 is the vertical view of moving platform internal structure shown in Figure 4;
Fig. 6 is the routine structural representation of mechanism's application implementation shown in Figure 1.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done to describe in detail.
Four-freedom parallel device people of the present invention; It comprises fixed mount; Same circumferencial direction whenever has a perforate at a distance from 90 ° in described fixed mount upper edge; In four perforates, be rotatedly connected through first, second, third, fourth hinge and first, second, third, fourth active branched chain respectively; Wherein the first and the 3rd active branched chain 5,18 is oppositely arranged; The second and the 4th active branched chain 1,16 is oppositely arranged; The first, the 3rd hinge 4,17 comprises first outer ring 35-1 that links to each other with said fixed mount through the hinge with a rotational freedom and the first inner ring 36-1 that links to each other with first outer ring through the hinge with a rotational freedom respectively; The pivot center that connects the hinge of said first outer ring and fixed mount is nearly frame axis; The pivot center that connects the hinge of said first inner ring and first outer ring is a frame axis far away; Described nearly frame axis and frame axis far away be conllinear not, and the nearly frame axis of first hinge 4 and the 3rd hinge 17 is parallel to each other, and the second, the 4th hinge 2,15 comprises the second outer ring 35-2 that links to each other with described fixed mount through the hinge with a rotational freedom respectively, the second inner ring 36-2 that links to each other with second outer ring through the hinge with a rotational freedom and the hinge 37 that links to each other with said second inner ring through the hinge with a rotational freedom; Described hinge can rotate around the axis of self under the driving of second active branched chain or the 4th active branched chain, and the pivot center that connects said second outer ring and the hinge of fixed mount and the pivot center of the hinge that is connected said second inner ring and second outer ring be conllinear and meet at a bit with the pivot center of hinge 37 not; First with the 3rd active branched chain 5,18 can with the perforate inwall of first inner ring of relative set through the cooperation that is connected of the first guide rail slide block structure; Slide block in the described first guide rail slide block structure can move up and down in the guide-track groove in the first guide rail slide block structure under the driving of the first and the 3rd active branched chain 5,18; Below said fixed mount, be provided with a moving platform 10; The lower end of said first, second, third, fourth active branched chain links to each other through the 5th, the 6th, the 7th, the 8th hinge 7,6,14,12 respectively with moving platform; Said the 5th, the 6th, the 7th hinge is a pin shaft structure; Said the 8th hinge adopts the Hooke's hinge structure; Said the 5th, the 7th hinge through secondary axis be parallel to each other and with vertical layout of the 6th hinge 6 pivot centers; Five, the hinge seat of the 6th, the 7th, the 8th hinge links to each other with an end of a sliding bar separately, and each described sliding bar is vertical with moving platform to be provided with, and the perforate inwall on the sidewall of each described sliding bar and the moving platform slides through the second guide rail slide block structure and links to each other; Be fixedly connected with a nut 24 in the bottom of each described sliding bar; Each nut is threaded with an end of a leading screw mutually, and the other end of the described leading screw that vertically is provided with described moving platform is installed in the bearing that is arranged on the moving platform, and wherein first leading screw is consistent with the hand of spiral of the 3rd leading screw 23,29; Second leading screw is consistent with the hand of spiral of the 4th leading screw 25,31; The hand of spiral of the hand of spiral of described first leading screw and the 3rd leading screw and second leading screw and the 4th leading screw is opposite, on described each leading screw, is connected with a gear, is provided with one in the centre of four gears and can distinguishes the central gear 33 of engagement fit with described four gears; The gear shaft of described central gear is installed in the bearing that is arranged on the moving platform, and the gear shaft lower end is fixedly connected an end effector 27.
Combine each width of cloth figure that the present invention is further specified below again:
Four-freedom parallel device people of the present invention as shown in Figure 1, it comprises fixed mount 3, moving platform 10 and along moving platform 10 circumferencial directions first active branched chain 5 in 90 ° of perforates that are arranged on said fixed mount 3, second active branched chain 1, the 3rd active branched chain 18, the 4th active branched chain 16 at interval.
