CN201625979U - Parallel robot with four degrees of freedom - Google Patents
Parallel robot with four degrees of freedom Download PDFInfo
- Publication number
- CN201625979U CN201625979U CN2010201218398U CN201020121839U CN201625979U CN 201625979 U CN201625979 U CN 201625979U CN 2010201218398 U CN2010201218398 U CN 2010201218398U CN 201020121839 U CN201020121839 U CN 201020121839U CN 201625979 U CN201625979 U CN 201625979U
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- column
- revolute pair
- sliding shoe
- connecting rod
- fixed platform
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Abstract
The utility model discloses a parallel robot with four degrees of freedom, which at least comprises a fixed platform, a movable platform, a post arranged on the fixed platform and a connecting rod connecting the post with the movable platform, wherein the post is sleeved with a sliding block which is provided with a revolute pair, and the revolute pair slides in the extension direction of the post. The movable platform is enabled to move in space by means of the matched driving of the sliding block and the rotation of the connecting rod connected with the revolute pair, thereby enhancing dynamic and operating performances.
Description
[technical field]
The utility model relates to a kind of parallel robot, relates in particular to a kind of four-freedom parallel device people.
[background technology]
Parallel robot is a kind ofly the space to be moved and rotated the multivariant complete parallel institution configuration that combines, and is widely used in fields such as industrial robot, flight simulator, jiggle robot and parallel machine.
At present, traditional DOF parallel robot often can not satisfy the production needs based on Three Degree Of Freedom and six degree of freedom but Three Degree Of Freedom or six degree of freedom are main robot, and the dynamic of this robot, and handling is good inadequately.
[utility model content]
In view of this, be necessary that the imperfect defective of handling provides a kind of four-freedom parallel device people at the parallel robot dynamic.
The utility model provides a kind of four-freedom parallel device people, it is characterized in that, the connecting rod that comprises fixed platform, mobile platform, is arranged on the column on the fixed platform and connects column and mobile platform; Described column socket sliding shoe, described sliding shoe is provided with revolute pair, and described sliding shoe slides along the column bearing of trend.
Preferably, described connecting rod and mobile platform junction are provided with the ball pair.
Preferably, described column is four, and is arranged on four angles of fixed platform.
Preferably, described column comprises first identical column and the 3rd column, second identical column and the 4th column; Described first column and the 3rd column are arranged on the diagonal angle of fixed platform, and described second column and the 4th column are arranged on another diagonal angle of fixed platform.
Preferably, the second sliding shoe and the 4th sliding shoe that described second column is identical with the 4th column socket, described the second sliding shoe and the 4th sliding shoe are respectively equipped with second revolute pair and the 4th revolute pair of winding perpendicular to the turning cylinder rotation of fixed platform.
Preferably, the junction of described second revolute pair and the 4th revolute pair is respectively equipped with the 5th revolute pair and the 6th revolute pair that is hinged and rotates around the turning cylinder that is parallel to fixed platform.
Preferably, first sliding shoe and the 3rd sliding shoe that described first column is identical with the 3rd column socket, described first sliding shoe and the 3rd sliding shoe are respectively equipped with first revolute pair and the 3rd revolute pair of rotating around the turning cylinder that is parallel to fixed platform.
Preferably, described connecting rod comprises isometric head rod and the 3rd connecting rod, and second isometric connecting rod and the 4th connecting rod.
Preferably, described column is two, and is arranged on two adjacent angles of fixed platform.
Preferably, the revolute pair that a column socket is connected with sliding shoe in described two columns; Another column socket sliding shoe, described sliding shoe is provided with another revolute pair hinged with revolute pair.
The beneficial effects of the utility model have:
By being arranged on the column on the fixed platform, the sliding shoe that this column socket is connected with revolute pair, sliding shoe slides and is cooperating the rotation of revolute pair along the column direction, and then the rotation of the connecting rod that is connected with revolute pair of drive, make mobile platform in spatial movement, improve dynamic and handling;
The sliding shoe that slides cooperates the revolute pair of rotating, and makes the accuracy of the position that mobile platform moves follow height, and the translational speed of mobile platform is faster; But the curved surface of processed complex improves the machining accuracy and the production efficiency of product, and then improves the quality and the economic benefit of product;
Setting up of four columns makes that this parallel robot is more stable, and rigidity is higher;
The easy decoupling zero of this parallel robot by a plurality of revolute pairs;
Setting up of two columns makes that this parallel robot design is more simple, lowers the complexity of design and manufacturing process, increased ease for use and improved economic benefit.
