CN204471367U - Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot - Google Patents
Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot Download PDFInfo
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- CN204471367U CN204471367U CN201520033163.XU CN201520033163U CN204471367U CN 204471367 U CN204471367 U CN 204471367U CN 201520033163 U CN201520033163 U CN 201520033163U CN 204471367 U CN204471367 U CN 204471367U
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Abstract
The utility model relates to a kind of Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, its technical characterstic is: between moving platform with fixed platform, be provided with the side chain that three structures are identical, each side chain includes connecting rod motor, two connecting rods, adapter sleeve and double leval jib assemblies, one end of first connecting rod is connected with connecting rod motor, the other end and the second connecting rod of first connecting rod adopt typed ball bearing pair to be connected, adopt typed ball bearing pair to be connected between second connecting rod with moving platform, second connecting rod and adapter sleeve adopt moving sets to be connected; Double leval jib assembly comprises upper pole segments, two drive rods and two drive rod motors, and upper pole segments two ends are connected with two drive rods respectively, and two drive rods are connected with two drive rod motors respectively, and upper pole segments and adapter sleeve adopt typed ball bearing pair to be connected.The utility model has the features such as simple and reliable for structure, moving platform stable movement, has good driving force, robustness, bearing capacity, can be applied to the field such as lathe, robot detection according to different needs.
Description
Technical field
The utility model belongs to robotics, especially a kind of Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot.
Background technology
Proposed first since parallel robot from 1938, because of its tool compared with large rigidity, compared with strong bearing capacity, error is little, precision is high, deadweight duty ratio is little, power performance good, control the features such as easy, is widely used in the every field of society.At present, common are 2DOF, 3DOF, 4DOF, 6DOF parallel robot; Wherein, a substantive characteristics of 6DOF parallel institution is that each branch has six independently frees degree, and each branch must can generate a sextuple displacement group in other words.Therefore, on the basis of Stewart six-degree-of-freedom parallel connection mechanism, change the kind of kinematic pair in branch, put in order and direction etc., keep six independent degree of branch simultaneously, new six-degree-of-freedom parallel connection mechanism type can be obtained.
What six-degree-of-freedom parallel connection mechanism type comparatively represented has: a kind of six degree of freedom three side chain parallel robot mechanism (Chinese patent CNCN102699904) that the people such as the three-freedom degree spatial parallel (Chinese patent CN 102626871) of the high flexible nature that the people such as Linpaod configuration, Liu Xinjun that the people such as Byun in 1997 propose 3-PPSP six-degree-of-freedom parallel connection mechanism, the Universitaet Stuttgart of Germany proposes proposes and Hebei University of Technology's Zhang Jianjun propose.
The guide rail of above-mentioned six-degree-of-freedom parallel connection mechanism is usually perpendicular to silent flatform, symmetrical arrangement and required driving is more, control method complexity is (as 3-PPSP parallel institution, 9 drivings), or the forms of motion relatively less (as Chinese patent CN 102626871,3 frees degree) produced.In addition, the kinematic accuracy of single side chain has a strong impact on moving platform forms of motion, is difficult to reach the effect in each field.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, provide a kind of reasonable in design, structure is simple, precision is high, control the Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot of flexibility.
The utility model solves existing technical problem and takes following technical scheme to realize:
A kind of Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, comprise moving platform and fixed platform, the side chain that three structures are identical is installed between moving platform with fixed platform, each side chain includes connecting rod motor, two connecting rods, adapter sleeve and double leval jib assemblies, one end of first connecting rod is connected with connecting rod motor, the other end and the second connecting rod of first connecting rod adopt typed ball bearing pair to be connected, and adopt typed ball bearing pair to be connected between second connecting rod with moving platform, and second connecting rod and adapter sleeve adopt moving sets to be connected; Double leval jib assembly comprises upper pole segments, two drive rods and two drive rod motors, and upper pole segments two ends are connected with two drive rods respectively, and two drive rods are connected with two drive rod motors respectively, and upper pole segments and adapter sleeve adopt typed ball bearing pair to be connected.
And described connecting rod motor is fixedly mounted with on the stationary platform by electric machine support, this connecting rod motor and first connecting rod adopt bearing pin mode to be connected.
And described drive rod motor is all fixedly mounted with on the stationary platform by electric machine support, drive rod motor and drive rod adopt bearing pin mode to be connected.
And upper pole segments two ends are connected respectively by bearing pin with two drive rods.
Advantage of the present utility model and good effect are:
1, the utility model adopts the parallel-connection structure of three-branch chain six-freedom degree, each side chain is all configured with two groups of drivings, opposing coupler between driving, there is higher flexibility, the forms of motion of each side chain is relatively simple, this mechanism of easy guarantee precision in operation and quality, can be applied to the field such as lathe, robot detection according to different needs.
2, the utility model is for different applications, can using the connecting rod motor that is connected with first connecting rod as main drive source, using the drive link motor bottom double leval jib as coordinated drive source, and the location prepared fast to help moving platform; Also can using the drive link motor bottom double leval jib as main drive source, using the connecting rod motor that is connected with first connecting rod as coordinated drive source, the location prepared fast to help moving platform.
3, the utility model is reasonable in design, has the features such as simple and reliable for structure, moving platform stable movement, and has good driving force, robustness, bearing capacity, can be applied to the field such as lathe, robot detection according to different needs.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of side chain;
In figure, 1-fixed platform, 2-moving platform, 3-electric machine support, 4-connecting rod motor, 5-first connecting rod, 6-second connecting rod, 7-adapter sleeve, 8-first drives rod member, and 9-second drives rod member, 10-upper pole segments, 11-typed ball bearing pair, 12-typed ball bearing pair, 13-typed ball bearing pair, 14-drive rod motor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model embodiment is further described.
A kind of Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, as shown in Figures 1 and 2, comprise moving platform (2) and fixed platform (1) that actuator is installed, the identical side chain of three structures is installed between moving platform (2) with fixed platform (1).Each side chain is by being arranged on the electric machine support (3) of fixed platform, connecting rod motor (4), first connecting rod (5), second connecting rod (6), adapter sleeve (7) and double leval jib assembly composition, and described double leval jib assembly is made up of upper pole segments (10), the first drive rod (8), the second drive rod (9) and drive rod motor (14).The structure of each side chain is described for one of them side chain below:
Adopt bearing pin form to be connected between one end of first connecting rod (5) and the connecting rod motor (4) in fixed platform, the other end of first connecting rod (5) is connected with adopting typed ball bearing pair (12) form between second connecting rod (6); Second connecting rod (6) is connected with adopting typed ball bearing pair (11) form between moving platform; Adopt moving sets to be connected between second connecting rod (6) with adapter sleeve (7), this adapter sleeve (7) has a square hole and adopts moving sets form to coordinate with second connecting rod (6); Typed ball bearing pair (13) form is adopted to be connected between this adapter sleeve (7) and the upper pole segments (10) of double leval jib assembly.All adopt bearing pin (R) form to connect between the rod member of double leval jib assembly, the first drive rod (8) adopts bearing pin form to be connected with drive rod motor (14) with the second drive rod (9) respectively.
Two drive rod motors (14) in fixed platform drive the first drive rod (8) and the second drive rod (9) respectively, with driving upper links (10) and pulling second connecting rod (6) through typed ball bearing pair (13) and adapter sleeve (7) thus drive platform (2) to do six-freedom motion, in the process, adapter sleeve (7) is upper mobile at second connecting rod (6).Connecting rod motor (4) in fixed platform drives first connecting rod (5), order about moving platform (2) with driving second connecting rod (6) and do six-freedom motion, in the process, first connecting rod (5) rotates around connecting rod motor (4) axis, drives second connecting rod (6) mobile along adapter sleeve (7).Six-freedom motion is done by drive rod motor (14) and connecting rod motor (4) parametric controller (2).
It is emphasized that; embodiment described in the utility model is illustrative; instead of it is determinate; therefore the utility model comprises the embodiment be not limited to described in detailed description of the invention; every other embodiments drawn according to the technical solution of the utility model by those skilled in the art, belong to the scope of the utility model protection equally.
Claims (4)
1. a Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot, comprise moving platform and fixed platform, it is characterized in that: the side chain that three structures are identical is installed between moving platform with fixed platform, each side chain includes connecting rod motor, two connecting rods, adapter sleeve and double leval jib assemblies, one end of first connecting rod is connected with connecting rod motor, the other end and the second connecting rod of first connecting rod adopt typed ball bearing pair to be connected, adopt typed ball bearing pair to be connected between second connecting rod with moving platform, second connecting rod and adapter sleeve adopt moving sets to be connected; Double leval jib assembly comprises upper pole segments, two drive rods and two drive rod motors, and upper pole segments two ends are connected with two drive rods respectively, and two drive rods are connected with two drive rod motors respectively, and upper pole segments and adapter sleeve adopt typed ball bearing pair to be connected.
2. Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot according to claim 1, is characterized in that: described connecting rod motor is fixedly mounted with on the stationary platform by electric machine support, and this connecting rod motor and first connecting rod adopt bearing pin mode to be connected.
3. Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot according to claim 1, is characterized in that: described drive rod motor is all fixedly mounted with on the stationary platform by electric machine support, and drive rod motor and drive rod adopt bearing pin mode to be connected.
4. Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot according to claim 1, is characterized in that: upper pole segments two ends are connected respectively by bearing pin with two drive rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520033163.XU CN204471367U (en) | 2015-01-19 | 2015-01-19 | Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520033163.XU CN204471367U (en) | 2015-01-19 | 2015-01-19 | Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204471367U true CN204471367U (en) | 2015-07-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520033163.XU Withdrawn - After Issue CN204471367U (en) | 2015-01-19 | 2015-01-19 | Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot |
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| CN (1) | CN204471367U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608118A (en) * | 2015-01-19 | 2015-05-13 | 天津智达机器人有限公司 | Three-branch six-degree-of-freedom robot |
| CN105234923A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Parallel mechanism with six degrees of freedom of three-translation three-rotation |
| CN112171643A (en) * | 2020-09-30 | 2021-01-05 | 北华航天工业学院 | Six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive subchains |
-
2015
- 2015-01-19 CN CN201520033163.XU patent/CN204471367U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608118A (en) * | 2015-01-19 | 2015-05-13 | 天津智达机器人有限公司 | Three-branch six-degree-of-freedom robot |
| CN105234923A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Parallel mechanism with six degrees of freedom of three-translation three-rotation |
| CN112171643A (en) * | 2020-09-30 | 2021-01-05 | 北华航天工业学院 | Six-degree-of-freedom foldable parallel motion platform with closed-loop dual-drive subchains |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150715 Effective date of abandoning: 20160323 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |