CN106426101A - Robot mechanism with four degrees of freedom - Google Patents
Robot mechanism with four degrees of freedom Download PDFInfo
- Publication number
- CN106426101A CN106426101A CN201610984697.XA CN201610984697A CN106426101A CN 106426101 A CN106426101 A CN 106426101A CN 201610984697 A CN201610984697 A CN 201610984697A CN 106426101 A CN106426101 A CN 106426101A
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- CN
- China
- Prior art keywords
- telescopic bar
- pivot center
- rotating shaft
- side chain
- big rotating
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot mechanism with four degrees of freedom. The robot mechanism comprises a fixed frame, a movable platform, a large rotary shaft, a first branched chain, a second branched chain and a third branched chain. The first branched chain and the second branched chain are arranged between the large rotary shaft and the moveable platform, and the third branched chain is arranged between the fixed frame and the movable platform; the large rotary shaft is rotationally connected with the fixed frame, the three branched chains comprise telescopic rods, the telescopic rods of the first branched chain and the second branched chain are connected with the large rotary shaft by rotary pairs and are connected with the movable platform by ball pairs; the telescopic rod of the third branched chain is connected with the fixed frame which is a static platform by a hook hinge and is connected with the movable platform by a T-shaped shaft. The robot mechanism has the advantages of compact structure, smart design, good integral rigidity, high precision and large working space framework volume ratio.
Description
Technical field
The present invention relates to a kind of robot mechanism, more particularly to a kind of to have two flat two turns of four-degree-of-freedom machines man-machine
Structure.
Background technology
Existing patent CN1170658C discloses a kind of four-freedom parallel connection robot mechanism, and the mechanism has four points
, by rotating, pair, moving sets and ball pair are composed in series, Liang Ge branch is by the secondary string of Hooke's hinge, moving sets and ball for two of which branch
Connect composition.Patent CN100354068C is disclosed by a proper constrained branched chain and four four freedom that no constraint active branched chain constitutes
Degree parallel robot mechanism, wherein two degree of freedom of proper constrained branched chain limiting mechanism, make mechanism have four degree of freedom, no about
Bundle active branched chain provides driving.Patent CN102601793B discloses Novel spatially-symmetricafour-degree-of-freedparallel four-degree-of-freedparallel parallel mechanism, by four
The passive branch's composition of individual no constraint active branched chain and 1 centre, and lead to crossing in moving platform and gear pair is set realizes end execution
Device moving Platform center axis rotates.Patent CN100513062 discloses a kind of four-freedom parallel mechanism, two of which branch
By Hooke's hinge, moving sets and rotation, pair is composed in series, Liang Ge branch is composed in series by Hooke's hinge, moving sets and ball pair, the mechanism
Two constraints are provided by the first two branch, so as to realize 4DOF.
It follows that above-mentioned patent is for realizing 4 degree of freedom, mechanism all at least has 4 motion branches, even 5
Branch, manufacturing cost is higher.
Content of the invention
The present invention is to solve technical problem present in prior art to provide a kind of four freedom being made up of three side chains
Degree robot mechanism.
