CN107414791A - A kind of symmetrical Planar Mechanisms series-parallel robot in face - Google Patents
A kind of symmetrical Planar Mechanisms series-parallel robot in face Download PDFInfo
- Publication number
- CN107414791A CN107414791A CN201710615224.7A CN201710615224A CN107414791A CN 107414791 A CN107414791 A CN 107414791A CN 201710615224 A CN201710615224 A CN 201710615224A CN 107414791 A CN107414791 A CN 107414791A
- Authority
- CN
- China
- Prior art keywords
- side chain
- outer ring
- expansion link
- fixed mount
- adjustment device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of symmetrical Planar Mechanisms series-parallel robot in face, including moving platform and the two degrees of freedom rotary head for being connected to the moving platform end, and fixed mount, the moving platform head end center is fixedly connected with the end of the first side chain, the head end of first side chain runs through the center of the fixed mount, the body portion and the center of described fixed mount of first side chain are articulated and connected, the second side chain and the 3rd side chain are symmetrically hinged with two sides of the moving platform, the 4th side chain is hinged with the side of the moving platform and between the second side chain and the 3rd side chain, under initial bit shape, the artificial space face symmetrical structure of machine formed.A kind of symmetrical Planar Mechanisms series-parallel robot in face of the present invention, have the advantages that kinematics it is simple, it is compact-sized it is whole, manufacture that mounting process is good, working space frame volume ratio is big.
Description
Technical field
The present invention relates to a kind of robot.More particularly to a kind of symmetrical Planar Mechanisms series-parallel robot in face.
Background technology
A kind of band positioning disclosed in patent SE8502327 (or US4732525) and EP0674969 (or US6336375)
Head spatial series-parallel robot, including three can it is axially elongated or shorten means of active gulation and one it is driven regulation dress
Put；One end of the means of active gulation is anchored on fixed mount by hinge, and the other end is connected by hinge with moving platform；Institute
The driven adjusting means one end stated is fixedly connected with described positioning head, and another end is connected by hinge with fixed mount, fixed to limit
The several frees degree of certain of potential head.It should be noted that the hinge of such robot connection positioning head and active length adjustment device
It is excessive for Three-degree of freedom hinge, hinge number of degrees of freedom；And forward kinematics solution is complex, without analytic solutions.
A kind of Planar Mechanisms high rigidity machine with three symmetric motion performances disclosed in patent ZL 201510506108.2
Device people, equally including three can axially elongated or the means of active gulation shortened and a driven adjusting means；Wherein one
Means of active gulation is connected by two degrees of freedom hinge with moving platform, reduces by a hinge free degree.Three means of active gulation
Symmetrically it is arranged on one week of driven adjusting means in space three.Although the robot is over-constraint structure, kinematics is just
Solution is same complex, without analytic solutions.A kind of Planar Mechanisms high rigidity disclosed in patent ZL201210185261.6 is sat more
Series-parallel robot is marked, structure is similar, but two of which means of active gulation is connected by single-degree-of-freedom hinge with moving platform, symmetrically
Ground is arranged on the left and right sides of driven adjusting means, and two means of active gulation and the plane of movement of driven adjusting means are same
One plane, another means of active gulation are connected by the spherical hinge of Three Degree Of Freedom with moving platform, are arranged on driven adjusting means
Lower section.Hinge number of degrees of freedom in mechanism is greatly reduced in the robot, and kinematics is simple, and normal solution has analytic solutions.So
And superpower Planar Mechanisms relation make it that the manufacture of the robot and mounting process are poor.In addition, the portion in the robot
Hook hinge is divided to use cantilever design, poor mechanical property.
The content of the invention
The technical problem to be solved by the invention is to provide a kind of kinematics it is simple, it is compact-sized it is whole, manufacture mounting process
The symmetrical Planar Mechanisms series-parallel robot in face good, that working space frame volume ratio is big of property.
