CN203427028U - Four-degree-of-freedom hybrid robot - Google Patents
Four-degree-of-freedom hybrid robot Download PDFInfo
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- CN203427028U CN203427028U CN201320516491.6U CN201320516491U CN203427028U CN 203427028 U CN203427028 U CN 203427028U CN 201320516491 U CN201320516491 U CN 201320516491U CN 203427028 U CN203427028 U CN 203427028U
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Abstract
The utility model discloses a four-degree-of-freedom hybrid robot, and belongs to the technical field of robots. The four-degree-of-freedom hybrid robot comprises a lower base, the upper portion of the lower base is movably connected with a rotary box I through a vertical rotary shaft I, the rotary box I is in serial connection with an upper base in a hinged mode through a lower parallelogram structure, the upper portion of the upper base is movably connected with a rotary box II through a vertical rotary shaft II, and the rotary box II is hinged to an upper worktable through an upper parallelogram structure. Two drive motors of each parallelogram structure are independently arranged in the rotary boxes in a parallel connection mode. The four-degree-of-freedom hybrid robot achieves three translational degrees of freedom along the X-axis, the Y-axis and the Z-axis and one rotational degree of freedom around the Z-axis. The four-degree-of-freedom hybrid robot has the advantages of being simple in structure, relatively little in occupied space, high in torsional stiffness, symmetric in working space, wide in work range and the like and can be used for occasions of large-area spraying, measuring and the like, and the work face always keeps horizontal.
Description
Technical field
The utility model relates to a kind of industrial robot, belongs to Industrial Robot Technology field.
Background technology
Should there be four power set in existing conventional four-degree-of-freedom robot.Its arrangement has three kinds of selections:
1, serial mechanism: four each self-configuring power set of hinge independently.
2, mixed organization: the series connection of part power set, part is in parallel.
3, parallel institution: four drive units are arranged on same basis.
Serial mechanism is very general in the robot system of SCARA form, and from shoulder to ancon, to wrist, each hinge has a dynamical element.In addition, the moving sets that wrist is connected with revolute pair in addition.
An example of mixed organization is exactly Delta robot.It has the feature of parallel institution, when doing plane motion, has the translation of three directions.Three motors drive working table movement, and workbench is connected to fixed coordinates and fastens (being generally ceiling).The axis of motor forms equilateral triangle, and the 4th motor drives the lifting of workbench, around the normal rotation of three formed planes of motor above.
Serial mechanism provides abundant, complicated mechanism form, and parallel institution provides simple version.Mixed organization is between between the two.
If only consideration from simple in structure, can select parallel institution.Yet parallel institution is just somewhat unable to do what one wishes when working space is restricted and need larger working range and very high flexibility.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art part, the utility model provides a kind of four-freedom hybrid robot, two parallelogram driver modules that are based upon on basis in parallel are connected in series, realize along 3 translational degree of freedom of X, Y, Z axis and 1 around Z axis rotational freedom.
The utility model is achieved by the following technical solution: a kind of four-freedom hybrid robot, it comprises lower bottom base, the top of lower bottom base is connected with revolution casing I by vertical rotation axis I, revolution casing I is hinged with upper bed-plate by the series connection of lower parallel quadrangular mechanism, the top of upper bed-plate is connected with revolution casing II by vertical rotation axis II, and revolution casing II is hinged with top workbench by upper parallel quadrangular mechanism;
Described lower parallel quadrangular mechanism is by parallel connecting rod I and connecting rod II, and two parallel hinged forming of connecting rod IV, between connecting rod I and connecting rod II, be hinged with the connecting rod III parallel with connecting rod IV, between connecting rod IV described in two and described connecting rod I and connecting rod II, adopt hinges I to be connected, connecting rod IV described in two adopts respectively fixed hinge I to be connected with described revolution casing I with fixed hinge II, the upper end of described connecting rod IV connects described upper bed-plate by fixed hinge III, in described revolution casing I, be arranged in parallel the bottom drive motors of two platform independent, wherein a bottom drive motors connects described vertical rotation axis I by transmission, another bottom drive motors connects power output shaft I, power output shaft I connects described connecting rod III,
Described upper parallel quadrangular mechanism is by parallel connecting rod V and connecting rod VI, and two parallel hinged forming of connecting rod VIII, between connecting rod V and connecting rod VI, be hinged with the connecting rod VII parallel with connecting rod VIII, between connecting rod VIII described in two and described connecting rod V and connecting rod VI, adopt hinges II to be connected, connecting rod VIII described in two adopts respectively fixed hinge IV to be connected with described revolution casing II with fixed hinge V, the upper end of described connecting rod VIII connects described top workbench by fixed hinge VI, in described revolution casing II, be arranged in parallel the top drive motors of two platform independent, wherein a top drive motors connects described vertical rotation axis II by transmission, another top drive motors connects power output shaft II, power output shaft II connects described connecting rod VII.