[description of drawings]
For further understanding feature of the present utility model and technology contents, see also following relevant accompanying drawing of the present invention, yet institute's accompanying drawing only provides reference and explanation usefulness, is not to be used for the utility model is limited.
Fig. 1 is the four-freedom parallel device people's of the utility model one embodiment a structure chart;
Fig. 2 is the four-freedom parallel device people's of another embodiment of the utility model a structure chart.
[specific embodiment]
Below in conjunction with accompanying drawing,, will make the technical solution of the utility model and other beneficial effects apparent by the specific embodiment of the present utility model is described in detail.
In the following embodiments, a plurality of columns are set on fixed platform 50, mobile platform 60 connects this column by connecting rod, and connecting rod drives mobile platform 60 along the column slip and moves.
Referring to Fig. 1 to Fig. 2, parallel robot comprises fixed platform 50, column, connecting rod and mobile platform 60, square fixed platform 50 is arranged on the horizontal plane, the column of elongated cylindrical is vertically set on fixed platform 50, the mobile platform 60 of terrace with edge shape is connected with column by connecting rod, and these mobile platform 60 original state secured in parallel platforms 50 also overhang the center.
In one embodiment, have four angles that 4 columns are arranged on square fixed platform 50, first column of setting up at the diagonal angle 71 and identical first sliding shoe 11 and the 3rd sliding shoe 13 of the 3rd column 73 difference sockets; This first sliding shoe 11 and the 3rd sliding shoe 13 are respectively equipped with first revolute pair 21 and the 3rd revolute pair 23 of rotating around the turning cylinder that is parallel to fixed platform 50; The head rod 81 of hinged respectively first revolute pair 21 and the 3rd revolute pair 23 makes the column 71 of winning, the 3rd column 73 be connected with mobile platform 60 with the 3rd connecting rod 83, and the junction of these mobile platform 60 corresponding sides and head rod 81, the 3rd connecting rod 83 is provided with secondary the 41 and the 3rd ball pair 43 of first ball; This head rod 81 is identical with the 3rd connecting rod 83 length.
Be provided with second column 72 and the 4th column 74 at another diagonal angle of rectangle fixed platform 50, this second column 72 and identical the second sliding shoe 12 and the 4th sliding shoe 14 of the 4th column 74 difference sockets; This second sliding shoe 12 and the 4th sliding shoe 14 are provided with and wind second revolute pair 22 and the 4th revolute pair 24 perpendicular to the turning cylinder rotation of fixed platform 50; Be respectively equipped with the 5th revolute pair 32 and the 6th revolute pair 34 that is hinged and rotates around the turning cylinder that is parallel to fixed platform 50 with the junction of this second revolute pair 22 and the 4th revolute pair 24; Second connecting rod 82 of hinged respectively the 5th revolute pair 32 and the 6th revolute pair 34 is connected with mobile platform 60 with the 4th connecting rod 84, and this second column 71, the 4th column 73 are connected with mobile platform 60 by second revolute pair 22, the 5th revolute pair 32, second connecting rod 82 and the 4th revolute pair 24, the 6th revolute pair 34, the 4th connecting rod 84 respectively successively; The junction of these mobile platform 60 corresponding faceted pebbles and second connecting rod 82 and the 4th connecting rod 84 is provided with secondary the 42 and the 4th ball pair 44 of second ball; This second connecting rod 82 is identical with the 4th connecting rod 84 length.
In the foregoing description, this column can with fixed platform 50 1 angle settings, this angle can be 0 °～180 °; And preferably vertical this fixed platform 50 in the above-described embodiments is easy to mount and dismount this four-freedom parallel device people.
The ball-screw that parallel robot of the present utility model connects by the revolute pair that is arranged on the column, by driven by servomotor ball-screw (figure does not show), this ball-screw drives the spatial movement of the revolute pair realization mobile platform 60 on the column.The rotation that a plurality of revolute pairs cooperatively interact makes that the dynamic of mobile platform 60 is better, has increased handling; Sliding shoe that cooperatively interacts and revolute pair make that the accuracy of this parallel robot is higher, make that the translational speed of mobile platform is faster; Setting up of four columns makes that this parallel robot is more stable, and rigidity is higher; The easy decoupling zero of this parallel robot by a plurality of revolute pairs.