The technical solution adopted in the present invention is：A kind of symmetrical Planar Mechanisms series-parallel robot in face, including moving platform and connection
Two degrees of freedom rotary head in the moving platform end, and fixed mount, the moving platform head end center are fixedly connected with the first side chain
End, the head end of first side chain runs through the center of the fixed mount, the body portion of first side chain and described fixation
The center of frame is articulated and connected, and the second side chain and the 3rd side chain are symmetrically hinged with two sides of the moving platform, described dynamic flat
The 4th side chain is hinged with the side of platform and between the second side chain and the 3rd side chain, under initial bit shape, the machine that is formed
The artificial space face symmetrical structure of device.
The first described side chain includes：Expansion link, the 3rd outer ring and inner ring, in the side wall of described expansion link vertically
Guide rail is fixedly installed, is axially fixed on the medial surface of the inner ring and is provided with sliding block, the inner ring with one by turning
The inner side for being hingedly connected at the 3rd outer ring of the dynamic free degree, the expansion link run through the inner ring, and on the inside of the inner ring
Sliding block on face is slidably connected with the guide rail on the expansion link lateral surface, the expansion link is formed driven shifting with the inner ring
Dynamic pair, the 3rd described outer ring passes through the center for being hingedly connected at fixed mount with a rotational freedom, the expansion link
End be fixedly connected with moving platform.
Connect pivot center of the pivot center of the 3rd outer ring and fixed mount with being connected the inner ring and the 3rd outer ring
Intersect vertically.
Described the second side chain and the 3rd branched structure is identical, includes：First length adjustment device, outside first
Circle and T-shaped hinge, the first length adjustment device rotation are hinged in first outer ring, one end rotation of described T-shaped hinge
The end for being connected to first length adjustment device turned, the other both ends coaxial line of described T-shaped hinge and rotates simultaneously
It is hinged on moving platform, the top of first length adjustment device is connected with what is stretched for driving the first length adjustment device
First driving means, the length adjustment device is set to turn into active moving sets, first outer ring with one by rotating certainly
It is hinged by the hinge and described fixed mount spent.
The pivot center of first outer ring and fixed mount is connected with being connected outside first length adjustment device and first
The pivot center of circle intersects vertically；The rotation axis of the T-shaped hinge and the first length adjustment device is connected parallel to the active
The moving direction of prismatic pair, and pivot center and connection first length by connecting first outer ring and fixed mount are adjusted
The intersection point of regulating device and the pivot center of outer ring.
First length adjustment device includes first that one end is fixedly connected on the first driving means outlet side
Outer tube, the first feather key radially stretched in pipe is fixedly installed in the side wall of first outer tube back-end, is additionally provided with one
The first expansion link that end is inserted in first outer tube back-end, the tube wall outside of first expansion link are formed with the first key
Groove, after the first expansion link is inserted into the first outer tube, the first described feather key is embedded in the first described keyway, described
The end that first expansion link inserts this one end in first outer tube is fixedly connected with feed screw nut, the first expansion link interpolation
Entering has the leading screw being threadedly coupled with described feed screw nut, and one end of the leading screw connects the output of the first driving means
Axle, the other end connection T-shaped hinge of first expansion link.
The 4th described side chain includes：Second length adjustment device, the second outer ring and ball pivot, the second described length are adjusted
Regulating device rotation is hinged in the second outer ring, and the second described outer ring passes through the hinge with rotational freedom and fixation
Frame is hinged and connected, wherein, the pivot center of second outer ring and fixed mount is connected with being connected second length adjustment device
Intersected vertically with the pivot center of outer ring, the ball pivot is the hinge with three rotational freedoms, and three pivot centers are not
Collinearly but intersect at a point, second length adjustment device is hinged and connected by ball pivot and moving platform, and second length is adjusted
The top of regulating device is connected with for driving the second flexible drive device of the second length adjustment device, adjusts second length
Regulating device turns into active moving sets.