The beneficial effects of the utility model are: the utility model is connected in series two parallelogram driver modules that are based upon on basis in parallel, realize along 3 translational degree of freedom of X, Y, Z axis and 1 around Z axis rotational freedom.The advantages such as the utility model is simple in structure, takes up room relatively little, and torsional rigidity is higher, and working face remains level, and working space is symmetrical, and working range is larger, can be used for spraying on a large scale, the occasion such as measurement.
Accompanying drawing explanation
According to drawings and embodiments the utility model is further illustrated below.
Fig. 1 is the utility model structural representation.
In figure, (1) lower bottom base; (1-1) vertical rotation axis I; (2) fixed hinge I; (3) revolution casing I; (4) connecting rod I; (5) hinges I; (6) fixed hinge II; (7) connecting rod II; (8) power output shaft I; (9) connecting rod III; (10) connecting rod IV; (11) fixed hinge III; (12) upper bed-plate; (12-1) vertical rotation axis II; (13) connecting rod V; (14) fixed hinge IV; (15) hinges II; (16) fixed hinge V; (17) power output shaft II; (18) revolution casing II; (19) connecting rod VI; (20) connecting rod VII; (21) connecting rod VIII; (22) fixed hinge VI; (23) top workbench.
The specific embodiment
Below in conjunction with embodiment, the utility model is further illustrated.
A kind of four-freedom hybrid robot, it is characterized in that: it comprises lower bottom base 1, the top of lower bottom base 1 is connected with revolution casing I 3 by vertical rotation axis I 1-1, revolution casing I 3 is hinged with upper bed-plate 12 by the series connection of lower parallel quadrangular mechanism, the top of upper bed-plate 12 is connected with revolution casing II 18 by vertical rotation axis II 12-1, and revolution casing II 18 is hinged with top workbench 23 by upper parallel quadrangular mechanism;
Described lower parallel quadrangular mechanism is by parallel connecting rod I 4 and connecting rod II 7, and two parallel hinged forming of connecting rod IV 10, between connecting rod I 4 and connecting rod II 7, be hinged with the connecting rod III 9 parallel with connecting rod IV 10, between connecting rod IV 10 described in two and described connecting rod I 4 and connecting rod II 7, adopt hinges I 5 to be connected, connecting rod IV 10 described in two adopts respectively fixed hinge I 2 to be connected with described revolution casing I 3 with fixed hinge II 6, the upper end of described connecting rod IV 10 connects described upper bed-plate 12 by fixed hinge III 11, in described revolution casing I 3, be arranged in parallel the bottom drive motors of two platform independent, wherein a bottom drive motors connects described vertical rotation axis I 1-1 by transmission, another bottom drive motors connects power output shaft I 8, power output shaft I 8 connects described connecting rod III 9,
Described upper parallel quadrangular mechanism is by parallel connecting rod V 13 and connecting rod VI 19, and two parallel hinged forming of connecting rod VIII 21, between connecting rod V 13 and connecting rod VI 19, be hinged with the connecting rod VII 20 parallel with connecting rod VIII 21, between connecting rod VIII 21 described in two and described connecting rod V 13 and connecting rod VI 19, adopt hinges II 15 to be connected, connecting rod VIII 21 described in two adopts respectively fixed hinge IV 14 to be connected with described revolution casing II 18 with fixed hinge V 16, the upper end of described connecting rod VIII 21 connects described top workbench 23 by fixed hinge VI 22, in described revolution casing II 18, be arranged in parallel the top drive motors of two platform independent, wherein a top drive motors connects described vertical rotation axis II 12-1 by transmission, another top drive motors connects power output shaft II 17, power output shaft II 17 connects described connecting rod VII 20.