In another embodiment, can save first column 71 and the 4th column 74 in the foregoing description, and first sliding shoe 11 that is connected and the 4th sliding shoe 14, first revolute pair 21, the 4th revolute pair 24, the 5th revolute pair 32, first ball secondary the 41 and the 4th ball pair 44, head rod 81 and the 4th connecting rod 84.Promptly save the column of adjacent edge and revolute pair and the connecting rod that is attached thereto with mobile platform 60, also can drive revolute pair and make mobile platform 60, make these mobile platform 60 spaces move by the rotation of parallel, vertical or other angle by the driven by servomotor ball-screw.
By at this mobile platform 60 mechanism and mounting cutters such as guide rail being set, the motion by mobile platform also cooperates cutter along the moving of guide rail, and obtains a plurality of mobile free degree spaces, makes this robot can finish the curved surface of processed complex.
The above embodiment has only expressed embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model claim.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the utility model design, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (10)
1. a four-freedom parallel device people is characterized in that, the connecting rod that comprises fixed platform, mobile platform, is arranged on the column on the fixed platform and connects column and mobile platform; Described column socket sliding shoe, described sliding shoe is provided with revolute pair, and described sliding shoe slides along the column bearing of trend.
2. four-freedom parallel device people according to claim 1 is characterized in that described connecting rod and mobile platform junction are provided with the ball pair.
3. four-freedom parallel device people according to claim 1 is characterized in that described column is four, and is arranged on four angles of fixed platform.
4. four-freedom parallel device people according to claim 3 is characterized in that described column comprises first identical column and the 3rd column, second identical column and the 4th column; Described first column and the 3rd column are arranged on the diagonal angle of fixed platform, and described second column and the 4th column are arranged on another diagonal angle of fixed platform.
5. four-freedom parallel device people according to claim 4, it is characterized in that, the second sliding shoe and the 4th sliding shoe that described second column is identical with the 4th column socket, described the second sliding shoe and the 4th sliding shoe are respectively equipped with second revolute pair and the 4th revolute pair of winding perpendicular to the turning cylinder rotation of fixed platform.
6. four-freedom parallel device people according to claim 5 is characterized in that, the junction of described second revolute pair and the 4th revolute pair is respectively equipped with the 5th revolute pair and the 6th revolute pair that is hinged and rotates around the turning cylinder that is parallel to fixed platform.
7. four-freedom parallel device people according to claim 4, it is characterized in that, first sliding shoe and the 3rd sliding shoe that described first column is identical with the 3rd column socket, described first sliding shoe and the 3rd sliding shoe are respectively equipped with first revolute pair and the 3rd revolute pair of rotating around the turning cylinder that is parallel to fixed platform.
8. four-freedom parallel device people according to claim 1 is characterized in that described connecting rod comprises isometric head rod and the 3rd connecting rod, and second isometric connecting rod and the 4th connecting rod.
9. four-freedom parallel device people according to claim 1 is characterized in that described column is two, and is arranged on two adjacent angles of fixed platform.
10. four-freedom parallel device people according to claim 9 is characterized in that, the revolute pair that a column socket is connected with sliding shoe in described two columns; Another column socket sliding shoe, described sliding shoe is provided with another revolute pair hinged with revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201218398U CN201625979U (en) | 2010-02-26 | 2010-02-26 | Parallel robot with four degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201218398U CN201625979U (en) | 2010-02-26 | 2010-02-26 | Parallel robot with four degrees of freedom |
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| Publication Number | Publication Date |
|---|---|
| CN201625979U true CN201625979U (en) | 2010-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201218398U Expired - Lifetime CN201625979U (en) | 2010-02-26 | 2010-02-26 | Parallel robot with four degrees of freedom |
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| Country | Link |
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| CN (1) | CN201625979U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229141A (en) * | 2011-04-27 | 2011-11-02 | 天津大学 | Parallel mechanism capable of realizing four-degree-of-freedom movement |
| CN102294691A (en) * | 2011-06-30 | 2011-12-28 | 燕山大学 | Two-freedom-degree rotating decoupling parallel robot mechanism |
| CN102398264A (en) * | 2011-11-23 | 2012-04-04 | 华南理工大学 | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism |
| CN102554914A (en) * | 2012-01-06 | 2012-07-11 | 上海大学 | Novel three-degrees-of-freedom under-actuated mechanism |
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN102990654A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two pprrr closed-loop sub-chains |
| CN102990653A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
| CN103231254A (en) * | 2013-04-22 | 2013-08-07 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN103465252A (en) * | 2013-09-04 | 2013-12-25 | 江西省机械科学研究所 | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism |
| CN105196152A (en) * | 2015-09-24 | 2015-12-30 | 济南大学 | Metallographic polishing clamp |
| CN105563467A (en) * | 2016-02-02 | 2016-05-11 | 常州大学 | Four-degree-of-freedom posture leveling mechanism |
| CN105729137A (en) * | 2016-03-31 | 2016-07-06 | 苏州亚思科精密数控有限公司 | Working table of small drilling machine |
| CN106863282A (en) * | 2017-04-18 | 2017-06-20 | 常州大学 | A kind of big corner intelligent solar tracking device |
| CN110480602A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The mobile processing oscillating head mechanism in parallel of two rotation two |
| CN111515070A (en) * | 2020-04-30 | 2020-08-11 | 湖南大学 | Method and device for preparing film through electrostatic air spray thermocuring |
| CN111843664A (en) * | 2020-07-28 | 2020-10-30 | 郁海荣 | Parallel hub polishing machine tool capable of balancing gravity of workpiece |
| CN112222537A (en) * | 2020-10-27 | 2021-01-15 | 浙江申久金属制品有限公司 | Preparation method of key component for hydraulic generator impeller |
-
2010
- 2010-02-26 CN CN2010201218398U patent/CN201625979U/en not_active Expired - Lifetime
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229141B (en) * | 2011-04-27 | 2013-08-28 | 天津大学 | Parallel mechanism capable of realizing four-degree-of-freedom movement |
| CN102229141A (en) * | 2011-04-27 | 2011-11-02 | 天津大学 | Parallel mechanism capable of realizing four-degree-of-freedom movement |
| CN102294691A (en) * | 2011-06-30 | 2011-12-28 | 燕山大学 | Two-freedom-degree rotating decoupling parallel robot mechanism |
| CN102294691B (en) * | 2011-06-30 | 2013-10-02 | 燕山大学 | Two-freedom-degree rotating decoupling parallel robot mechanism |
| CN102398264A (en) * | 2011-11-23 | 2012-04-04 | 华南理工大学 | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism |
| CN102554914A (en) * | 2012-01-06 | 2012-07-11 | 上海大学 | Novel three-degrees-of-freedom under-actuated mechanism |
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN102990653A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
| CN102990654A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two pprrr closed-loop sub-chains |
| CN102990654B (en) * | 2012-12-27 | 2015-08-26 | 广西大学 | A kind of parallel institution containing two pprrr closed-loop subchain |
| CN103231254A (en) * | 2013-04-22 | 2013-08-07 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN103231254B (en) * | 2013-04-22 | 2015-05-06 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN103465252A (en) * | 2013-09-04 | 2013-12-25 | 江西省机械科学研究所 | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism |
| CN105196152A (en) * | 2015-09-24 | 2015-12-30 | 济南大学 | Metallographic polishing clamp |
| CN105196152B (en) * | 2015-09-24 | 2017-08-15 | 济南大学 | A kind of metallographic polishing clamp |
| CN105563467A (en) * | 2016-02-02 | 2016-05-11 | 常州大学 | Four-degree-of-freedom posture leveling mechanism |
| CN105729137A (en) * | 2016-03-31 | 2016-07-06 | 苏州亚思科精密数控有限公司 | Working table of small drilling machine |
| CN106863282A (en) * | 2017-04-18 | 2017-06-20 | 常州大学 | A kind of big corner intelligent solar tracking device |
| CN110480602A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The mobile processing oscillating head mechanism in parallel of two rotation two |
| CN111515070A (en) * | 2020-04-30 | 2020-08-11 | 湖南大学 | Method and device for preparing film through electrostatic air spray thermocuring |
| CN111843664A (en) * | 2020-07-28 | 2020-10-30 | 郁海荣 | Parallel hub polishing machine tool capable of balancing gravity of workpiece |
| CN112222537A (en) * | 2020-10-27 | 2021-01-15 | 浙江申久金属制品有限公司 | Preparation method of key component for hydraulic generator impeller |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20101110 |