As depicted in figs. 1 and 2, said first active branched chain 5, the 3rd active branched chain 18 and said fixed mount 3 link to each other through first hinge 4, the 3rd hinge 17 respectively.Said first hinge 4 and the 3rd hinge 17 have two rotational freedoms, and it is made up of the first outer ring 35-1 and the first inner ring 36-1; The described first outer ring 35-1 connects said fixed mount 3 through the hinge with a rotational freedom, and the hinge with a rotational freedom described herein is realized with the form that can adopt the revolute pair that the said first outer ring 35-1 is constituted through bearing pin and bearing to be connected being connected of said fixed mount 3 to be fixedly installed in the bearing block on the said fixed mount 3; The said first inner ring 36-1 connects the said first outer ring 35-1 through the hinge with a rotational freedom, revolute pair or other forms of equivalent construction that the hinge with a rotational freedom described herein can adopt bearing pin and bearing to constitute; Its pivot center of the hinge 1a that connects said first outer ring 35-1 and fixed mount 3 is nearly frame axis; The pivot center 1b that connects the hinge of the said first inner ring 36-1 and the first outer ring 35-1 is a frame axis far away; Said nearly frame axis 1a and said frame axis 1b far away be conllinear not, and the nearly frame axis of first hinge 4, the 3rd hinge 17 is parallel to each other.
As shown in figures 1 and 3, said second active branched chain 1, the 4th active branched chain 16 and said fixed mount 3 link to each other through second hinge 2, the 4th hinge 15.Said second hinge 2, the 4th hinge 15 have three rotational freedoms, and it is made up of the second outer ring 35-2, the second inner ring 36-2 and hinge 37; The said second outer ring 35-2 connects said fixed mount 3 through the hinge with a rotational freedom; The said second inner ring 36-2 connects the said second outer ring 35-2 through the hinge with a rotational freedom; Revolute pair or other forms of equivalent construction that hinge with a rotational freedom described herein can adopt bearing pin and bearing to constitute; Said hinge 37 connects the said second inner ring 36-2 through the hinge with a rotational freedom, and revolute pair or other forms of equivalent construction that the hinge with a rotational freedom described herein can adopt axle sleeve and bearing to constitute make it to realize; Its pivot center of the hinge 2a that connects the said second outer ring 35-2 and fixed mount 3 and the pivot center 2b that is connected the said second inner ring 36-2 and the hinge of the second outer ring 35-2 be conllinear and meet at a bit with the turning cylinder 2c line of the hinge that is connected said second inner ring 36-2 and hinge 37 not.
Like Fig. 2 and shown in Figure 3; As of the present invention preferred embodiment a kind of; The described first and the 3rd active branched chain comprises the first connecting plate 22-1 respectively; The first servomotor 19-1 and first is installed on described first connecting plate moves leading screw 21-1; Described first servomotor moves leading screw through the first decelerator 20-1 and first and links to each other, and on said first inner ring, is fixedly connected with first rotating nut, and described first moves leading screw is threaded with first rotating nut of corresponding setting mutually; Described first hinge, the 3rd hinge inner ring are provided with the guide-track groove in the first guide rail slide block structure, and the slide block in the first guide rail slide block structure that is slidingly fitted with described guide-track groove is installed on first connecting plate of first active branched chain, the 3rd active branched chain.The described first and the 3rd active branched chain can also adopt hydraulic push rod, pneumatic etc. other any one can realize the version of same movement function.
As of the present invention preferred embodiment a kind of; The described second and the 4th active branched chain comprises the second connecting plate 22-2 respectively; The second servomotor 19-2 and second is installed on described second connecting plate moves leading screw 21-2; Described second servomotor moves leading screw through the second decelerator 20-2 and second and links to each other; Described hinge 37 is connected on described second inner ring through bearing, and described second rotating nut and hinge are fixedly linked, and described second moves leading screw is threaded with second rotating nut of corresponding setting mutually.The described second and the 4th active branched chain can also adopt other any one can realize the same movement function version as type of drive.
As shown in Figure 4, said first active branched chain 5, second active branched chain 1, the 3rd active branched chain 18, the 4th active branched chain 16 and said moving platform 10 link to each other through the 5th hinge 7, the 6th hinge 6, the 7th hinge 14, the 8th hinge 12.Said the 5th hinge 7, the 6th hinge 6, the 7th hinge 14 have a rotational freedom; Comprise bearing pin and constitute the bearing of revolute pair with said bearing pin; Also can adopt other forms of equivalent construction; Said the 8th hinge 12 has two rotational freedoms, can adopt Hooke's hinge form or other forms of equivalent construction, the revolute pair axis of said the 5th hinge 7, the 7th hinge 14 be parallel to each other and with vertical layout of pivot center of the 6th hinge 6.
As shown in Figure 4; First active branched chain, 5 lower ends are connected with first sliding bar 9 through the 5th hinge 7; Second active branched chain 1 is connected with second sliding bar 8 through the 6th hinge 6; The 3rd active branched chain 18 is connected with the 3rd sliding bar 13 through the 7th hinge 14, and the 4th active branched chain 16 is connected with the 4th sliding bar 11 through the 8th hinge 12.Below described fixed mount, be provided with a moving platform 10; Be connected with a hinge 7,6,14,12 respectively in the lower end of each active branched chain; The hinge seat of each described hinge links to each other with an end with the vertically disposed sliding bar 9,8,13,11 of moving platform; Perforate inwall on the sidewall of described sliding bar and the moving platform slides through the guide rail slide block structure and links to each other; Be fixedly connected with a nut 24 in the bottom of each described sliding bar; Each nut is threaded with an end of a leading screw 23,31,29,25 mutually, and the other end of a described leading screw that vertically is provided with described moving platform 10 is installed in the bearing that is arranged on the moving platform, and wherein first leading screw 23 is consistent with the hand of spiral of the 3rd leading screw 29; Second leading screw 31 is consistent with the hand of spiral of the 4th leading screw 25; The hand of spiral of described first leading screw 23 and the 3rd leading screw 29 is opposite with the hand of spiral of second leading screw 31 and the 4th leading screw 25, on described each leading screw, is connected with a gear 32,30,28,26 respectively, is provided with one in the centre of four gears and can distinguishes the central gear 33 of engagement fit with described four gears; The gear shaft 34 of described central gear 33 is installed in the bearing that is arranged on the moving platform, the affixed end effector 27 in the lower end of gear shaft 34.
Said first sliding bar, 9 upper mounting rails, moving platform are provided with corresponding guide-track groove, and first sliding bar 9 can be along the translation of C direction of principal axis under the drive of first active branched chain 5.The nut 24 and first leading screw 23 that are installed in simultaneously on first sliding bar 9 form screw pair.First sliding bar 9 drives nut 24 along the translation of C axle and moves along the C direction of principal axis, and then first leading screw 23 can rotate around the C axle, thereby is installed in the rotation that first gear 32 on first leading screw 23 produces around the C axle.Said second sliding bar 8, the 3rd sliding bar 13, the 4th sliding bar 11 are all identical with first sliding bar 9 with the connection of moving platform 10.That is, second gear 30, the 3rd gear 28, the 4th gear 26 can be realized the rotation around the C axle through screw pair respectively under the drive of second active branched chain 1, the 3rd active branched chain 18, the 4th active branched chain 16.
In technical scheme of the present invention: because said the 4th hinge 15 has three rotational freedoms; Said the 4th active branched chain 16 can say that its axis direction does stretching motion; Said the 8th hinge 12 has two rotational freedoms, so said the 4th active branched chain does not provide constraint to said moving platform 10; Said first hinge 4, the 3rd hinge 17 have two rotational freedoms; So first active branched chain 5, the 3rd active branched chain 18 can with respect to said fixed mount 3 around the A direction of principal axis with rotate around the B direction of principal axis; Said second hinge 2 has three rotational freedoms, so second active branched chain 1 can be rotated around the A direction of principal axis and around B direction of principal axis and himself axis direction with respect to said fixed mount 3; Because each active branched chain and first, second, third and fourth hinge form an one-movement-freedom-degree through feed screw nut, so each active branched chain can axially be done stretching motion along it; Because said the 5th, the 6th, the 7th hinge only has a rotational freedom, so first, second, third active branched chain is rotated with respect to said moving platform 10.When each main motion chain under the driving of said servomotor 19 during self-movement; Said moving platform 10 generation space displacements; And the spatial attitude of mechanism also changes simultaneously; The end effector 27 that is installed in said moving platform 10 bottoms can be adjusted the rotation of attitude realization around the C axle, thereby has constituted four-freedom parallel device people.
End effector is seen Fig. 4 and Fig. 5 around the rotation of C axle.The screw thread of first leading screw 23, the 3rd leading screw 29 is a right-handed thread, and the screw thread of second leading screw 31, the 4th leading screw 25 is a left hand thread.When first sliding bar 9, when the 3rd sliding bar 13 moves downward with identical speed simultaneously, first gear 32, the 3rd gear 28 produce clockwise rotation; Second sliding bar 8, when the 4th sliding bar 11 moves upward with same speed simultaneously, second gear 30, the 4th gear 26 also produce clockwise rotation.33 whiles and four gears engaged of central gear, when then four gears produced same clockwise rotating, central gear 33 produced and rotates counterclockwise; Gear wheel 33 and gear shaft 34 are connected through key, gear shaft 34 terminal affixed end effectors 27, and the rotation of gear wheel 33 drives end effector 27 and produces and rotate counterclockwise around the C axle.The movement velocitys of the motion of first sliding bar 9, the 3rd sliding bar 13 and second sliding bar 8, the 4th sliding bar 11 etc. are big reverse, can guarantee that the pose of moving platform does not change, and rotating counterclockwise of end effector 27 only arranged.
Similarly; When first sliding bar 9, when the 3rd sliding bar 13 moves upward with identical speed simultaneously; Second sliding bar 8, when the 4th sliding bar 11 moves downward with same speed simultaneously; Four gears produce same rotating counterclockwise, thereby gear wheel 33 generations clockwise rotate, and drive end effector 27 and produce clockwise rotating around the C axle.The movement velocitys of the motion of first sliding bar 9, the 3rd sliding bar 13 and second sliding bar 8, the 4th sliding bar 11 etc. are big reverse, can guarantee that the pose of moving platform does not change, and rotating counterclockwise of end effector only arranged.
Have only motion and second sliding bar 8 of first sliding bar 9, the 3rd sliding bar 13, the movement velocity of the 4th sliding bar 11 etc. big reverse, four gears rotate when turning to unanimity, and central gear 33 is rotated.Under the big reverse situation such as the movement velocity of the motion of first sliding bar 9, the 3rd sliding bar 13 and second sliding bar 8, the 4th sliding bar 11 is not, four gear rotation are to inconsistent, and the rotation of central gear 33 is restrained.
Four-freedom parallel device people operating position general introduction of the present invention: shown in Fig. 5 embodiment 1 that four-freedom parallel mechanical hand of the present invention is as a module, integrated with the long stroke guide rail unit of three directions, realize the working ability in the bigger working space.
The above description of this invention only is schematically, rather than restrictive, so embodiment of the present invention is not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, under the situation that does not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (3)
1. four-freedom parallel device people; It is characterized in that: it comprises fixed mount; Same circumferencial direction whenever has a perforate at a distance from 90 ° in described fixed mount upper edge; In four perforates, be rotatedly connected through first, second, third, fourth hinge and first, second, third, fourth active branched chain respectively; Wherein the first and the 3rd active branched chain is oppositely arranged; The second and the 4th active branched chain is oppositely arranged; The first, the 3rd hinge comprises first outer ring that links to each other with said fixed mount through the hinge with a rotational freedom and first inner ring that links to each other with first outer ring through the hinge with a rotational freedom respectively; The pivot center that connects the hinge of said first outer ring and fixed mount is nearly frame axis; The pivot center that connects the hinge of said first inner ring and first outer ring is a frame axis far away; Described nearly frame axis and frame axis far away be conllinear not, and first hinge and triple hinged nearly frame axis are parallel to each other, and the second, the 4th hinge comprises second outer ring that links to each other with described fixed mount through the hinge with a rotational freedom respectively, second inner ring that links to each other with second outer ring through the hinge with a rotational freedom and the hinge that links to each other with said second inner ring through the hinge with a rotational freedom; Described hinge can rotate around self axis under the driving of second active branched chain or the 4th active branched chain, and the pivot center that connects said second outer ring and the hinge of fixed mount and the pivot center of the hinge that is connected said second inner ring and second outer ring be conllinear and meet at a bit with the pivot center of hinge not; First with the 3rd active branched chain can with the perforate inwall of first inner ring of relative set through the cooperation that is connected of the first guide rail slide block structure; Slide block in the described