CN106625576B - A kind of robot with five degrees of freedom mechanism - Google Patents
A kind of robot with five degrees of freedom mechanism Download PDFInfo
- Publication number
- CN106625576B CN106625576B CN201610985226.0A CN201610985226A CN106625576B CN 106625576 B CN106625576 B CN 106625576B CN 201610985226 A CN201610985226 A CN 201610985226A CN 106625576 B CN106625576 B CN 106625576B
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- China
- Prior art keywords
- branch
- fixed frame
- telescopic bar
- big shaft
- pivot
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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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot with five degrees of freedom mechanisms, including fixed frame, moving platform, the big shaft being rotatably connected on fixed frame, the first, second branch being arranged between the big shaft and moving platform and the third being arranged between the fixed frame and moving platform, the 4th branch；Four branches include telescopic rod, and the telescopic rod of first and second branch is connect with big shaft by revolute pair, connect with moving platform by ball pair；The telescopic rod of third and fourth branch is connect by Hooke's hinge with silent flatform, is connect with moving platform by ball pair.Structure of the invention is compact, ingenious in design, and complete machine good rigidity, precision are high, has big working space rack volume ratio.
Description
Technical field
The present invention relates to a kind of robot mechanism, there are three flat two turns of robot with five degrees of freedom machines more particularly to a kind of
Structure.
Background technology
Existing patent CN102699898, CN102672709, CN102699902, CN101049692, CN1524662 institute is public
It in the robot with five degrees of freedom opened, is made of mostly minority carrier generation lifetime and two-freedom series connection rotary head, wherein few free
The position for spending parallel institution for end moving platform positions, and two-freedom series connection rotary head is used for the adjustment of posture.Such robot
In, since the transmission link of two-freedom rotary head includes servo motor and retarder, so that end movement quality is excessive, influence
The dynamic property and acceleration and deceleration characteristic of mechanism, and the rigidity for rotary head of connecting is difficult to ensure, is unfavorable for pursuing high rigidity/matter of mechanism
Amount ratio.
Invention content
The present invention provides a kind of five degree of freedom machine without series connection rotary head to solve technical problem present in known technology
Device robot mechanism.
Realize that the technical solution of the object of the invention is：A kind of robot with five degrees of freedom mechanism, including fixed frame, rotation
The big shaft that is connected on fixed frame, first bevel gear, second bevel gear, the big shaft driving device being fixed on fixed frame,
Moving platform, the first branch being arranged between the big shaft and moving platform and third branch are arranged in the fixed frame and move
The second branch between platform and the 4th branch, the second bevel gear are rotatablely connected with fixed frame, and are driven with the big shaft
The driving end of dynamic device is affixed, and the first bevel gear is fixed in big shaft, the first bevel gear and second bevel gear phase
Engagement；
First branch is identical with third branched structure, and every branch includes driving device, telescopic bar
And flexural pivot；The telescopic bar of two branches is rotatablely connected with big shaft, connects the telescopic bar and turn of big shaft
Shaft line intersects vertically with the pivot center for connecting the silent flatform and big shaft；One end of the telescopic bar is connected with
Driving device makes the telescopic bar become active moving sets, and the flexural pivot is the hinge having there are three rotational freedom, and
Three pivot centers are not conllinear but intersect at a point, and the other end of the telescopic bar is connected by flexural pivot with moving platform；
Connect the telescopic bar of first branch and the pivot center of big shaft and the length that connect the third branch
Degree telescopic rod and the pivot center of big shaft are mutually parallel；
Second branch and the 4th branched structure are identical, including driving device, telescopic bar, turning collar, with
And flexural pivot；The turning collar is rotatablely connected with turning collar with fixed frame rotation connection, the telescopic bar, the length
One end of telescopic rod is connected with driving device, and the telescopic bar is made to become active moving sets, and the flexural pivot is with three
The hinge of a rotational freedom, and three pivot centers are not conllinear but intersect at a point, the other end of the telescopic bar is logical
Flexural pivot is crossed with moving platform to be connected；
The pivot center of the turning collar and fixed frame that connect second branch is stretched with the length for connecting second branch
The pivot center of the turning collar of contracting bar and third branch intersects vertically.
The pivot center of the turning collar and fixed frame that connect the 4th branch is stretched with the length for connecting the 4th branch
The pivot center of the turning collar of contracting bar and the 4th branch intersects vertically.
Compared with prior art, the present invention its remarkable advantage is：The mechanism is face symmetrical mechanism, the processing of fixed frame and peace
Surface is filled in horizontal or vertical direction, thus there is good manufacture and assembly process process, and the first branch and third branch
Chain shares big shaft and is connect with fixed frame, in addition, passing through the big shaft of active drive so that in addition need to only use 4 branches
It realizes five degree of freedom, reduces branch quantity, advantageously reduce manufacturing cost.
Description of the drawings
Fig. 1 is one of the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the second structural representation of the embodiment of the present invention.
Number explanation is as follows in figure：
1, fixed frame, 2, big shaft, 3, first bevel gear, 4, second bevel gear, 5, big shaft driving device, 6, dynamic flat
Platform, I, the first branch, II, the second branch, III, third branch, IV, the 4th branch；11, the driving device of the first branch, 12,
The telescopic bar of first branch, the flexural pivot of the 13, first branch；21, the driving device of the second branch, the length of the 22, second branch
Spend telescopic rod, the turning collar of the 23, second branch, the flexural pivot of the 24, second branch；31, the driving device of third branch, 32, third
The telescopic bar of branch, 33, the flexural pivot of third branch；41, the length of the driving device of the 4th branch, the 42, the 4th branch is stretched
Contracting bar, the turning collar of the 43, the 4th branch, the flexural pivot of the 44, the 4th branch.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows：
Embodiment
A kind of robot with five degrees of freedom mechanism, including fixed frame 1, the big shaft 2, first that is rotatably connected on fixed frame 1
Bevel gear 3, the big shaft driving device 5 being fixed on fixed frame 1, moving platform 6, is arranged in the big shaft at second bevel gear 4
The first branch I and third branch III between 2 and moving platform 6, second be arranged between the fixed frame 1 and moving platform 6
Chain II and the 4th branch IV, the second bevel gear 4 and fixed frame 1 are rotatablely connected, and with the drive of the big shaft driving device 5
Moved end is affixed, and the first bevel gear 3 is fixed in big shaft 2, and the first bevel gear 3 and second bevel gear 4 are meshed；
The first branch I is identical with third branch III structures, and every branch is stretched including driving device, length
Contracting bar and flexural pivot；The telescopic bar of two branches is rotatablely connected with big shaft 2, connects the telescopic bar and big shaft
2 pivot center intersects vertically with the pivot center for connecting the silent flatform 1 and big shaft 2；One end of the telescopic bar
It is connected with driving device, the telescopic bar is made to become active moving sets, the flexural pivot is that there are three rotational freedoms for tool
Hinge, and three pivot centers are not conllinear but intersect at a point, the other end of the telescopic bar by flexural pivot with it is dynamic flat
Platform is connected；
Connect the first branch I telescopic bar 12 and big shaft 2 pivot center with connect the third branch
The telescopic bar 32 of III and the pivot center of big shaft 2 are mutually parallel；
The second branch II and the 4th branch IV structures are identical, including driving device, telescopic bar, rotation
Circle and flexural pivot；The turning collar is rotatablely connected with turning collar with the rotation connection of fixed frame 1, the telescopic bar, institute
The one end for stating telescopic bar is connected with driving device, and the telescopic bar is made to become active moving sets, and the flexural pivot is
Tool is there are three the hinge of rotational freedom, and three pivot centers are not conllinear but intersect at a point, the telescopic bar it is another
One end is connected by flexural pivot with moving platform；
Connect the turning collar 23 of second branch and the pivot center of fixed frame 1 and the length that connect second branch
The pivot center of the turning collar 23 of telescopic rod 22 and third branch intersects vertically.
Connect the turning collar 43 of the 4th branch and the pivot center of fixed frame 1 and the length that connect the 4th branch
The pivot center of the turning collar 43 of telescopic rod 42 and the 4th branch intersects vertically.
