CN106272361A - A kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn - Google Patents
A kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn Download PDFInfo
- Publication number
- CN106272361A CN106272361A CN201610874845.2A CN201610874845A CN106272361A CN 106272361 A CN106272361 A CN 106272361A CN 201610874845 A CN201610874845 A CN 201610874845A CN 106272361 A CN106272361 A CN 106272361A
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- China
- Prior art keywords
- hack lever
- connecting shaft
- side chain
- affixed
- platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses and a kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn, including fixed mount, moving platform, first, second, and third side chain that is arranged between described fixed mount and moving platform；Described three side chains all include nearly hack lever, two parallel and isometric remote hack levers, and described 3rd side chain also includes conversion fork, and described conversion fork is affixed with fixed mount；One end of described nearly hack lever is connected with fixed mount or conversion fork, the other end and remote hack lever ball-joint, described remote hack lever and moving platform ball-joint, described moving platform includes main platform and the auxiliary platform that can mutually rotate, this mechanism's good rigidity, motion flexibly, easily realizes high speed pick-and-place.
Description
Technical field
The present invention relates to a kind of robot mechanism, a kind of to realize the two Three Degree Of Freedom machines of flat a turn man-machine
Structure.
Background technology
In the automatic packaging of industry, encapsulation and the logistic production lines such as electronics, food, medicine, light industry, need by machine
Tool hands captures jobbie from a certain position, the most planar makees on a large scale quickly mobile, and according to given angle and
This crawled object is placed into another location by height.United States Patent (USP) US4392776 (or EP0065859, JP57194888,
ES8307152, EP0065859, IE820902L, IE52774), US5000653 (or WO8700789, EP0232292,
ES2001359, DE35287769), US2005087034 (or EP1525957, JP2005125489, DE10349452),
US6212968 (or DE19934973), European patent EP 0169473 (or JP61109681), Japan Patent JP2003275977,
JP2003275978, JP2003275987, Bulgaria patent BG5129 and Chinese patent CN1779936 etc., all refer to
A kind of Three Degree Of Freedom or four-degree-of-freedom SCARA (Selective Compliance Assemble Robot Arm) humanoid robot.
Master arm one end of such robot is connected with support by revolute pair, and the master arm other end is by rotary pair and the one of slave arm
End connects, and two pivot centers are parallel, so that master arm constitutes two-freedom plane joint serial machine robot mechanism with slave arm；
The other end of slave arm is provided with end effector, and end effector has a revolution degree of freedom and one relative to slave arm
One-movement-freedom-degree, the axis of revolution degree of freedom is parallel with the axis of rotation of master arm and slave arm, hangs down in the direction of one-movement-freedom-degree
Straight in master arm and the plane of movement of slave arm.Each driving means can be directly arranged on the joint of two opposed moving members, also
Can be fixed on pedestal, then by each joint of actuator drives.This type of robot may be implemented in the complete cycle in plane of movement
Revolution, therefore has bigger space, but, owing to using open loop structure, so the inertia of master arm and slave arm is relatively
Greatly, its rigidity and precision are relatively low.
Summary of the invention
It is an object of the invention to provide and a kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn.
The technical solution realizing the object of the invention is: a kind of to realize the two Three Degree Of Freedom machines of flat a turn man-machine
Structure, including the first side chain between fixed mount, moving platform and Connection Bracket and moving platform, the second side chain and the 3rd side chain,
Wherein,
Described first side chain and the second branched structure are identical, and are distributed in the both sides of the 3rd side chain；
Described first side chain include the first driving means, the first nearly hack lever, connecting shaft on first, two parallel and isometric
First remote hack lever and first time connecting shaft；First driving means is affixed with fixed mount, and one end of the first nearly hack lever turns with fixed mount
It is dynamically connected, and affixed with the drive end of the first driving means, on the other end and first of the first nearly hack lever, connecting shaft is affixed；First
Connecting shaft ball-joint on remote hack lever one end and first, the other end be fixed in connecting shaft ball-joint first on moving platform time；
Described second side chain include the second driving means, the second nearly hack lever, connecting shaft on second, two parallel and isometric
Second remote hack lever and second time connecting shaft；Second driving means is affixed with fixed mount, and one end of the second nearly hack lever turns with fixed mount
It is dynamically connected, and affixed with the drive end of the second driving means, on the other end and second of the second nearly hack lever, connecting shaft is affixed；Second
Connecting shaft ball-joint on remote hack lever one end and second, the other end be fixed in connecting shaft ball-joint second on moving platform time；
Described 3rd side chain include changing fork, the 3rd driving means, the 3rd nearly hack lever, connecting shaft on the 3rd, two parallel
And isometric the 3rd remote hack lever, support bar and the 3rd time connecting shaft；Conversion fork is affixed with fixed mount, the 3rd driving means and conversion
Pitching affixed, one end of the 3rd nearly hack lever is rotationally connected with conversion fork, and affixed with the drive end of the 3rd driving means, the 3rd nearly frame
On the other end of bar and the 3rd, connecting shaft is affixed；Connecting shaft ball-joint on 3rd remote hack lever one end and the 3rd, the other end is with affixed
The 3rd time connecting shaft [37] ball-joint on moving platform；It is connected with support between two the parallel and isometric the 3rd remote hack levers
Bar；
Described moving platform includes that main platform and auxiliary platform, main platform and auxiliary platform are rotationally connected；First side chain and second
Chain is all connected with main platform, and the 3rd side chain is connected with auxiliary platform.
Connect the rotation pivot center of the described first nearly hack lever and fixed mount, connect the second nearly hack lever and rotation of fixed mount
Axis is parallel to each other, and is mutually perpendicular to the pivot center being connected the 3rd nearly hack lever and conversion fork.
Being connected with internal gear on described main platform, auxiliary platform is rotatably connected to little gear, internal gear engages with little gear,
Both constitute gear pair, and little gear is connected with end effector.
Being connected with round guide on described main platform, auxiliary platform is connected with smooth block, smooth block constitutes guide rail with round guide
Secondary.
Compared with prior art, its remarkable advantage is the present invention: two flat one turn of 3-freedom parallel mechanism knots of the present invention
Structure is the compactest, and motion mode is clear and definite；And the 3rd have employed support bar between the remote hack lever of side chain, be conducive to improving the rigidity of mechanism
And dynamic response characteristic, it is advantageously implemented at a high speed and high acceleration.
Accompanying drawing explanation
Fig. 1 is that the present invention can realize two structural representations of Three Degree Of Freedom robot mechanism of flat a turn.
Fig. 2 is the structural representation of moving platform in the embodiment of the present invention.
Fig. 3 is the structural representation of main platform in the embodiment of the present invention.
Fig. 4 is the structural representation of auxiliary platform in the embodiment of the present invention.
Numbering representative implication in figure is:
1, fixed mount, 2, smooth block, 3, round guide, 4, internal gear, 5, little gear, 6, main platform, 7, auxiliary platform, 8, end
Executor, the 11, first driving means, the 12, first nearly hack lever, connecting shaft on 13, first, the 14, first remote hack lever, 15, first time
Connecting shaft, the 21, second driving means, the 22, second nearly hack lever, connecting shaft on 23, second, the 24, second remote hack lever, 25, second time
Connecting shaft, the 31, the 3rd driving means, 32, conversion fork, the 33, the 3rd nearly hack lever, connecting shaft on the 34, the 3rd, the 35, the 3rd remote hack lever,
36, support bar, the 37, the 3rd time connecting shaft.
Detailed description of the invention
Below in conjunction with embodiment the present invention done further detailed description:
In conjunction with accompanying drawing 1-4, a kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn, including fixed mount 1, moving platform
And the first side chain, the second side chain and the 3rd side chain between Connection Bracket 1 and moving platform, described first side chain and second
Chain structure is identical, and is distributed in the both sides of the 3rd side chain；
Described first side chain include on the first nearly hack lever 12, first of driving means 11, first connecting shaft 13, two parallel and
The remote hack lever 14 of isometric first and first time connecting shaft 15；Described first driving means 11 is affixed with fixed mount 1, described first near
One end of hack lever 12 is rotationally connected with fixed mount 1, and affixed with the drive end of the first driving means 11, the first nearly hack lever 12 another
On one end and first, connecting shaft 13 is affixed；Connecting shaft 13 ball-joint on described first remote hack lever 14 one end and described first, another
End and first time connecting shaft 15 ball-joint being fixed on described moving platform；
Described second side chain include on the second nearly hack lever 22, first of driving means 21, second connecting shaft 23, two parallel and
The remote hack lever 24 of isometric second and second time connecting shaft 25；Described second driving means 21 is affixed with fixed mount 1, described second near
One end of hack lever 22 is rotationally connected with fixed mount 1, and affixed with the drive end of the second driving means 21, the second nearly hack lever 22 another
On one end and second, connecting shaft 23 is affixed；Connecting shaft 23 ball-joint on described second remote hack lever 24 one end and described second, another
End and second time connecting shaft 25 ball-joint being fixed on described moving platform；
Described 3rd side chain include changing connecting shaft 34 on fork the 32, the 3rd nearly hack lever the 33, the 3rd of driving means the 31, the 3rd,
Connecting shaft 36 on two the parallel and isometric the 3rd remote hack levers 35, support bars 35 and first；Described conversion fork 32 is solid with fixed mount 1
Connecing, described 3rd driving means 31 is affixed with conversion fork 32, and one end of the described 3rd nearly hack lever 33 is rotationally connected with conversion fork 32,
And affixed with the drive end of the 3rd driving means 31, on the other end and the 3rd of the 3rd nearly hack lever 33, connecting shaft 34 is affixed；Described
Connecting shaft 34 ball-joint on 3rd remote hack lever 33 one end and the described 3rd, the other end be fixed in the 3rd on described moving platform time
Connecting shaft 37 ball-joint；It is connected with support bar 36 between the 3rd remote hack lever 35 that said two is parallel and isometric；
Described moving platform includes that main platform 6 and auxiliary platform 7, described main platform 6 and auxiliary platform 7 are rotationally connected；Described first
Side chain and the second side chain are all connected with main platform 6, and described 3rd side chain is connected with described auxiliary platform 7.
Connect the described first nearly hack lever and the pivot center of fixed mount, connect the described second nearly hack lever and rotation of fixed mount
Axis is parallel to each other, and is mutually perpendicular to the pivot center being connected the described 3rd nearly hack lever and conversion fork.
It is connected with internal gear 4 on described main platform 6, described auxiliary platform 7 is rotatably connected to little gear 5, described internal gear 4
Engaging with little gear 5, both constitute gear pair, and described little gear 5 is connected with end effector 8.
It is connected with round guide 3 on described main platform 6, described auxiliary platform 7 is connected with smooth block 2, described smooth block 2 and circle
Guide rail 3 constitutes guideway.
Two flat one turn of 3-freedom parallel mechanism of the present invention are simple and compact for structure, and motion mode is clear and definite；And the 3rd side chain
Have employed support bar between remote hack lever, be conducive to improving rigidity and the dynamic response characteristic of mechanism, be advantageously implemented at a high speed and high
Acceleration.
Claims (3)
1. can realize the two Three Degree Of Freedom robot mechanisms of flat a turn, including fixed mount [1], moving platform and connect fixing
Frame [1] and the first side chain of moving platform, the second side chain and the 3rd side chain, it is characterised in that
Described first side chain and the second branched structure are identical, and are distributed in the both sides of the 3rd side chain；
Described first side chain include the first driving means [11], the first nearly hack lever [12], connecting shaft [13] on first, two parallel
And the first isometric remote hack lever [14] and first time connecting shaft [15]；Described first driving means [11] is affixed with fixed mount [1],
One end of described first nearly hack lever [12] is rotationally connected with fixed mount [1], and affixed with the drive end of the first driving means [11],
On the other end and first of the first nearly hack lever [12], connecting shaft [13] is affixed；Described first remote hack lever [14] one end and described first
Upper connecting shaft [13] ball-joint, the other end and first time connecting shaft [15] ball-joint being fixed on described moving platform；
Described second side chain include the second driving means [21], the second nearly hack lever [22], connecting shaft [23] on first, two parallel
And the second isometric remote hack lever [24] and second time connecting shaft [25]；Described second driving means [21] is affixed with fixed mount [1],
One end of described second nearly hack lever [22] is rotationally connected with fixed mount [1], and affixed with the drive end of the second driving means [21],
On the other end and second of the second nearly hack lever [22], connecting shaft [23] is affixed；Described second remote hack lever [24] one end and described second
Upper connecting shaft [23] ball-joint, the other end and second time connecting shaft [25] ball-joint being fixed on described moving platform；
Described 3rd side chain includes conversion fork [32], the 3rd driving means [31], the 3rd nearly hack lever [33], connecting shaft on the 3rd
[34], connecting shaft [36] on two the parallel and isometric the 3rd remote hack levers [35], support bars [35] and first；Described conversion fork
[32] affixed with fixed mount [1], described 3rd driving means [31] is affixed with conversion fork [32], the described 3rd nearly hack lever [33]
One end and conversion fork [32] are rotationally connected, and affixed with the drive end of the 3rd driving means [31], the 3rd nearly hack lever [33] another
On one end and the 3rd, connecting shaft [34] is affixed；Connecting shaft [34] ball pivot on described 3rd remote hack lever [35] one end and the described 3rd
Connect, the other end be fixed in connecting shaft [37] ball-joint the 3rd on described moving platform time；Said two parallel and isometric
It is connected with support bar [36] between three remote hack levers [35]；
Described moving platform includes that main platform [6] and auxiliary platform [7], described main platform [6] and auxiliary platform [7] are rotationally connected；Described
First side chain and the second side chain are all connected with main platform [6], and described 3rd side chain is connected with described auxiliary platform [7]；
Connect the described first nearly hack lever [12] and the pivot center of fixed mount [1], connect the described second nearly hack lever [22] and fix
The pivot center of frame [1] is parallel to each other, and mutual with the pivot center being connected the described 3rd nearly hack lever [33] and conversion fork [32]
Vertically.
The most according to claim 1 a kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn, it is characterised in that institute
State and on main platform [6], be connected with internal gear [4], described auxiliary platform [7] is rotatably connected to little gear [5], described internal gear [4]
Engaging with little gear [5], both constitute gear pair, and described little gear [5] is connected with end effector [8].
The most according to claim 1 a kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn, it is characterised in that institute
State and on main platform [6], be connected with round guide [3], described auxiliary platform [7] is connected with smooth block [2], described smooth block [2] and circle
Guide rail [3] constitutes guideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874845.2A CN106272361B (en) | 2016-10-07 | 2016-10-07 | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874845.2A CN106272361B (en) | 2016-10-07 | 2016-10-07 | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272361A true CN106272361A (en) | 2017-01-04 |
| CN106272361B CN106272361B (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610874845.2A Active CN106272361B (en) | 2016-10-07 | 2016-10-07 | It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803821A (en) * | 2017-11-23 | 2018-03-16 | 南京理工大学 | A kind of high speed parallel robot mechanism with two kinds of operator schemes |
| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
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| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
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| CN204471372U (en) * | 2015-03-23 | 2015-07-15 | 安徽工业大学 | A kind of Three Degree Of Freedom transfer robot |
| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105291096A (en) * | 2015-11-27 | 2016-02-03 | 中国地质大学（武汉） | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom |
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2016
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040211284A1 (en) * | 1999-08-05 | 2004-10-28 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| GB2478280A (en) * | 2010-03-01 | 2011-09-07 | Makex Ltd | Five axis coordinate measuring machine |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
| CN102689305A (en) * | 2012-04-20 | 2012-09-26 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel mechanism |
| CN104354154A (en) * | 2014-09-19 | 2015-02-18 | 深圳职业技术学院 | Tri-translation parallel robot mechanism |
| CN204471372U (en) * | 2015-03-23 | 2015-07-15 | 安徽工业大学 | A kind of Three Degree Of Freedom transfer robot |
| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105291096A (en) * | 2015-11-27 | 2016-02-03 | 中国地质大学（武汉） | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803821A (en) * | 2017-11-23 | 2018-03-16 | 南京理工大学 | A kind of high speed parallel robot mechanism with two kinds of operator schemes |
| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272361B (en) | 2018-11-13 |
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