Operation principle of the present utility model is: require robot to want to realize three independently translation and the rotations around vertical axis, and must be able to sustain the stressed of larger vertical and horizontal direction, higher torsional rigidity requires workbench to remain in level as much as possible simultaneously.
The power of robot comes from the motion of both direction, and one is the motion of verting around trunnion axis, and another is around the rotatablely moving of vertical axis, thereby makes top workbench 23 keep level as shown in Figure 1.
For making motor can produce and independently vert and rotatablely move in different loads situation, select 2 groups of identical parallel-crank mechanisms of structure to connect and the transmission mechanism of every group of parallel-crank mechanism dynamical element parallel connection.Each group parallelogram element is formed by hinge links by the different connecting rod of several length, as shown in Figure 1.Every group of parallel-crank mechanism provides power by two direct current generators that are arranged in corresponding revolution casing, and Fig. 1 lower parallel quadrangular mechanism of take is example, and direct current generator provides around the rotatablely moving of Z axis, and speed is
another motor by power output shaft I 8 by transmission of power to connecting rod III 9, again by connecting rod III 9 by connecting rod I 4 and connecting rod II 7 and hinges I 5 by transmission of power to whole parallel-crank mechanism, making parallelogram take fixed hinge I 2 and fixed hinge II 6 is rotated as rotating the center of circle, thereby rotational movement around a horizontal axis is provided, and speed is
.
In layout, two drive motors of each parallel-crank mechanism are independently arranged in parallel in revolution casing, by gear drive, provide respectively the motion around Z axis (vertical rotation axis I 1-1, vertical rotation axis II 12-1) rotation, and speed is
, and around the motion of horizontal rotational shaft, speed is
.
Upper parallel quadrangular mechanism and lower parallel quadrangular mechanism, by being connected in series, finally pass motion to top workbench 23.
In mechanism, use
,
representative, around the anglec of rotation of Z axis, directly generates; With
,
represent pendulum angle, by the angular speed of parallelogram
,
indirectly generate, as shown in Figure 1.
Two parallel-crank mechanisms that are cascaded, can in corresponding vertical plane, produce respectively two independently motions (rotating around the axle perpendicular to respective planes) in two mutual vertical planes, first moves through a revolute pair and rotates around the vertical axis Z axis being fixed on base 1,
,
; Second motion is that parallelogram plane shown in Fig. 1 is around the rotation of X-axis or Y-axis,
,
.
Fig. 1 mechanism exists
,
,
,
acting in conjunction under can produce 4 frees degree motion, around the rotation of Z axis with along the translation of X, Y, Z axis.
Claims (1)
1.Yi Zhong four-freedom hybrid robot, it is characterized in that: it comprises lower bottom base (1), the top of lower bottom base (1) is connected with revolution casing I (3) by vertical rotation axis I (1-1), revolution casing I (3) is hinged with upper bed-plate (12) by the series connection of lower parallel quadrangular mechanism, the top of upper bed-plate (12) is connected with revolution casing II (18) by vertical rotation axis II (12-1), and revolution casing II (18) is hinged with top workbench (23) by upper parallel quadrangular mechanism;
Described lower parallel quadrangular mechanism is by parallel connecting rod I (4) and connecting rod II (7), and two parallel hinged forming of connecting rod IV (10), between connecting rod I (4) and connecting rod II (7), be hinged with the connecting rod III (9) parallel with connecting rod IV (10), between connecting rod IV (10) described in two and described connecting rod I (4) and connecting rod II (7), adopt hinges I (5) to be connected, connecting rod IV (10) described in two adopts respectively fixed hinge I (2) to be connected with described revolution casing I (3) with fixed hinge II (6), the upper end of described connecting rod IV (10) connects described upper bed-plate (12) by fixed hinge III (11), in described revolution casing I (3), be arranged in parallel the bottom drive motors of two platform independent, wherein a bottom drive motors connects described vertical rotation axis I (1-1) by transmission, another bottom drive motors connects power output shaft I (8), power output shaft I (8) connects described connecting rod III (9),
Described upper parallel quadrangular mechanism is by parallel connecting rod V (13) and connecting rod VI (19), and two parallel hinged forming of connecting rod VIII (21), between connecting rod V (13) and connecting rod VI (19), be hinged with the connecting rod VII (20) parallel with connecting rod VIII (21), between connecting rod VIII (21) described in two and described connecting rod V (13) and connecting rod VI (19), adopt hinges II (15) to be connected, connecting rod VIII (21) described in two adopts respectively fixed hinge IV (14) to be connected with described revolution casing II (18) with fixed hinge V (16), the upper end of described connecting rod VIII (21) connects described top workbench (23) by fixed hinge VI (22), in described revolution casing II (18), be arranged in parallel the top drive motors of two platform independent, wherein a top drive motors connects described vertical rotation axis II (12-1) by transmission, another top drive motors connects power output shaft II (17), power output shaft II (17) connects described connecting rod VII (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320516491.6U CN203427028U (en) | 2013-08-23 | 2013-08-23 | Four-degree-of-freedom hybrid robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320516491.6U CN203427028U (en) | 2013-08-23 | 2013-08-23 | Four-degree-of-freedom hybrid robot |
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| Publication Number | Publication Date |
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| CN203427028U true CN203427028U (en) | 2014-02-12 |
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| CN201320516491.6U Withdrawn - After Issue CN203427028U (en) | 2013-08-23 | 2013-08-23 | Four-degree-of-freedom hybrid robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419192A (en) * | 2013-08-23 | 2013-12-04 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN103934824A (en) * | 2014-05-07 | 2014-07-23 | 马鞍山方宏自动化科技有限公司 | Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot |
| CN104875194A (en) * | 2015-05-20 | 2015-09-02 | 北京交通大学 | Dual-output 3D printing four-degree-of-freedom decoupling parallel robot |
| CN105798890A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | Intelligent manipulator for warehouse operation of new energy automobile parts |
| CN105947651A (en) * | 2016-05-25 | 2016-09-21 | 刘明月 | Intelligent carrying mechanical jaw for electric vehicle parts |
-
2013
- 2013-08-23 CN CN201320516491.6U patent/CN203427028U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419192A (en) * | 2013-08-23 | 2013-12-04 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN103934824A (en) * | 2014-05-07 | 2014-07-23 | 马鞍山方宏自动化科技有限公司 | Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot |
| CN103934824B (en) * | 2014-05-07 | 2016-03-16 | 马鞍山方宏自动化科技有限公司 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
| CN104875194A (en) * | 2015-05-20 | 2015-09-02 | 北京交通大学 | Dual-output 3D printing four-degree-of-freedom decoupling parallel robot |
| CN105798890A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | Intelligent manipulator for warehouse operation of new energy automobile parts |
| CN105947651A (en) * | 2016-05-25 | 2016-09-21 | 刘明月 | Intelligent carrying mechanical jaw for electric vehicle parts |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Yi Inventor after: Liu Dan Inventor before: Lu Yi |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LU YI TO: LU YI LIU DAN |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140212 Effective date of abandoning: 20150930 |
|
| RGAV | Abandon patent right to avoid regrant |