Structure of the invention is compact, ingenious in design, and complete machine good rigidity, precision are high, has big working space rack volume ratio.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific implementation mode stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (2)
1. a kind of robot with five degrees of freedom mechanism, which is characterized in that including fixed frame (1), be rotatably connected on fixed frame (1)
Big shaft (2), second bevel gear (4), the big shaft driving device (5) being fixed on fixed frame (1), is moved first bevel gear (3)
Platform (6), the first branch (I) being arranged between the big shaft (2) and moving platform (6) and third branch (III) are arranged in
The second branch (II) between the fixed frame (1) and moving platform (6) and the 4th branch (IV), the second bevel gear (4) with
Fixed frame (1) is rotatablely connected, and affixed with the driving end of the big shaft driving device (5), and the first bevel gear (3) is affixed
In big shaft (2), the first bevel gear (3) and second bevel gear (4) are meshed；
First branch (I) is identical with third branch (III) structure, and every branch is stretched including driving device, length
Contracting bar and flexural pivot；The telescopic bar of two branches is rotatablely connected with big shaft (2), connects the telescopic bar and big turn
The pivot center of axis (2) intersects vertically with the pivot center for connecting the fixed frame (1) and big shaft (2)；The telescopic
One end of bar is connected with driving device, and the telescopic bar is made to become active moving sets, and the flexural pivot is that there are three turn for tool
The hinge of dynamic degree of freedom, and three pivot centers are not conllinear but intersect at a point, the other end of the telescopic bar passes through ball
Hinge is connected with moving platform；
Connect first branch (I) telescopic bar (12) and big shaft (2) pivot center with connect the third branch
The telescopic bar (32) of chain (III) and the pivot center of big shaft (2) are mutually parallel；
Second branch (II) is identical with the 4th branch (IV) structure, including driving device, telescopic bar, rotation
Circle and flexural pivot；The turning collar is rotatablely connected with turning collar with fixed frame (1) rotation connection, the telescopic bar,
One end of the telescopic bar is connected with driving device, and the telescopic bar is made to become active moving sets, the flexural pivot
For tool, there are three the hinges of rotational freedom, and three pivot centers are not conllinear but intersect at a point, the telescopic bar
The other end is connected by flexural pivot with moving platform；
Connect the turning collar (23) of second branch and the pivot center of fixed frame (1) and the length that connect second branch
The pivot center of the turning collar (23) of telescopic rod (22) and the second branch intersects vertically.
2. robot with five degrees of freedom mechanism according to claim 1, which is characterized in that the rotation of connection the 4th branch
Enclose the rotation of the pivot center and the telescopic bar (42) and the 4th branch that connect the 4th branch of (43) and fixed frame (1)
The pivot center of circle (43) intersects vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985226.0A CN106625576B (en) | 2016-11-09 | 2016-11-09 | A kind of robot with five degrees of freedom mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985226.0A CN106625576B (en) | 2016-11-09 | 2016-11-09 | A kind of robot with five degrees of freedom mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625576A CN106625576A (en) | 2017-05-10 |
| CN106625576B true CN106625576B (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610985226.0A Active CN106625576B (en) | 2016-11-09 | 2016-11-09 | A kind of robot with five degrees of freedom mechanism |
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| CN (1) | CN106625576B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378594B (en) * | 2017-07-13 | 2019-06-18 | 清华大学 | A kind of five-freedom parallel machine tool |
| CN110216658B (en) * | 2019-06-12 | 2021-05-18 | 清华大学 | Five-degree-of-freedom parallel machining robot with four branched chains |
| CN111604883A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Multi-degree-of-freedom high-performance hybrid robot |
| CN112077485B (en) * | 2020-08-10 | 2022-07-29 | 德清泰鑫金属制品有限公司 | Automatic welding equipment for pole pieces of parallel battery pack |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN101049692A (en) * | 2007-04-20 | 2007-10-10 | 天津大学 | Series parallel robot in five degrees of freedom |
| CN102699901A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Over-constrained five-degree-of-freedom hybrid robot |
| CN204913901U (en) * | 2015-07-09 | 2015-12-30 | 天津大学 | It changes movable support's five degree of freedom series -parallel connection robots to contain multiaxis |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101264800B1 (en) * | 2007-11-26 | 2013-05-15 | 모터 파워 컴파니 에스.알.엘. | A device for handling and/or performing work operations on objects |
-
2016
- 2016-11-09 CN CN201610985226.0A patent/CN106625576B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN101049692A (en) * | 2007-04-20 | 2007-10-10 | 天津大学 | Series parallel robot in five degrees of freedom |
| CN102699901A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Over-constrained five-degree-of-freedom hybrid robot |
| CN204913901U (en) * | 2015-07-09 | 2015-12-30 | 天津大学 | It changes movable support's five degree of freedom series -parallel connection robots to contain multiaxis |
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| Publication number | Publication date |
|---|---|
| CN106625576A (en) | 2017-05-10 |
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