The technical solution for realizing the object of the invention is：A kind of four-degree-of-freedom robot mechanism, including fixed mount, rotation
The big rotating shaft that is connected on fixed mount, first bevel gear, second bevel gear, the big rotating shaft driving means being fixed on fixed mount,
Moving platform, the first side chain being arranged between the big rotating shaft and moving platform and the second side chain, it is arranged in the fixed mount and dynamic
The 3rd side chain between platform, the second bevel gear is rotated with fixed mount and is connected, and the drive with the big rotating shaft driving means
Moved end is affixed, and the first bevel gear is connected in big rotating shaft, and the first bevel gear and second bevel gear are meshed；
First side chain is identical with the second branched structure, all include per bar side chain driving means, telescopic bar,
Ball pivot；The telescopic bar of two side chains is all connected with big axis of rotation, connects the rotation of the telescopic bar and big rotating shaft
Axis is intersected vertically with the pivot center for being connected the silent flatform and big rotating shaft；One end of the telescopic bar is all connected with drive
Dynamic device, makes the telescopic bar become active moving sets, and the ball pivot is the hinge with three rotational freedoms, and three
Individual pivot center is not conllinear but intersects at a point, and the other end of the telescopic bar is all connected with moving platform by ball pivot；
Connect the telescopic bar of first side chain and the pivot center of big rotating shaft and the length for being connected second side chain
The pivot center of degree expansion link and big rotating shaft is parallel to each other；
3rd side chain includes the 3rd driving means, the 3rd telescopic bar, the 3rd turning collar, the 3rd T-shaped axle；Described
3rd turning collar is rotated with fixed mount and is connected, and the 3rd telescopic bar is rotated with the 3rd turning collar and is connected, the 3rd length
One end of degree expansion link is connected with the 3rd driving means, makes the 3rd telescopic bar become active moving sets, and the described 3rd
The telescopic bar other end is rotated with the 3rd T-shaped axle and is connected, and the 3rd T-shaped axle is rotated with moving platform and is connected；
Connect the pivot center of the 3rd turning collar and fixed mount and be connected the 3rd telescopic bar and the 3rd turn
The pivot center of moving-coil intersects vertically；Connect pivot center and the 3rd length of the 3rd telescopic bar and the 3rd T-shaped axle
The telescopic direction of expansion link is parallel；Connect the pivot center of the 3rd turning collar and fixed mount, connect the 3rd length and stretch
Totally three articles of the pivot center of the pivot center of contracting bar and the 3rd turning collar, connection the 3rd telescopic bar and the 3rd T-shaped axle
Axis is not conllinear, connects the pivot center of the 3rd telescopic bar and the 3rd T-shaped axle and be connected the 3rd T-shaped axle and move
Platform pivot center intersects vertically.
Connect pivot center and the rotary shaft for being connected the 3rd turning collar and silent flatform of the big rotating shaft and silent flatform
Line is parallel to each other.
Compared with prior art, its remarkable advantage is the present invention：The mechanism is face symmetrical mechanism, the processing of fixed mount and peace
Surface is filled all in horizontal or vertical direction, thus with good manufacture and assembly process process, and the second side chain and the 3rd
Chain can be connected with moving platform using the hinge for only having a rotational freedom, reduce 4 rotating hinges compared with prior art
Chain, thus advantageously reduce manufacturing cost.
Description of the drawings
Fig. 1 is one of structural representation of the embodiment of the present invention.
Fig. 2 is the structural representation of the T-shaped axle in the embodiment of the present invention.
Fig. 3 is the two of the structural representation of the embodiment of the present invention.
In figure number explanation is as follows：
1st, fixed mount, 2, big rotating shaft, 3, first bevel gear, 4, second bevel gear, 5, big rotating shaft driving means, 6, dynamic flat
Platform, I, the first side chain, II, the second side chain, III, the 3rd side chain；11st, the driving means of the first side chain, the length of the 12, first side chain
Degree expansion link, the ball pivot of the 13, first side chain；21st, the driving means of the second side chain, the telescopic bar of the 22, second side chain, 23,
The ball pivot of the second side chain；31st, the 3rd driving means, the 32, the 3rd telescopic bar, the 33, the 3rd turning collar, the 34, the 3rd T-shaped axle.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, following examples are hereby enumerated, and coordinates accompanying drawing
Describe in detail as follows：
Embodiment
In conjunction with accompanying drawing, a kind of four-degree-of-freedom robot mechanism, including fixed mount 1, big turn for being rotatably connected on fixed mount 1
Axle 2, first bevel gear 3, second bevel gear 4, the big rotating shaft driving means 5 being fixed on fixed mount 1, moving platform 6, it is arranged in institute
State the first side chain I between big rotating shaft 2 and moving platform 6 and the second side chain II, be arranged between the fixed mount 1 and moving platform 6
The 3rd side chain III, the second bevel gear 4 and fixed mount 1 are rotated and are connected, and the driving with the big rotating shaft driving means 5
End is affixed, and the first bevel gear 3 is connected in big rotating shaft 2, and the first bevel gear 3 and second bevel gear 4 are meshed；
The first side chain I is identical with the second side chain II structure, all includes driving means, telescopic per bar side chain
Bar, ball pivot；The telescopic bar of two side chains is all rotated with big rotating shaft 2 and be connected, the connection telescopic bar and big rotating shaft 2
Pivot center is intersected vertically with the pivot center for being connected the silent flatform 1 and big rotating shaft 2；One end of the telescopic bar is all solid
Driving means are connected to, make the telescopic bar become active moving sets, the ball pivot is the hinge with three rotational freedoms
Chain, and three pivot centers are not conllinear but intersect at a point, the other end of the telescopic bar is all by ball pivot and moving platform 6
It is connected；
Connect the telescopic bar 12 of the first side chain I and the pivot center of big rotating shaft 2 and be connected second side chain
The pivot center of the telescopic bar 22 of II and big rotating shaft 2 is parallel to each other；
The 3rd side chain III includes the 3rd driving means 31, the 3rd telescopic bar 32, the 3rd turning collar 33, the 3rd T
Shape axle 34；3rd turning collar 33 and fixed mount 1 are rotated and are connected, the 3rd telescopic bar 32 and 33 turns of the 3rd turning collar
It is dynamically connected, one end of the 3rd telescopic bar 32 is connected with the 3rd driving means 31, makes the 3rd telescopic bar 32
Become active moving sets, 32 other end of the 3rd telescopic bar is rotated with the 3rd T-shaped axle 34 and is connected, the 3rd T-shaped axle
34 are connected with the rotation of moving platform 6；
Connect the pivot center of the 3rd turning collar 33 and fixed mount 1 and be connected the 3rd telescopic bar 32 and
The pivot center of three turning collars 33 intersects vertically；Connect the pivot center and of the 3rd telescopic bar and the 3rd T-shaped axle
The telescopic direction of three telescopic bars is parallel；Connect the pivot center of the 3rd turning collar 33 and fixed mount 1, connect described the
The pivot center of three telescopic bars 32 and the 3rd turning collar 33, connect turning for the 3rd telescopic bar and the 3rd T-shaped axle
Totally three axis are not conllinear for shaft line, connect the pivot center of the 3rd telescopic bar 32 and the 3rd T-shaped axle 34 and are connected
The 3rd T-shaped axle 34 and 6 pivot center of moving platform intersect vertically.
Connect the pivot center of the big rotating shaft 2 and silent flatform 1 and turning of being connected the 3rd turning collar 33 and silent flatform 1
Shaft line is parallel to each other.
Present configuration is compact, designs ingenious, whole machine good rigidity, high precision, with big work space frame volume ratio.
Although above in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, but the invention is not limited in
The specific embodiment that states, above-mentioned specific embodiment be only schematically, be not restricted, this area common
Technical staff in the case of without departing from present inventive concept and scope of the claimed protection, may be used also under the enlightenment of the present invention
To make a lot of forms, these belong within protection scope of the present invention.
Claims (2)
1. a kind of four-degree-of-freedom robot mechanism, it is characterised in that including fixed mount (1), be rotatably connected on fixed mount (1)
Big rotating shaft (2), first bevel gear (3), second bevel gear (4), big rotating shaft driving means (5) being fixed on fixed mount (1), dynamic
Platform (6), the first side chain (I) being arranged between big rotating shaft (2) and moving platform (6) and the second side chain (II), it is arranged in
The 3rd side chain (III) between fixed mount (1) and moving platform (6), second bevel gear (4) are rotated with fixed mount (1)
Connection, and affixed with the drive end of big rotating shaft driving means (5), first bevel gear (3) are connected in big rotating shaft (2)
On, first bevel gear (3) and second bevel gear (4) are meshed；
First side chain (I) is identical with the second side chain (II) structure, all includes driving means, telescopic per bar side chain
Bar, ball pivot；The telescopic bar of two side chains is all rotated with big rotating shaft (2) and is connected, and connects the telescopic bar and big rotating shaft
(2) pivot center is intersected vertically with the pivot center for being connected the silent flatform (1) and big rotating shaft (2)；The telescopic bar
One end be all connected with driving means, make the telescopic bar become active moving sets, the ball pivot be with three rotate
The hinge of degree of freedom, and three pivot centers are not conllinear but intersect at a point, the other end of the telescopic bar is all by ball
Hinge is connected with moving platform (6)；
Connect the telescopic bar (12) of the first side chain (I) and the pivot center of big rotating shaft (2) and be connected described second
The pivot center of the telescopic bar (22) of chain (II) and big rotating shaft (2) is parallel to each other；
3rd side chain (III) include the 3rd driving means (31), the 3rd telescopic bar (32), the 3rd turning collar (33),
3rd T-shaped axle (34)；3rd turning collar (33) and fixed mount (1) are rotated and be connecteds, the 3rd telescopic bar (32) and
3rd turning collar (33) rotates connection, and one end of the 3rd telescopic bar (32) is connected with the 3rd driving means (31), makes
The 3rd telescopic bar (32) becomes active moving sets, the 3rd telescopic bar (32) other end and the 3rd T-shaped axle
(34) connection is rotated, and the 3rd T-shaped axle (34) is rotated with moving platform (6) and is connected；
Connect the pivot center of the 3rd turning collar (33) and fixed mount (1) be connected the 3rd telescopic bar (32) and
The pivot center of the 3rd turning collar (33) intersects vertically；Connect the pivot center of the 3rd telescopic bar and the 3rd T-shaped axle
Parallel with the telescopic direction of the 3rd telescopic bar；Connect pivot center, the company of the 3rd turning collar (33) and fixed mount (1)
Connect the pivot center of the 3rd telescopic bar (32) and the 3rd turning collar (33), connect the 3rd telescopic bar and the
Totally three axis are not conllinear for the pivot center of three T-shaped axles, connect the 3rd telescopic bar (32) and the 3rd T-shaped axle (34)
Pivot center be connected the 3rd T-shaped axle (34) and moving platform (6) pivot center intersects vertically.
2. a kind of four-degree-of-freedom robot mechanism according to claim 1, it is characterised in that connect big rotating shaft (2)
It is parallel to each other with the pivot center for being connected the 3rd turning collar (33) and silent flatform (1) with the pivot center of silent flatform (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610984697.XA CN106426101B (en) | 2016-11-09 | 2016-11-09 | A kind of four-degree-of-freedom robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610984697.XA CN106426101B (en) | 2016-11-09 | 2016-11-09 | A kind of four-degree-of-freedom robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426101A true CN106426101A (en) | 2017-02-22 |
| CN106426101B CN106426101B (en) | 2018-11-13 |
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ID=58208089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610984697.XA Active CN106426101B (en) | 2016-11-09 | 2016-11-09 | A kind of four-degree-of-freedom robot mechanism |
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| Country | Link |
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| CN (1) | CN106426101B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551260A (en) * | 2018-11-30 | 2019-04-02 | 清华大学 | A kind of five axis series-parallel machine tools for aerospace component processing |
| CN111604883A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Multi-degree-of-freedom high-performance hybrid robot |
| CN115771135A (en) * | 2022-11-16 | 2023-03-10 | 天津大学 | Parallel processing robot with large working space, few branched chains and five degrees of freedom |
| CN116269783A (en) * | 2023-03-28 | 2023-06-23 | 北京维卓致远医疗科技发展有限责任公司 | Guide frame and surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551260A (en) * | 2018-11-30 | 2019-04-02 | 清华大学 | A kind of five axis series-parallel machine tools for aerospace component processing |
| CN109551260B (en) * | 2018-11-30 | 2020-11-24 | 清华大学 | Five-axis series-parallel machine tool for machining aviation structural part |
| CN111604883A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Multi-degree-of-freedom high-performance hybrid robot |
| CN115771135A (en) * | 2022-11-16 | 2023-03-10 | 天津大学 | Parallel processing robot with large working space, few branched chains and five degrees of freedom |
| CN116269783A (en) * | 2023-03-28 | 2023-06-23 | 北京维卓致远医疗科技发展有限责任公司 | Guide frame and surgical robot |
| CN116269783B (en) * | 2023-03-28 | 2023-12-19 | 北京维卓致远医疗科技发展有限责任公司 | Guide frame and surgical robot |
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| Publication number | Publication date |
|---|---|
| CN106426101B (en) | 2018-11-13 |
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