The second described length adjustment device includes that one end is fixedly connected on the second drive device outlet side
Two outer tubes, the second feather key radially stretched in pipe is fixedly installed in the side wall of second outer tube back-end, is additionally provided with
The second expansion link that one end is inserted in second outer tube back-end, the tube wall outside of second expansion link are formed with second
Keyway, after the second expansion link is inserted into the second outer tube, the second described feather key is embedded in the second described keyway, in institute
State the second expansion link and insert the end of this one end in second outer tube and be fixedly connected with feed screw nut, in second expansion link
Inserted with the leading screw being threadedly coupled with described feed screw nut, one end of the leading screw connects the output of second drive device
Axle, the other end of second expansion link are hinged and connected by ball pivot and moving platform.
The pivot center of the 3rd outer ring and fixed mount is by the second side chain of connection and the 3rd side chain in the first described side chain
In the first outer ring and fixed mount pivot center and the first length adjustment device for being connected in the second side chain and the 3rd side chain and
The intersection point of the pivot center of first outer ring；Connect the first side chain inner ring and the 3rd outer ring pivot center, connection the second side chain and
The pivot center of T-shaped hinge and moving platform in 3rd side chain is parallel to each other.
The pivot center of the 3rd outer ring and fixed mount is parallel to second in the 4th side chain of connection in the first described side chain
Outer ring and the pivot center of fixed mount, and the second outer ring in the second side chain and the 3rd side chain and the rotary shaft of fixed mount
Line.
The present invention a kind of symmetrical Planar Mechanisms series-parallel robot in face, have kinematics it is simple, it is compact-sized it is whole, manufacture installation
The advantages that good manufacturability, big working space frame volume ratio.The present invention has the advantages and positive effects of：
1st, robot has the advantages of modular reconfigurable, and long stroke guide rail, wide-angle can be connected to according to engineering demand
On slew gear etc., and then build various informative unit manufacturing cell or multimachine manufacture system.
2nd, each side chain is parallel or vertical relation with the revolute pair axis that fixed mount connects, thus has good system
Make and equip manufacturability.
3rd, the plane of movement of first, second, third side chain of robot is coplanar so that kinematics is simple, and normal solution has solution
Analysis solution.
Brief description of the drawings
Fig. 1 is a kind of main structure diagram of the symmetrical Planar Mechanisms series-parallel robot in face of the present invention；
Fig. 2 is a kind of main structure diagram of the symmetrical Planar Mechanisms series-parallel robot in face of the present invention；
Fig. 3 is the structural representation of the first side chain in the present invention；
Fig. 4 is the structural representation of the second side chain and the 3rd side chain in the present invention；
Fig. 5 is the structural representation of the first length adjustment device in the second side chain and the 3rd side chain of the invention；
Fig. 6 is the structural representation that T-shaped is cut with scissors in the present invention；
Fig. 7 is the structural representation of the 4th side chain in the present invention；
Fig. 8 is the structural representation of the second length adjustment device in the 4th side chain of the invention；
Fig. 9 is the structural representation of the embodiment of the present invention 1；
Figure 10 is the structural representation of the embodiment of the present invention 2.
In figure
1：First side chain 2：Second side chain
3：3rd side chain 4：4th side chain
5：Fixed mount 6：Moving platform
7：Positioning head 8：Mounting flange
9：Column 10：Vertical direction mobile unit
11：3rd outer ring 12：Inner ring
13：Sliding block 14：Guide rail,
15：Expansion link 21/31：First driving means
22/32：First outer ring 23/33：First length adjustment device
24/34：T-shaped hinge 41：Second drive device
42：Second outer ring 43：Second length adjustment device
44：Ball pivot 101：First outer tube
102：First feather key 103：First expansion link
104：First keyway 201：Second outer tube
202：Second feather key 203：Second expansion link
204：Second keyway
Embodiment
A kind of symmetrical Planar Mechanisms series-parallel robot in face of the present invention is described in detail with reference to embodiment and accompanying drawing.