first guide rail slide block structure can move up and down in the guide-track groove in the first guide rail slide block structure under the driving of the first and the 3rd active branched chain; Below described fixed mount, be provided with a moving platform; The lower end of said first, second, third, fourth active branched chain links to each other through the 5th, the 6th, the 7th, the 8th hinge respectively with moving platform; Said the 5th, the 6th, the 7th hinge is a pin shaft structure; Said the 8th hinge adopts the Hooke's hinge structure; Said the 5th, the 7th hinge through secondary axis is parallel to each other and arranges with the 6th hinge through axis normal; Five, the hinge seat of the 6th, the 7th, the 8th hinge links to each other with an end of a sliding bar separately, and each described sliding bar is vertical with moving platform to be provided with, and the perforate inwall on the sidewall of each described sliding bar and the moving platform slides through the second guide rail slide block structure and links to each other; Be fixedly connected with a nut in the bottom of each described sliding bar; Each nut is threaded with an end of a leading screw mutually, and the other end of the described leading screw that vertically is provided with described moving platform is installed in the bearing that is arranged on the moving platform, and wherein first leading screw is consistent with the hand of spiral of the 3rd leading screw; Second leading screw is consistent with the hand of spiral of the 4th leading screw; The hand of spiral of the hand of spiral of described first leading screw and the 3rd leading screw and second leading screw and the 4th leading screw is opposite, on described each leading screw, is connected with a gear, is provided with one in the centre of four gears and can distinguishes the central gear of engagement fit with described four gears; The gear shaft of described central gear is installed in the bearing that is arranged on the moving platform, is fixedly connected an end effector in the lower end of the gear shaft of described central gear.
2. four-freedom parallel device people according to claim 1; It is characterized in that: the described first and the 3rd active branched chain comprises first connecting plate respectively; First servomotor and first is installed on described first connecting plate moves leading screw; Described first servomotor moves leading screw through first decelerator and first and links to each other; On said first inner ring, be fixedly connected with first rotating nut; Described first moves leading screw is threaded with first rotating nut of corresponding setting mutually, and described first hinge, the 3rd hinge inner ring are provided with the guide-track groove in the first guide rail slide block structure, and the slide block in the first guide rail slide block structure that is slidingly fitted with described guide-track groove is installed on first active branched chain, the 3rd active branched chain connecting plate.
3. four-freedom parallel device people according to claim 1; It is characterized in that: the described second and the 4th active branched chain comprises second connecting plate respectively; Second servomotor and second is installed on described second connecting plate moves leading screw; Described second servomotor moves leading screw through second decelerator and second and links to each other; Described hinge is connected on described second inner ring through bearing, and the described hinge and second rotating nut are fixedly linked, and described second moves leading screw is threaded with second rotating nut of corresponding setting mutually.
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| CN201110413603.0A CN102490177B (en) | 2011-12-13 | 2011-12-13 | Four-freedom-degree parallel-connection robot |
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| CN201110413603.0A CN102490177B (en) | 2011-12-13 | 2011-12-13 | Four-freedom-degree parallel-connection robot |
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| CN102490177B CN102490177B (en) | 2014-04-30 |
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| CN103394957A (en) * | 2013-08-16 | 2013-11-20 | 孟秋华 | Manipulator structure |
| CN103753235A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Multi-axis linkage based on modules in parallel |
| CN105690361A (en) * | 2016-02-03 | 2016-06-22 | 中北大学 | Five-axis linkage type hybrid machine tool |
| CN106181973A (en) * | 2016-09-30 | 2016-12-07 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN107214025A (en) * | 2017-07-25 | 2017-09-29 | 芜湖超源力工业设计有限公司 | A kind of adjustable paint-spray robot of angle of gun |
| WO2020062431A1 (en) * | 2018-09-26 | 2020-04-02 | 燕山大学 | Symmetrical tri-axial parallel spindle head capable of implementing multi-directional fixed point rotation |
| CN111604883A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Multi-degree-of-freedom high-performance hybrid robot |
| CN115744361A (en) * | 2022-12-21 | 2023-03-07 | 三维汉界机器(武汉)有限公司 | Carloader based on 4UPU-UP mechanism |
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