CN206216677U - A kind of multi-coordinate high speed parallel robot mechanism - Google Patents
A kind of multi-coordinate high speed parallel robot mechanism Download PDFInfo
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- CN206216677U CN206216677U CN201621240274.9U CN201621240274U CN206216677U CN 206216677 U CN206216677 U CN 206216677U CN 201621240274 U CN201621240274 U CN 201621240274U CN 206216677 U CN206216677 U CN 206216677U
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- hack lever
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- connecting shaft
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Abstract
The utility model discloses a kind of multi-coordinate high speed parallel robot mechanism, including fixed mount, support platform, moving platform, first, second, and third side chain that is arranged between the fixed mount and moving platform；Three side chains include nearly hack lever, remote hack lever, 3rd side chain also includes rotating pitching, the fork that rotates is connected or affixed with support platform rotation, one end of the nearly hack lever is connected with fixed mount or rotation fork, the other end is connected with remote hack lever, the remote hack lever is connected with moving platform, and the support platform is fixedly connected or rotates with fixed mount and is connected.The utility model clever structure, by the movement relation between appropriately configured component, is capable of achieving mechanism's reconstruct.
Description
Technical field
The utility model is related to a kind of robot mechanism, particularly a kind of multi-coordinate high speed parallel robot mechanism.
Background technology
High speed parallel robot mechanism can realize speed and acceleration high because of end, and can meet the carrying of space object
Deng operation, the field such as food medicine, modern logistics, electronic information automatic production line high speed light loading has been widely used in it and has carried
Operation.
The United States Patent (USP) of Patent No. US20090019960A1 discloses a kind of high speed parallel manipulator of four frees degree of band
People, Patent No. EP1084802B1 divides European patent discloses a kind of four-freedom-degree parallel-connection robot by this two pieces patent
Knowable to analysis, the parallel institution that existing achievable three-dimensional translation and one-dimensional is rotated, including four active branched chains and a moving platform, often
Bar side chain includes nearly hack lever and remote hack lever two parts.Wherein near hack lever one end only has a movement relative to fixed frame or turns
The dynamic free degree, the other end is connected by the hinge only with two revolution frees degree with one end of remote hack lever；The remote hack lever other end
It is connected with moving platform by the hinge only with two revolution frees degree, so as to ensure the translation of mechanism；Moving platform is by four portions
Part is constituted, and two of which part need to be parallel to each other, and two other part passes through rotating hinge with the part that both of the aforesaid is parallel to each other
Chain is connected, and the rotational freedom around the axis perpendicular to moving platform is capable of achieving by the mutual rotation between part, while being equipped with
Corresponding enlarger can expand angle range.But the rigidity of said mechanism is not strong, and rapid capability is poor, and working space is limited.
Utility model content
The purpose of this utility model is to provide a kind of multi-coordinate high speed parallel robot mechanism, can be by appropriately configured structure
Movement relation between part, realizes free degree quick reconfiguration.
Realizing the technical solution of the utility model purpose is：A kind of multi-coordinate high speed parallel robot mechanism, including
Fixed mount, support platform, moving platform and connection support platform and the first side chain of moving platform, the second side chain and the 3rd side chain,
First side chain and the second branched structure are identical, and are symmetrically distributed in the both sides of the 3rd side chain；
First side chain include first driving means, the first nearly hack lever, connecting shaft on first, two it is parallel and isometric
First remote hack lever, first time connecting shaft；The first driving means are affixed with support platform, one end of the first nearly hack lever with
Support platform rotates connection, and affixed with the drive end of first driving means, and the other end of the first nearly hack lever is connected with first
Axle is affixed；Described two first remote hack lever one end with described first on connecting shaft ball-joint, the other end be fixed in it is described
First time connecting shaft ball-joint on moving platform；
Second side chain include the second drive device, the second nearly hack lever, connecting shaft on second, two it is parallel and isometric
Second remote hack lever, second time connecting shaft；Second drive device is affixed with support platform, one end of the second nearly hack lever with
Support platform rotates connection, and affixed with the drive end of the second drive device, and the other end of the second nearly hack lever is connected with second
Axle is affixed；Described two second remote hack lever one end with described second on connecting shaft ball-joint, the other end be fixed in it is described
Second time connecting shaft ball-joint on moving platform；
Connect the pivot center of the described first nearly hack lever and support platform and be connected the described second nearly hack lever and support platform
Pivot center be parallel to each other；
3rd side chain includes rotating fork, the 3rd drive device, the 3rd nearly hack lever, the 3rd nearly hack lever of auxiliary, the 3rd company
Connect frame, connect under connecting shaft, two the 3rd parallel and isometric remote hack levers, the three remote hack levers of auxiliary, support bars and the 3rd on the 3rd
Spindle；Vent is rotated in the middle part of support platform, the 3rd drive device is affixed with rotation fork, the one of the 3rd nearly hack lever
End is connected with fork rotation is rotated, and affixed with the drive end of the 3rd drive device, and the other end of the 3rd nearly hack lever is connected with the 3rd
Frame rotates connection, and described nearly hack lever one end of 3rd auxiliary rotates with rotation fork and is connected or ball-joint, the nearly hack lever of the 3rd auxiliary
The other end and the 3rd link rotate and be connected or ball-joint, the 3rd nearly hack lever and the 3rd aids in nearly hack lever parallel and waits
Long, the 3rd nearly hack lever, the 3rd nearly hack lever of auxiliary, the 3rd link and rotation fork constitute parallel-crank mechanism；Described
Connecting shaft is connected with the 3rd nearly hack lever on three, on the described 3rd the place axis of connecting shaft be connected the 3rd nearly hack lever and
The coaxial of three links, one end of described two parallel and isometric the 3rd remote hack lever with the 3rd on connecting shaft turn
Dynamic connection or ball-joint, the other end of the 3rd described two parallel and isometric remote hack lever are rotated with the three times connecting shafts and are connected
Or ball-joint, the three times connecting shafts are connected with moving platform, affixed between the 3rd described two parallel and isometric remote hack lever
There is support bar；One end of the remote hack lever of 3rd auxiliary is connected or ball-joint with the rotation of the 3rd link, the other end and moving platform
Rotate connection or ball-joint；The remote hack lever of 3rd auxiliary and the 3rd remote hack lever are parallel and isometric, the remote hack lever of the 3rd auxiliary,
3rd remote hack lever, the 3rd link and moving platform constitute parallel-crank mechanism.
Compared with prior art, its remarkable advantage is the utility model：Multi-coordinate high speed parallel manipulator of the present utility model
Robot mechanism is simple and compact for structure, and by the movement relation between appropriately configured component, realizes the quick reconfiguration of mechanism freedom,
Various different application scenarios are suitable for, and can realize that complete cycle is turned round, the working space of mechanism is significantly increased.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment 1.
Fig. 2 is the structural representation of moving platform in the utility model embodiment 1.
Fig. 3 is the structural representation of moving platform in the utility model embodiment 2.
Fig. 4 is the structural representation of the utility model embodiment 3.
Fig. 5 is the structural representation of moving platform in the utility model embodiment 3.
Fig. 6 is the structural representation of main platform in the utility model embodiment 3.
Fig. 7 is the structural representation of the utility model embodiment 4.
Fig. 8 is the structural representation of the utility model embodiment 5.
Representative implication is numbered in figure is：
1st, fixed mount, 2, support platform, 3, moving platform, 4, end effector, 5, end effector drive device, 6, main flat
Platform, 7, auxiliary platform, 61, internal gear, 71, little gear, 62, round guide, 72, smooth block, 11, first driving means, 12, first is near
Hack lever, connecting shaft on 13, first, the 14, first remote hack lever, 15, first time connecting shaft, the 21, second drive device, 22, second is near
Hack lever, connecting shaft on 23, second, the 24, second remote hack lever, 25, second time connecting shaft, 30, rotate fork drive device, 31, rotate
Fork, the 32, the 3rd drive device, the 33, the 3rd nearly hack lever, the 34, the 3rd nearly hack lever of auxiliary, the 35, the 3rd link connects on the 36, the 3rd
Spindle, the 37, the 3rd remote hack lever, the 38, support bar, the 39, the 3rd remote hack lever of auxiliary, 310, the three times connecting shafts.
Specific embodiment
With reference to accompanying drawing, a kind of multi-coordinate high speed parallel robot mechanism of the present utility model, including fixed mount 1, support are put down
Platform 2, the first side chain of moving platform 3 and connection support platform 2 and moving platform 3, the second side chain and the 3rd side chain, described first
Chain and the second branched structure are identical, and are symmetrically distributed in the both sides of the 3rd side chain；
First side chain include first driving means 11, on the first nearly hack lever 12, first connecting shaft 13, two it is parallel and
Isometric the first remote hack lever 14, first time connecting shaft 15；The first driving means 11 are affixed with support platform 2, and described first
One end of nearly hack lever 12 rotates with support platform 2 and is connected, and, first nearly hack lever 12 affixed with the drive end of first driving means 11
The other end and first on connecting shaft 13 it is affixed；Described two first remote hack levers 14 one end with described first on the ball of connecting shaft 13
Be hinged, the other end with the ball-joint of first time connecting shaft 15 being fixed on the moving platform 3；
Second side chain include the second drive device 21, on the second nearly hack lever 22, second connecting shaft 23, two it is parallel and
Isometric the second remote hack lever 24, second time connecting shaft 25；Second drive device 21 is affixed with support platform 2, and described second
One end of nearly hack lever 22 rotates with support platform 2 and is connected, and, second nearly hack lever 22 affixed with the drive end of the second drive device 21
The other end and second on connecting shaft 23 it is affixed；Described two second remote hack levers 24 one end with described second on the ball of connecting shaft 23
Be hinged, the other end with the ball-joint of second time connecting shaft 25 being fixed on the moving platform；
Connect the pivot center of the described first nearly hack lever 12 and support platform 2 and be connected the described second nearly hack lever 22 and support
The pivot center of platform 2 is parallel to each other；
3rd side chain includes that rotating the 31, the 3rd drive device 32 of fork, the 3rd nearly hack lever the 33, the 3rd aids in nearly hack lever
34th, connecting shaft 36, two is parallel and isometric on the 3rd link the 35, the 3rd the 3rd remote hack lever the 37, the 3rd aid in remote hack lever 39,
Support bar 38 and the three times connecting shafts 310；Rotate fork 31 be located at support platform 2 middle parts, the 3rd drive device 32 with turn
Moving fork 31 is affixed, one end of the 3rd nearly hack lever 33 and rotates fork 31 and rotates and be connected, and with the driving of the 3rd drive device 32
End is affixed, and the other end of the 3rd nearly hack lever 33 is rotated with the 3rd link 35 and be connected, the described 3rd aid in nearly one end of hack lever 34 and
Rotate fork 31 and rotate connection or ball-joint, the other end of the nearly hack lever 34 of the 3rd auxiliary be connected with the rotation of the 3rd link 35 or
Ball-joint, the 3rd nearly hack lever 33 is parallel and isometric with the 3rd nearly hack lever 34 of auxiliary, and the 3rd nearly hack lever the 33, the 3rd is aided in
Nearly hack lever 34, the 3rd link 35 and rotation fork 31 constitute parallel-crank mechanisms；Connecting shaft 36 is near with the 3rd on described 3rd
Hack lever 33 is connected, on the described 3rd the place axis of connecting shaft 36 be connected the 3rd nearly hack lever 33 and the 3rd link 35
Coaxial, one end of the 3rd described two parallel and isometric remote hack lever 37 rotates with connecting shaft 36 on the 3rd and is connected
Or ball-joint, the other end of described two parallel and isometric the 3rd remote hack lever 37 rotates with the three times connecting shafts 310 and is connected
Or ball-joint, the three times connecting shafts 310 are connected with moving platform, between the 3rd described two parallel and isometric remote hack lever 37
It is connected with support bar 38；One end of the remote hack lever 39 of 3rd auxiliary rotates with the 3rd link 35 and is connected or ball-joint, another
End rotates with moving platform and is connected or ball-joint；The remote hack lever 39 of 3rd auxiliary is parallel and isometric with the 3rd remote hack lever 37, described
The 3rd remote hack lever 39 of auxiliary, the 3rd remote hack lever 37, the 3rd link 35 and moving platform constitute parallel-crank mechanism.
Preferably, the support platform 2 is affixed with fixed mount 1；The fork 31 that rotates is connected with the rotation of support platform 2；Even
Connect the pivot center and the pivot center for being connected the 3rd nearly hack lever 33 and rotation fork 31 for rotating fork 31 and support platform 2
Intersect vertically；The described rotation of connection is pitched the pivot center of 31 and support platform 2 and is connected the described first nearly hack lever 12 and supports flat
The pivot center of platform 2 is parallel to each other.
Preferably, end effector 4 is rotatably connected on the moving platform 3, and is connected with end effector drive device
5, the end effector 4 is affixed with the drive end of end effector drive device 5.
First time connecting shaft 15 is parallel to each other with second time connecting shaft 25, second time connecting shaft 25 and the three times connecting shafts
310 are mutually perpendicular to.
Preferably, the support platform 2 is affixed with fixed mount 1, and the rotation fork 31 is affixed with support platform 2；It is described dynamic
Platform includes main platform 6 and auxiliary platform 7, and the main platform 6 and auxiliary platform 7 rotate connection；First side chain and the second side chain
It is connected with main platform 6, the 3rd side chain is connected with the auxiliary platform 7；
Internal gear 61 is connected with the main platform 6, little gear 71, the internal tooth are rotatably connected on the auxiliary platform 7
Wheel 61 is engaged with little gear 71, and both constitute gear pair, and the little gear 71 is connected with end effector 4, in end effector 4
Drive under rotate；Round guide 62 is connected with the main platform 6, smooth block 72 is connected with the auxiliary platform 7, it is described round and smooth
Block 72 constitutes guideway with round guide 62.
First time connecting shaft 15 is parallel to each other with second time connecting shaft 25, second time connecting shaft 25 and the three times connecting shafts
310 are mutually perpendicular to.
Preferably, the support platform 2 is affixed with fixed mount 1；3rd side chain also includes rotating fork drive device 30,
It is described rotate fork drive device 30 it is affixed with support platform 2, it is described rotate fork 31 with support platform 2 rotation be connected, and with it is described
The drive end for rotating fork drive device 30 is affixed；The described rotation of connection is pitched the pivot center of 31 and support platform 2 and is connected described
The pivot center of the 3rd nearly hack lever 33 and rotation fork 31 intersects vertically；The connection rotary shaft for rotating fork 31 and support platform 2
Line is parallel to each other with the pivot center for being connected the described first nearly hack lever 12 and support platform 2；
The moving platform includes main platform 6 and auxiliary platform 7, and the main platform 6 and auxiliary platform 7 rotate connection；Described first
Side chain and the second side chain are connected with main platform 6, and the 3rd side chain is connected with the auxiliary platform 7；It is affixed on the main platform 6
There is internal gear 61, little gear 71 is rotatably connected on the auxiliary platform 7, the internal gear 61 is engaged with little gear 71, both structures
Into gear pair, the little gear 71 is connected with end effector；Round guide 62, the auxiliary platform 7 are connected with the main platform 6
On be connected with smooth block 72, the smooth block 72 constitutes guideway with round guide 62.
Preferably, the multi-coordinate high speed parallel robot mechanism also includes support platform drive device 8, and the support is flat
Platform drive device 8 is affixed with fixed mount 1, and the support platform 2 and fixed mount 1 are rotated and be connected, and with support platform drive device 8
Drive end it is affixed；
The fork 31 that rotates is connected with the rotation of support platform 2；The connection pivot center for rotating fork 31 and support platform 2
Intersected vertically with the pivot center for being connected the 3rd nearly hack lever 33 and rotate fork 31, connect described rotation and pitch 31 and support platform
2 pivot center is parallel to each other with the pivot center for being connected the described first nearly hack lever 12 and support platform 2.
Preferably, connecting shaft 36 is affixed with the 3rd nearly hack lever 33 on the 3rd, and the three times connecting shaft 310 is affixed with moving platform.
Preferably, connecting shaft 36 is rotated with the 3rd nearly hack lever 33 and be connected on the 3rd, the three time connecting shafts 310 and moving platform turn
Dynamic connection.
Multi-coordinate high speed parallel robot mechanism of the present utility model is simple and compact for structure, and by appropriately configured component it
Between movement relation, realize the quick reconfiguration of mechanism freedom, be suitable for various different application scenarios, and can realize that complete cycle is returned
Turn, the working space of mechanism is significantly increased.
Further detailed description is done to the utility model with reference to embodiment：
Embodiment 1
With reference to accompanying drawing 1-2, a kind of multi-coordinate high speed parallel robot mechanism, including fixed mount 1, support platform 2, moving platform
And the first side chain, the second side chain and the 3rd side chain between connection support platform 2 and moving platform,
The support platform 2 is affixed with fixed mount 1；
First side chain and the second branched structure are identical, and are distributed in the both sides of the 3rd side chain；
First side chain include first driving means 11, on the first nearly hack lever 12, first connecting shaft 13, two it is parallel and
The first isometric remote hack lever 14 and first time connecting shaft 15；The first driving means 11 are affixed with support platform 2, and described first
One end of nearly hack lever 12 rotates with support platform 2 and is connected, and, first nearly hack lever 12 affixed with the drive end of first driving means 11
The other end and first on connecting shaft 13 it is affixed；The ball-joint of connecting shaft 13 on described one end of first remote hack lever 14 and described first,
The other end and the ball-joint of first time connecting shaft 15 being fixed on the moving platform；
Second side chain include the second drive device 21, on the second nearly hack lever 22, second connecting shaft 23, two it is parallel and
The second isometric remote hack lever 24 and second time connecting shaft 25；Second drive device 21 is affixed with support platform 2, and described second
One end of nearly hack lever 22 rotates with support platform 2 and is connected, and, second nearly hack lever 22 affixed with the drive end of the second drive device 21
The other end and second on connecting shaft 23 it is affixed；The ball-joint of connecting shaft 23 on described one end of second remote hack lever 24 and described second,
The other end and the ball-joint of second time connecting shaft 25 being fixed on the moving platform；
Connect the pivot center of the described first nearly hack lever 12 and support platform 2 and be connected the described second nearly hack lever 22 and support
The pivot center of platform 2 is parallel to each other；
3rd side chain includes that rotating the 31, the 3rd drive device 32 of fork, the 3rd nearly hack lever the 33, the 3rd aids in nearly hack lever
34th, connecting shaft 36, two is parallel and isometric on the 3rd link the 35, the 3rd the 3rd remote hack lever the 37, the 3rd aid in remote hack lever 38,
Support bar 39 and the three times connecting shafts 310；The fork 31 that rotates is connected with the rotation of support platform 2；3rd drive device 32
Fork is 31 affixed with rotating, and one end of the 3rd nearly hack lever 33 is connected with the rotations of fork 31 are rotated, and with the 3rd drive device 32
Drive end is affixed, and the other end of the 3rd nearly hack lever 33 is rotated with the 3rd link 35 and is connected, the nearly hack lever 34 1 of the 3rd auxiliary
End is connected or ball-joint with the rotation of fork 31 is rotated, and the other end and the 3rd link 35 of the 3rd nearly hack lever 34 of auxiliary are rotated and connected
Connect or ball-joint, the 3rd nearly hack lever 33 is parallel and isometric with the 3rd nearly hack lever 34 of auxiliary, the 3rd nearly hack lever the 33, the 3rd
Aid in nearly hack lever 34, the 3rd link 35 and rotate fork 31 constituting parallel-crank mechanisms, connecting shaft 36 and the on the described 3rd
Three nearly hack levers 34 are affixed or rotate connection, on the described 3rd the place axis of connecting shaft 36 be connected the 3rd nearly hack lever 33 and
The coaxial of the 3rd link 35, one end of the 3rd described two parallel and isometric remote hack lever 37 is connected with the 3rd
Axle 36 rotates connection or ball-joint, the other end and the three times connecting shafts of described two parallel and isometric the 3rd remote hack lever 37
310 rotate connection or ball-joint, the three time connecting shafts 310 it is affixed with moving platform or rotate be connected, it is described two parallel and
Support bar 39 is connected between the 3rd isometric remote hack lever 37；One end of the remote hack lever 38 of 3rd auxiliary and the 3rd link 35
Connection or ball-joint are rotated, the other end is rotated with moving platform and is connected or ball-joint；The remote hack lever 38 and the 3rd of 3rd auxiliary is remote
Hack lever 37 is parallel and isometric, and the remote hack lever 38 of the 3rd auxiliary, the 3rd remote hack lever 37, the 3rd link 35 and moving platform constitute flat
Row quadrangular mechanism.
The described rotation of connection is pitched the pivot center of 31 and support platform 2 and is connected the 3rd nearly hack lever 33 and rotates fork 31
Pivot center intersect vertically；The described rotation of connection is pitched the pivot center of 31 and support platform 2 and is connected the described first nearly hack lever
12 and the pivot center of support platform 2 be parallel to each other.Example 1 is two flat one turn of Three Degree Of Freedom high speed parallel robot mechanisms.
Embodiment 2
With reference to accompanying drawing 1 and 3, implement 2 is with the difference of embodiment 1, on the basis of example example 1, on the moving platform
End effector 4 is rotatably connected to, and is connected with end effector drive device 5, the end effector 4 and end effector
The drive end of drive device 5 is affixed.Embodiment 2 is three flat one turn of Three Degree Of Freedom high speed parallel robot mechanisms.
Embodiment 3
With reference to accompanying drawing 4-6, example 3 is with the difference of embodiment 1,
Rotation fork 31 in example 1 is connected with the rotation of support platform 2, is changed in example 3：Rotate fork 31 flat with support
Platform 2 is affixed；
The moving platform implemented in 1 is single action platform, and embodiment 3 is changed to double acting platform, and concrete structure is as follows：
Moving platform includes main platform 6 and auxiliary platform 7, and the main platform 6 and auxiliary platform 7 rotate connection；First side chain
It is connected with main platform 6 with the second side chain, the 3rd side chain is connected with the auxiliary platform 7.
Internal gear 61 is connected with the main platform 6, little gear 71, the internal tooth are rotatably connected on the auxiliary platform 7
Wheel 61 is engaged with little gear 71, and both constitute gear pair, and the little gear 71 is connected with end effector 4.
Round guide 62 is connected with the main platform 6, smooth block 72, the smooth block 72 are connected with the auxiliary platform 7
Guideway is constituted with round guide 62.Embodiment 3 is two flat one turn of Three Degree Of Freedom high speed parallel robot mechanisms.
Embodiment 4
With reference to accompanying drawing 7, embodiment 4 is with the difference of embodiment 1,
On the basis of embodiment 1, the 3rd side chain also includes rotating fork drive device 30, described to rotate fork drive device 30
Affixed with support platform 2, the fork 31 that rotates is connected with the rotation of support platform 2, and the drive of drive device 30 is pitched with the rotation
Moved end is affixed；Moving platform is changed to Double tabletop structure, and the composition structure of Double tabletop is same as Example 3；Example 4 is three flat one turn four
Free degree high speed parallel robot mechanism.
Embodiment 5
With reference to accompanying drawing 7, embodiment 4 is with the difference of embodiment 1,
The fixed relationship of fixed mount and support platform in the basis of embodiment 1 is changed to rotate connection, concrete structure is：
The multi-coordinate high speed parallel robot mechanism also includes support platform drive device 8, and the support platform drives
Device 8 is affixed with fixed mount 1, and the support platform 2 and fixed mount 1 are rotated and be connected, and with the driving of support platform drive device 8
End is affixed.Embodiment 5 is realizing two on the basis of flat one turn, and high speed parallel robot mechanism can realize that complete cycle is turned round.
Although being described to preferred embodiment of the present utility model above in conjunction with accompanying drawing, the utility model is not
Above-mentioned specific embodiment is confined to, above-mentioned specific embodiment is only schematical, is not restricted, ability
The those of ordinary skill in domain is not departing from the utility model objective and claimed under enlightenment of the present utility model
Under ambit, many forms can also be made, these are belonged within protection domain of the present utility model.
Claims (10)
1. a kind of multi-coordinate high speed parallel robot mechanism, it is characterised in that including fixed mount [1], support platform [2], dynamic flat
Platform [3] and connection support platform [2] and the first side chain of moving platform [3], the second side chain and the 3rd side chain, first side chain
It is identical with the second branched structure, and it is symmetrically distributed in the both sides of the 3rd side chain；
First side chain include first driving means [11], the first nearly hack lever [12], connecting shaft [13] on first, two it is parallel
And isometric the first remote hack lever [14], first time connecting shaft [15]；The first driving means [11] are solid with support platform [2]
Connect, one end of the first nearly hack lever [12] rotates with support platform [2] and is connected, and with the drive end of first driving means [11]
Affixed, connecting shaft [13] is affixed on the other end and first of the first nearly hack lever [12]；Described two first remote hack lever [14] one end
With described first on connecting shaft [13] ball-joint, the other end with first time connecting shaft being fixed on the moving platform [3]
[15] ball-joint；
Second side chain include the second drive device [21], the second nearly hack lever [22], connecting shaft [23] on second, two it is parallel
And isometric the second remote hack lever [24], second time connecting shaft [25]；Second drive device [21] is solid with support platform [2]
Connect, one end of the second nearly hack lever [22] rotates with support platform [2] and is connected, and with the drive end of the second drive device [21]
Affixed, connecting shaft [23] is affixed on the other end and second of the second nearly hack lever [22]；Described two second remote hack lever [24] one end
With described second on connecting shaft [23] ball-joint, the other end with the second time connecting shaft [25] being fixed on the moving platform
Ball-joint；
Connect the pivot center of the described first nearly hack lever [12] and support platform [2] and be connected the described second nearly hack lever [22] and branch
The pivot center of support platform [2] is parallel to each other；
3rd side chain includes rotating fork [31], the 3rd drive device [32], the 3rd nearly hack lever [33], the 3rd nearly hack lever of auxiliary
[34], the 3rd link [35], connecting shaft [36], two the remote hack levers [37] of parallel and isometric the 3rd, three auxiliary on the 3rd
Remote hack lever [39], support bar [38] and the three times connecting shafts [310]；Fork [31] is rotated positioned at the middle part of support platform [2], it is described
3rd drive device [32] is affixed with rotation fork [31], and one end of the 3rd nearly hack lever [33] connects with fork [31] rotation is rotated
Connect, and it is affixed with the drive end of the 3rd drive device [32], the other end and the 3rd link [35] of the 3rd nearly hack lever [33] turn
Dynamic connection, described nearly hack lever [34] one end of 3rd auxiliary rotates with rotation fork [31] and is connected or ball-joint, and the 3rd auxiliary is near
The other end of hack lever [34] is rotated with the 3rd link [35] and is connected or ball-joint, and the 3rd nearly hack lever [33] and the 3rd aids in
Nearly hack lever [34] is parallel and isometric, and the 3rd nearly hack lever [33], the 3rd aid in nearly hack lever [34], the 3rd link [35] and turn
Moving fork [31] constitutes parallel-crank mechanism；Connecting shaft [36] is connected with the 3rd nearly hack lever [33] on described 3rd, and the described 3rd
The place axis of upper connecting shaft [36] and the coaxial for being connected the described 3rd nearly hack lever [33] and the 3rd link [35],
One end of the 3rd described two parallel and isometric remote hack lever [37] rotates with connecting shaft [36] on the 3rd and is connected or ball-joint,
The other end of the 3rd described two parallel and isometric remote hack lever [37] is rotated with the three times connecting shafts [310] and is connected or ball pivot
Connect, the three times connecting shafts [310] are connected with moving platform, it is solid between the 3rd described two parallel and isometric remote hack lever [37]
It is connected to support bar [38]；One end of the remote hack lever [39] of 3rd auxiliary rotates with the 3rd link [35] and is connected or ball-joint,
The other end is rotated with moving platform and is connected or ball-joint；The remote hack lever [39] of 3rd auxiliary is parallel with the 3rd remote hack lever [37] and waits
Long, the remote hack lever [39] of the 3rd auxiliary, the 3rd remote hack lever [37], the 3rd link [35] and moving platform constitute parallelogram
Mechanism.
2. a kind of multi-coordinate high speed parallel robot mechanism according to claim 1, it is characterised in that：The support platform
[2] it is affixed with fixed mount [1]；The fork [31] that rotates is connected with support platform [2] rotation；Connection is described to rotate fork [31] and branch
The pivot center of support platform [2] intersects vertically with the pivot center for being connected the described 3rd nearly hack lever [33] and rotation fork [31]；Even
Described rotation is connect to pitch the pivot center of [31] and support platform [2] and be connected the described first nearly hack lever [12] and support platform [2]
Pivot center be parallel to each other.
3. a kind of multi-coordinate high speed parallel robot mechanism according to claim 2, it is characterised in that：The moving platform
[3] end effector [4] is rotatably connected on, and is connected with end effector drive device [5], the end effector [4]
Drive end with end effector drive device [5] is affixed.
4. a kind of multi-coordinate high speed parallel robot mechanism according to claim 3, it is characterised in that：First time connecting shaft
[15] it is parallel to each other with second time connecting shaft [25], second time connecting shaft [25] is mutually perpendicular to the three times connecting shafts [310].
5. a kind of multi-coordinate high speed parallel robot mechanism according to claim 1, it is characterised in that：The support platform
[2] affixed with fixed mount [1], rotation fork [31] is affixed with support platform [2]；The moving platform include main platform [6] and
Auxiliary platform [7], the main platform [6] and auxiliary platform [7] rotate connection；First side chain and the second side chain with main platform
[6] connect, the 3rd side chain is connected with the auxiliary platform [7]；
Internal gear [61] is connected with the main platform [6], little gear [71] is rotatably connected on the auxiliary platform [7], it is described
Internal gear [61] is engaged with little gear [71], and both constitute gear pair, and the little gear [71] is connected with end effector [4],
Rotated under the drive of end effector [4]；Round guide [62] is connected with the main platform [6], it is solid on the auxiliary platform [7]
Smooth block [72] is connected to, the smooth block [72] constitutes guideway with round guide [62].
6. a kind of multi-coordinate high speed parallel robot mechanism according to claim 5, it is characterised in that：First time connecting shaft
[15] it is parallel to each other with second time connecting shaft [25], second time connecting shaft [25] is mutually perpendicular to the three times connecting shafts [310].
7. a kind of multi-coordinate high speed parallel robot mechanism according to claim 1, it is characterised in that：The support platform
[2] it is affixed with fixed mount [1]；3rd side chain also includes rotating fork drive device [30], described to rotate fork drive device
[30] affixed with support platform [2], the fork [31] that rotates is connected with support platform [2] rotation, and is driven with the fork that rotates
The drive end of device [30] is affixed；The described rotation of connection is pitched the pivot center of [31] and support platform [2] and is connected the described 3rd
Nearly hack lever [33] and the pivot center of rotation fork [31] intersect vertically；Connection it is described rotate fork [31] and support platform [2] turn
Shaft line is parallel to each other with the pivot center for being connected the described first nearly hack lever [12] and support platform [2]；
The moving platform includes main platform [6] and auxiliary platform [7], and the main platform [6] and auxiliary platform [7] rotate connection；It is described
First side chain and the second side chain are connected with main platform [6], and the 3rd side chain is connected with the auxiliary platform [7]；The master puts down
Internal gear [61] is connected with platform [6], little gear [71] is rotatably connected on the auxiliary platform [7], the internal gear [61] with
Little gear [71] is engaged, and both constitute gear pair, and the little gear [71] is connected with end effector；On the main platform [6]
Round guide [62] is connected with, smooth block [72], the smooth block [72] and round guide [62] structure are connected with the auxiliary platform [7]
Into guideway.
8. a kind of multi-coordinate high speed parallel robot mechanism according to claim 1, it is characterised in that：The multi-coordinate is high
Fast parallel robot mechanism also includes support platform drive device [8], the support platform drive device [8] and fixed mount [1]
Affixed, the support platform [2] rotates with fixed mount [1] and is connected, and affixed with the drive end of support platform drive device [8]；
The fork [31] that rotates is connected with support platform [2] rotation；The connection rotation for rotating fork [31] and support platform [2]
Axis intersects vertically with the pivot center for being connected the described 3rd nearly hack lever [33] and rotation fork [31], connects described rotation and pitches [31]
Mutually put down with the pivot center for being connected the described first nearly hack lever [12] and support platform [2] with the pivot center of support platform [2]
OK.
9. a kind of multi-coordinate high speed parallel robot mechanism according to claim 1, it is characterised in that：Connecting shaft on 3rd
[36] affixed with the 3rd nearly hack lever [33], the three times connecting shaft [310] is affixed with moving platform.
10. a kind of multi-coordinate high speed parallel robot mechanism according to claim 1, it is characterised in that：Connected on 3rd
Axle [36] is rotated with the 3rd nearly hack lever [33] and is connected, and the three times connecting shafts [310] rotate with moving platform and are connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621240274.9U CN206216677U (en) | 2016-11-21 | 2016-11-21 | A kind of multi-coordinate high speed parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621240274.9U CN206216677U (en) | 2016-11-21 | 2016-11-21 | A kind of multi-coordinate high speed parallel robot mechanism |
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| CN206216677U true CN206216677U (en) | 2017-06-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378771A (en) * | 2016-11-21 | 2017-02-08 | 南京理工大学 | Multi-coordinate high-speed parallel robot mechanism |
| CN107803821A (en) * | 2017-11-23 | 2018-03-16 | 南京理工大学 | A kind of high speed parallel robot mechanism with two kinds of operator schemes |
| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
-
2016
- 2016-11-21 CN CN201621240274.9U patent/CN206216677U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378771A (en) * | 2016-11-21 | 2017-02-08 | 南京理工大学 | Multi-coordinate high-speed parallel robot mechanism |
| CN107803821A (en) * | 2017-11-23 | 2018-03-16 | 南京理工大学 | A kind of high speed parallel robot mechanism with two kinds of operator schemes |
| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
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