As shown in Figure 1 and Figure 2, the symmetrical Planar Mechanisms series-parallel robot in a kind of face of the invention, including moving platform 6 and be connected to
The two degrees of freedom rotary head 7 of the end of moving platform 6, and fixed mount 5, the head end center of moving platform 6 are fixedly connected with first
The end of chain 1, the head end of first side chain 1 run through the center of the fixed mount 5, the body portion of first side chain 1 with it is described
The center of fixed mount 5 be articulated and connected, the second side chain 2 and the 3rd side chain are symmetrically hinged with two sides of the moving platform 6
3, the 4th side chain 4 is hinged with the side of the moving platform 6 and between the second side chain 2 and the 3rd side chain 3, in initial bit shape
Under, the artificial space face symmetrical structure of machine that is formed.
As shown in figure 3, the first described side chain 1 includes：Expansion link 15, the 3rd outer ring 11 and inner ring 12, described stretches
It is axially fixed in the side wall of contracting bar 15 and is provided with guide rail 14, is axially fixed on the medial surface of the inner ring 12 and is provided with sliding block
13, the inner ring 12 is described flexible by the inner side for being hingedly connected at the 3rd outer ring 11 with a rotational freedom
Bar 15 runs through the inner ring 12, and the sliding block 13 on the medial surface of the inner ring 12 and the guide rail 14 on the lateral surface of expansion link 15
It is slidably connected, the expansion link 15 is formed driven prismatic pair with the inner ring 12, the 3rd described outer ring 11 is by with one
The center for being hingedly connected at fixed mount 5 of individual rotational freedom, the end of the expansion link 15 are fixedly connected with moving platform 6.
The pivot center 1a of the 3rd outer ring 11 and fixed mount 5 is connected with being connected the outer ring 11 of inner ring 12 and the 3rd
Pivot center 1b intersects vertically.
As shown in figure 4, the second described side chain 2 is identical with the structure of the 3rd side chain 3, include：First length is adjusted
Regulating device 23/33, the first outer ring 22/32 and T-shaped hinge 24/34, what first length adjustment device 23/33 rotated is hinged on institute
State in the first outer ring 22/32, one end rotation of described T-shaped hinge 24/34 is connected to first length adjustment device 23/33
End, the other both ends coaxial line of described T-shaped hinge 24/34 and what is rotated simultaneously be hinged on moving platform 6, first length
The top of degree adjusting means 23/33 is connected with for driving the flexible first driving means 21/ of the first length adjustment device 23/33
31, the length adjustment device 23/33 is turned into active moving sets, first outer ring 22/32 with one by rotating certainly
It is hinged by the hinge and described fixed mount 5 spent.
The pivot center 2a/3a for connecting first outer ring 22/32 and fixed mount 5 fills with being connected first length adjustment
23/33 is put to intersect vertically with the pivot center 2b/3b of the first outer ring 22/32；The T-shaped hinge 24/34 and the first length is connected to adjust
The rotation axis 2c/3c of regulating device 23/33 parallel to the active moving sets moving direction, by connecting first outer ring
22/32 with the pivot center 2a/3a of fixed mount 5 and is connected the rotation of first length adjustment device 23/33 and outer ring 22/32
The intersection point of axis (2b/3b).
As shown in figure 5, first length adjustment device 23/33, which includes one end, is fixedly connected on the first driving dress
The first outer tube 101 of 21/31 outlet side is put, is fixedly installed in the side wall of the rear end of the first outer tube 101 and radially stretches to pipe
The first interior feather key 102, is additionally provided with the first expansion link 103 that one end is inserted in the rear end of the first outer tube 101, and described the
The first keyway 104 is formed with the outside of the tube wall of one expansion link 103, the first outer tube 101 is inserted into the first expansion link 103
Afterwards, the first described feather key 102 is embedded in the first described keyway 104, and described the is inserted in first expansion link 103
The end of this one end is fixedly connected with feed screw nut (not shown) in one outer tube 101, is inserted in first expansion link 103
There are the leading screw (not shown) being threadedly coupled with described feed screw nut, one end connection the first driving dress of the leading screw
Put 21/31 output shaft, the other end connection T-shaped hinge 24/34 of first expansion link 103.
As shown in fig. 6, the T-shaped hinge 24/34 includes the longitudinal axis 241/341 and transverse axis 242/342, and the longitudinal axis 241/
341 axis a and the transverse axis 242/342 axis b intersect vertically, wherein, the transverse axis 242/342 rotate with described the
The one end of one length adjustment device 23/33 is hinged, and the both ends rotation of the longitudinal axis 241/341 is hinged with moving platform 6.
As shown in fig. 7, the 4th described side chain 4 includes：Second length adjustment device 43, the second outer ring 42 and ball pivot
44, the second described length adjustment device 43 rotation be hinged in the second outer ring 42, the second described outer ring 42 by with
The hinge of one rotational freedom is hinged and connected with fixed mount 5, wherein, connect the rotation of second outer ring 42 and fixed mount 5
Axis 4a intersects vertically with being connected second length adjustment device 43 and the pivot center 4b of the second outer ring 42, the ball pivot 44
For the hinge with three rotational freedoms, and three pivot centers are not conllinear but intersect at a point, second length adjustment
Device 43 is hinged and connected by ball pivot 44 and moving platform 6, and the top of second length adjustment device 43 is connected with for driving
The second flexible drive device 41 of second length adjustment device 43, second length adjustment device 43 is set to turn into actively mobile
It is secondary.
As shown in figure 8, the second described length adjustment device 43, which includes one end, is fixedly connected on the second driving dress
The second outer tube 201 of 41 outlet sides is put, is fixedly installed in the side wall of the rear end of the second outer tube 201 and radially stretches in pipe
Second feather key 202, the second expansion link 203 that one end is inserted in the rear end of the second outer tube 201 is additionally provided with, described second stretches
The second keyway 204 is formed with the outside of the tube wall of contracting bar 203, after the second expansion link 203 is inserted into the second outer tube 201, institute
The second feather key 202 stated is embedded in the second described keyway 204, is inserted in second expansion link 203 outside described second
The end of this one end is fixedly connected with feed screw nut (not shown) in pipe 201, in second expansion link 203 inserted with
The leading screw (not shown) of described feed screw nut threaded connection, one end of the leading screw connect second drive device
21/31 output shaft, the other end of second expansion link 103 are hinged and connected by ball pivot 44 and moving platform 6.
As shown in Fig. 2,3,4,7, the pivot center 1a of the 3rd outer ring 11 and fixed mount 5 passes through in the first described side chain 1
The pivot center 2a/3a of the first outer ring 22 in the second side chain 2 and the 3rd side chain 3 and fixed mount 5 is connected with being connected the second side chain 2
With the first length adjustment device 23/33 and the pivot center 2b of the first outer ring 22 intersection point in the 3rd side chain 3；Connection first
T-shaped in the inner ring 12 of chain 1 and the pivot center 1b of the 3rd outer ring 11, the second side chain 2 of connection and the 3rd side chain 3 is cut with scissors 24/34 and moved
The pivot center 2d/3d of platform 5 is parallel to each other.
To ensure processing and assembling, the pivot center 1a of the 3rd outer ring 11 and fixed mount 5 in the first described side chain 1
Parallel to the second outer ring 42 in the 4th side chain 4 of connection and the pivot center 4a of fixed mount 5, and perpendicular to the second side chain 2 and the
The pivot center 2a/3a of the second outer ring 22 and fixed mount 5 in three side chains 3.
Embodiment 1：The mounting flange 8 of fixed mount 5 is installed on column 9, and is equipped with workbench, can be built such as Fig. 9 institutes
The machining robot work station shown.
Embodiment 2：The mounting flange 8 of fixed mount 5 is installed in the vertical direction mobile unit 10 of jig boring machine structure,
Manufacturing equipment as shown in Figure 10 can be built.
Although the preferred embodiments of the present invention are described above in conjunction with accompanying drawing, the invention is not limited in upper
The embodiment stated, above-mentioned embodiment is only schematical, be not it is restricted, this area it is common
Technical staff in the case of present inventive concept and scope of the claimed protection is not departed from, may be used also under the enlightenment of the present invention
By make it is many in the form of, these are belonged within protection scope of the present invention.
Claims (10)
1. a kind of symmetrical Planar Mechanisms series-parallel robot in face, including moving platform (6) and be connected to the two of the moving platform (6) end from
By degree rotary head (7), and fixed mount (5), it is characterised in that moving platform (6) the head end center is fixedly connected with the first side chain (1)
End, the head end of first side chain (1) runs through the center of the fixed mount (5), the body portion and institute of first side chain (1)
The center for the fixed mount (5) stated is articulated and connected, be symmetrically hinged with two sides of the moving platform (6) the second side chain (2) and
3rd side chain (3), the 4th is hinged with the side of the moving platform (6) and between the second side chain (2) and the 3rd side chain (3)
Side chain (4), under initial bit shape, the artificial space face symmetrical structure of machine that is formed.
A kind of 2. symmetrical Planar Mechanisms series-parallel robot in face according to claim 1, it is characterised in that the first described side chain
(1) include：Expansion link (15), the 3rd outer ring (11) and inner ring (12), it is solid vertically in the side wall of described expansion link (15)
Surely guide rail (14) is provided with, is axially fixed on the medial surface of the inner ring (12) and is provided with sliding block (13), the inner ring (12)
By the inner side for being hingedly connected at the 3rd outer ring (11) with a rotational freedom, the expansion link (15) runs through institute
State inner ring (12), and the sliding block (13) on the inner ring (12) medial surface and the guide rail (14) on the expansion link (15) lateral surface
It is slidably connected, the expansion link (15) is formed driven prismatic pair with the inner ring (12), the 3rd described outer ring (11) passes through
The center for being hingedly connected at fixed mount (5) with a rotational freedom, end and the moving platform (6) of the expansion link (15)
It is fixedly connected.
3. the symmetrical Planar Mechanisms series-parallel robot in a kind of face according to claim 2, it is characterised in that outside connection the described 3rd
Enclose pivot center (1b) of the pivot center (1a) of (11) and fixed mount (5) with being connected the inner ring (12) and the 3rd outer ring (11)
Intersect vertically.
A kind of 4. symmetrical Planar Mechanisms series-parallel robot in face according to claim 1, it is characterised in that the second described side chain
(2) it is identical with the 3rd side chain (3) structure, include：First length adjustment device (23/33), the first outer ring (22/32)
(24/34) is cut with scissors with T-shaped, the first length adjustment device (23/33) rotation is hinged in first outer ring (22/32),
The end for being connected to first length adjustment device (23/33) of one end rotation of described T-shaped hinge (24/34), described T
The other both ends coaxial line of shape hinge (24/34) and what is rotated simultaneously be hinged on moving platform (6), first length adjustment device
(23/33) top is connected with for driving the flexible first driving means (21/31) of the first length adjustment device (23/33),
The length adjustment device (23/33) is set to turn into active moving sets, first outer ring (22/32) with one by rotating certainly
It is hinged by the hinge and described fixed mount (5) spent.
5. the symmetrical Planar Mechanisms series-parallel robot in a kind of face according to claim 4, it is characterised in that outside connection described first
The pivot center (2a/3a) of (22/32) and fixed mount (5) is enclosed with being connected first length adjustment device (23/33) and first
The pivot center (2b/3b) of outer ring (22/32) intersects vertically；Connect the T-shaped hinge (24/34) and the first length adjustment device
(23/33) rotation axis (2c/3c) parallel to the active moving sets moving direction, and by connecting first outer ring
(22/32) with the pivot center (2a/3a) of fixed mount (5) and being connected first length adjustment device (23/33) and outer ring
(22/32) intersection point of pivot center (2b/3b).
6. the symmetrical Planar Mechanisms series-parallel robot in a kind of face according to claim 4, it is characterised in that first length is adjusted
Regulating device (23/33) includes the first outer tube that one end is fixedly connected on the first driving means (21/31) outlet side
(101) the first feather key (102) radially stretched in pipe, is fixedly installed in the side wall of the first outer tube (101) rear end,
It is additionally provided with the first expansion link (103) that one end is inserted in the first outer tube (101) rear end, first expansion link (103)
Tube wall on the outside of be formed with the first keyway (104), it is described after the first expansion link (103) is inserted into the first outer tube (101)
The first feather key (102) be embedded in described the first keyway (104), in first expansion link (103) insertion described the
The end of this one end is fixedly connected with feed screw nut in one outer tube (101), in first expansion link (103) inserted with it is described
Feed screw nut threaded connection leading screw, one end of the leading screw connects the output shaft of the first driving means (21/31), institute
State the other end connection T-shaped hinge (24/34) of the first expansion link (103).
A kind of 7. symmetrical Planar Mechanisms series-parallel robot in face according to claim 1, it is characterised in that the 4th described side chain
(4) include：Second length adjustment device (43), the second outer ring (42) and ball pivot (44), the second described length adjustment device
(43) what is rotated is hinged in the second outer ring (42), and described the second outer ring (42) passes through the hinge with a rotational freedom
It is hinged and connected with fixed mount (5), wherein, the pivot center (4a) of second outer ring (42) and fixed mount (5) is connected with being connected
Second length adjustment device (43) and the pivot center (4b) of outer ring (42) intersect vertically, and the ball pivot (44) is with three
The hinge of individual rotational freedom, and three pivot centers are not conllinear but intersect at a point, second length adjustment device (43)
It is hinged and connected by ball pivot (44) and moving platform (6), the top of second length adjustment device (43) is connected with for driving
Flexible the second drive device (41) of second length adjustment device (43), makes second length adjustment device (43) turn into actively
Prismatic pair.
A kind of 8. symmetrical Planar Mechanisms series-parallel robot in face according to claim 7, it is characterised in that the second described length
Adjusting means (43) includes the second outer tube (201) that one end is fixedly connected on the second drive device (41) outlet side, institute
The second feather key (202) for being fixedly installed and radially being stretched in pipe in the side wall of the second outer tube (201) rear end is stated, is additionally provided with
The second expansion link (203) that one end is inserted in the second outer tube (201) rear end, outside the tube wall of second expansion link (203)
Side is formed with the second keyway (204), and after the second expansion link (203) is inserted into the second outer tube (201), described second leads
It is embedded in key (202) in described the second keyway (204), second outer tube is inserted in second expansion link (203)
(201) end of this one end is fixedly connected with feed screw nut in, in second expansion link (203) inserted with described leading screw
The leading screw of nut thread connection, the output shaft of one end connection second drive device (21/31) of the leading screw, described second
The other end of expansion link (103) is hinged and connected by ball pivot (44) and moving platform (6).
A kind of 9. symmetrical Planar Mechanisms series-parallel robot in face according to claim 1, it is characterised in that the first described side chain
(1) pivot center (1a) of the 3rd outer ring (11) and fixed mount (5) is by the second side chain of connection (2) and the 3rd side chain (3) in
The first outer ring (22) and fixed mount (5) pivot center (2a/3a) with being connected in the second side chain (2) and the 3rd side chain (3)
The intersection point of first length adjustment device (23/33) and the pivot center (2b) of the first outer ring (22)；Connect the first side chain (1) inner ring
(12) and the T-shaped in the pivot center (1b) of the 3rd outer ring (11), the second side chain of connection (2) and the 3rd side chain (3) cuts with scissors (24/34)
It is parallel to each other with the pivot center (2d/3d) of moving platform (5).
A kind of 10. symmetrical Planar Mechanisms series-parallel robot in face according to claim 1, it is characterised in that described first
The pivot center (1a) of the 3rd outer ring (11) and fixed mount (5) is parallel to the second outer ring in the 4th side chain (4) of connection in chain (1)
(42) and fixed mount (5) pivot center (4a), and the second outer ring in the second side chain (2) and the 3rd side chain (3)
(22) and fixed mount (5) pivot center (2a/3a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710615224.7A CN107414791B (en) | 2017-07-25 | 2017-07-25 | Plane-symmetric over-constrained hybrid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710615224.7A CN107414791B (en) | 2017-07-25 | 2017-07-25 | Plane-symmetric over-constrained hybrid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107414791A true CN107414791A (en) | 2017-12-01 |
| CN107414791B CN107414791B (en) | 2021-05-25 |
Family
ID=60430586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710615224.7A Active CN107414791B (en) | 2017-07-25 | 2017-07-25 | Plane-symmetric over-constrained hybrid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414791B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN109129559A (en) * | 2018-08-24 | 2019-01-04 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN110919508A (en) * | 2019-11-21 | 2020-03-27 | 武汉理工大学 | Polishing robot end effector |
| CN113664812A (en) * | 2021-08-12 | 2021-11-19 | 上海工程技术大学 | Novel modular series-parallel robot of front-driving type |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699899A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Highly over-constrained high-rigidity multi-coordinate 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 |
-
2017
- 2017-07-25 CN CN201710615224.7A patent/CN107414791B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699899A (en) * | 2012-06-06 | 2012-10-03 | 天津大学 | Highly over-constrained high-rigidity multi-coordinate 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 |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN109129559A (en) * | 2018-08-24 | 2019-01-04 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN110919508A (en) * | 2019-11-21 | 2020-03-27 | 武汉理工大学 | Polishing robot end effector |
| CN113664812A (en) * | 2021-08-12 | 2021-11-19 | 上海工程技术大学 | Novel modular series-parallel robot of front-driving type |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107414791B (en) | 2021-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107414791A (en) | A kind of symmetrical Planar Mechanisms series-parallel robot in face | |
| CN104985596B (en) | Five-freedom hybrid robot with multi-axis rotation brackets | |
| CN100480003C (en) | Series parallel robot in five degrees of freedom | |
| CN204913901U (en) | It changes movable support's five degree of freedom series -parallel connection robots to contain multiaxis | |
| CN100446940C (en) | Asymmetric space 5-degree of freedom series-parallel robot | |
| CN102699899B (en) | Highly over-constrained high-rigidity multi-coordinate hybrid robot | |
| CN101745905B (en) | Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings | |
| CN102699898B (en) | Five-degree-of-freedom over-constrained hybrid robot | |
| CN100348386C (en) | Multi-coordinate serioparallel robot with redundant freedom | |
| CN111267076B (en) | High-rigidity redundant drive parallel mechanism | |
| CN100348375C (en) | Robot with five degrees of freedom | |
| CN107838909A (en) | A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator and its method of work | |
| CN107351062B (en) | Asymmetric over-constrained five-degree-of-freedom hybrid robot | |
| MX2008011703A (en) | Positioning device. | |
| CN108942900B (en) | Passive decoupling mechanism for joint motion of serial rope-driven manipulator | |
| CN107263451A (en) | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work | |
| KR20220153004A (en) | Double Swing Angle Spindle Head | |
| KR20040002748A (en) | Gantry type machine tool | |
| CN106238991A (en) | A kind of cutting head of roadheader automatic soldering device | |
| CN111604885B (en) | Six-freedom-degree series-parallel robot with multi-axis rotating support | |
| CN210306728U (en) | Multi-degree-of-freedom parallel drilling and riveting mechanism and integral movable machining equipment with same | |
| CN109366462B (en) | Five-degree-of-freedom hybrid robot with integrated hinge | |
| CN102699901B (en) | Over-constrained five-degree-of-freedom hybrid robot | |
| CN114918939A (en) | Large-scale bending plate mobile processing robot device | |
| CN105058376B (en) | A kind of Planar Mechanisms high rigidity robot with three symmetric motion performances |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Applicant after: Tianjin University Address before: 300192 Tianjin City, Nankai District Wei Jin Road No. 92 Applicant before: Tianjin University |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |