CN104999458A - Robot - Google Patents
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- CN104999458A CN104999458A CN201510371553.2A CN201510371553A CN104999458A CN 104999458 A CN104999458 A CN 104999458A CN 201510371553 A CN201510371553 A CN 201510371553A CN 104999458 A CN104999458 A CN 104999458A
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- side chain
- connecting rod
- ball bearing
- typed ball
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Abstract
The invention relates to a robot. The robot comprises a movable platform, a fixed platform and three branch chains, wherein the branch chains are connected with the two platforms. The first branch chain and the second branch chain of the three branch chains are the same in structure, and the first branch chain and the second branch chain respectively comprises a spherical hinge pair, a rotating pair, a movement pair and connecting rods among the spherical hinge pair, the rotating pair and the movement pair from top to bottom. The third branch chain of the three branch chains comprises a spherical hinge pair, two rotating pairs and connecting rods among the spherical hinge pair and the rotating pairs from top to bottom. Motion output of three kinds of movement can be achieved, structures are simple, and processing and manufacturing are easy. A kinematic model is simple, and therefore kinematic calibration and control become easy. Meanwhile, the number of structure joints is small, and the structural rigidity is improved.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of robot.
Background technology
Parallel robot mechanism is by being connected with plural side chain between fixed platform and motion platform, each side chain is made up of connecting rod and kinematic pair, motion platform has the plural free degree, and with the mechanism that parallel way drives, the serial manipulator of this and transmission is all very different in theory of mechanisms, kinematics, dynamics etc.
Parallel robot mechanism is widely used in the technical fields such as Digit Control Machine Tool, inching operation, boiler maintenance, production processing, and researcher have also been invented a lot of parallel institution.But existing parallel robot mechanism still comes with some shortcomings, the problems such as poor in manufacturability, complex structure, manufacturing cost are high.
Summary of the invention
The object of the invention is to the defect for prior art and deficiency, provide a kind of structure simple, kinematic pair number is few, and cost is lower, can realize the robot mechanism of three movements.
For achieving the above object, the technical solution used in the present invention is:
A kind of robot, be made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a typed ball bearing pair, revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, two revolute pairs and the connecting rod between them from top to bottom;
One end of the upper connecting rod of the first side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by revolute pair, and the other end of lower link is connected with fixed platform by moving sets;
One end of the upper connecting rod of the second side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by revolute pair, and the other end of lower link is connected with fixed platform by moving sets;
One end of the upper connecting rod of the 3rd side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by the first revolute pair, and the other end of lower link is connected with fixed platform by the second revolute pair;
Wherein, the second revolute pair of the moving sets of the first side chain, the moving sets of the second side chain and the 3rd side chain is the driving pair of mechanism.
Preferably, described motion platform is isosceles triangle.
Preferably, described motion platform is isosceles right triangle, and wherein the line angle of the typed ball bearing pair central point of the typed ball bearing pair central point of the first side chain, the typed ball bearing pair central point of the second side chain and the 3rd side chain is 90 °.
The invention has the beneficial effects as follows:
The motion platform of parallel robot mechanism of the present invention can realize the movement output of three movements, and mechanism is simple, and processing and manufacturing is easy, and kinematics model is simple, makes Kinematic Calibration and control become easy, and mechanism joint is few simultaneously, improves the rigidity of structure.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of robot.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Embodiments provide a kind of robot, as shown in Figure 1, be made up of motion platform 1, fixed platform 0 and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a typed ball bearing pair, revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, two revolute pairs and the connecting rod between them from top to bottom;
One end of the upper connecting rod L3 of the first side chain is connected with motion platform 1 by typed ball bearing pair 5, and the other end of upper connecting rod L3 is connected with one end of lower link L4 by revolute pair 6, and the other end of lower link L4 is connected with fixed platform 0 by moving sets 7;
One end of the upper connecting rod L5 of the second side chain is connected with motion platform 1 by typed ball bearing pair 8, and the other end of upper connecting rod L5 is connected with one end of lower link L6 by revolute pair 9, and the other end of lower link L6 is connected with fixed platform 0 by moving sets 10;
One end of the upper connecting rod L1 of the 3rd side chain is connected with motion platform 1 by typed ball bearing pair 2, and the other end of upper connecting rod L1 is connected with one end of lower link L2 by the first revolute pair 3, and the other end of lower link L2 is connected with fixed platform 0 by the second revolute pair 4;
Wherein, the moving sets 10 of moving sets 7, second side chain of the first side chain and the second revolute pair 4 of the 3rd side chain are the driving pair of mechanism.
Preferably, described motion platform 1 is isosceles triangle.
Preferably, described motion platform 1 is isosceles right triangle, and wherein the line angle of typed ball bearing pair 2 central point of typed ball bearing pair 5 central point of the first side chain, typed ball bearing pair 8 central point of the second side chain and the 3rd side chain is 90 °.
Above disclosedly be only present pre-ferred embodiments, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.
Claims (3)
1. a robot, it is characterized in that: be made up of motion platform (1), fixed platform (0) and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a typed ball bearing pair, revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, two revolute pairs and the connecting rod between them from top to bottom;
One end of the upper connecting rod (L3) of the first side chain is connected with motion platform (1) by typed ball bearing pair (5), the other end of upper connecting rod (L3) is connected with one end of lower link (L4) by revolute pair (6), and the other end of lower link (L4) is connected with fixed platform (0) by moving sets (7);
One end of the upper connecting rod (L5) of the second side chain is connected with motion platform (1) by typed ball bearing pair (8), the other end of upper connecting rod (L5) is connected with one end of lower link (L6) by revolute pair (9), and the other end of lower link (L6) is connected with fixed platform (0) by moving sets (10);
One end of the upper connecting rod (L1) of the 3rd side chain is connected with motion platform (1) by typed ball bearing pair (2), the other end of upper connecting rod (L1) is connected with one end of lower link (L2) by the first revolute pair (3), and the other end of lower link (L2) is connected with fixed platform (0) by the second revolute pair (4);
Wherein, second revolute pair (4) of the moving sets (7) of the first side chain, the moving sets (10) of the second side chain and the 3rd side chain is mechanism driving is secondary.
2. a kind of robot according to claim 1, is characterized in that: described motion platform (1) is isosceles triangle.
3. a kind of robot according to claim 2, it is characterized in that: described motion platform (1) is isosceles right triangle, wherein the line angle of typed ball bearing pair (2) central point of typed ball bearing pair (5) central point of the first side chain, typed ball bearing pair (8) central point of the second side chain and the 3rd side chain is 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510371553.2A CN104999458A (en) | 2015-06-29 | 2015-06-29 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510371553.2A CN104999458A (en) | 2015-06-29 | 2015-06-29 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104999458A true CN104999458A (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510371553.2A Pending CN104999458A (en) | 2015-06-29 | 2015-06-29 | Robot |
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| CN (1) | CN104999458A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835042A (en) * | 2016-05-30 | 2016-08-10 | 柳州柳环环保技术有限公司 | Three-freedom-degree energy-saving robot mechanism |
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| US20030005786A1 (en) * | 2001-07-05 | 2003-01-09 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN1559753A (en) * | 2004-03-01 | 2005-01-05 | 西安理工大学 | Three-axle parallel mainshaft head structure for implemonting multidirection verticel-horizontal processing |
| JP2009291878A (en) * | 2008-06-04 | 2009-12-17 | Jtekt Corp | Parallel mechanism and its calibration method |
| CN101704244A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN101844350A (en) * | 2010-06-07 | 2010-09-29 | 浙江理工大学 | Three degree of freedom parallel robot mechanism |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN104440875A (en) * | 2014-11-06 | 2015-03-25 | 河南理工大学 | Three degree-of-freedom parallel connection mechanism with adjustable working space and adjusting method thereof |
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2015
- 2015-06-29 CN CN201510371553.2A patent/CN104999458A/en active Pending
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|---|---|---|---|---|
| US20030005786A1 (en) * | 2001-07-05 | 2003-01-09 | Microdexterity Systems, Inc. | Parallel mechanism |
| CN1559753A (en) * | 2004-03-01 | 2005-01-05 | 西安理工大学 | Three-axle parallel mainshaft head structure for implemonting multidirection verticel-horizontal processing |
| JP2009291878A (en) * | 2008-06-04 | 2009-12-17 | Jtekt Corp | Parallel mechanism and its calibration method |
| CN101704244A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN101844350A (en) * | 2010-06-07 | 2010-09-29 | 浙江理工大学 | Three degree of freedom parallel robot mechanism |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN104440875A (en) * | 2014-11-06 | 2015-03-25 | 河南理工大学 | Three degree-of-freedom parallel connection mechanism with adjustable working space and adjusting method thereof |
Non-Patent Citations (2)
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| 于靖军等: "《机器人机构学的数学基础》", 31 July 2008, 机械工业出版社 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835042A (en) * | 2016-05-30 | 2016-08-10 | 柳州柳环环保技术有限公司 | Three-freedom-degree energy-saving robot mechanism |
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Application publication date: 20151028 |
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