CN206578816U - A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure - Google Patents
A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure Download PDFInfo
- Publication number
- CN206578816U CN206578816U CN201720191768.0U CN201720191768U CN206578816U CN 206578816 U CN206578816 U CN 206578816U CN 201720191768 U CN201720191768 U CN 201720191768U CN 206578816 U CN206578816 U CN 206578816U
- Authority
- CN
- China
- Prior art keywords
- degree
- parallel
- connecting rod
- hooke
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure, including fixed frame, crawl parallel-connection structure and two Three Degree Of Freedom translation structures, two Three Degree Of Freedom translation symmetrical configurations are arranged on the both sides of fixed frame, and the crawl parallel-connection structure includes：Two clamp connecting rods that are arranged in a crossed manner and being connected by axis of rotation, two clamp connecting rods carry out open and close movement by center of rotation of rotating shaft, two Three Degree Of Freedom parallel moving mechanisms for being fixedly connected with Three Degree Of Freedom translation structure；A Hooke's hinge is set on one three-dimensional translating connecting rod, the Hooke's hinge has vertical bar axle and horizon bar axle, and the Hooke's hinge is connected by vertical bar axle with three-dimensional translating link rotatable, the lower end of the Hooke's hinge, which is extended downwardly, makes horizon bar axle position below three-dimensional translating connecting rod；The horizon bar axle of clamp small end and Hooke's hinge rotates connection, and clamp connecting rod is moved using horizon bar axle as center of rotation.The utility model slewing area is big, adds Grasping skill.
Description
Technical field
The utility model belongs to robotic technology field, specifically a kind of six degree of freedom based on crawl parallel institution
Parallel institution.
Background technology
Parallel institution is that moving platform is connected with silent flatform by least two independent kinematic chains, with two or two
The free degree above, and a kind of close loop mechanism driven with parallel way.Compared with serial manipulator, parallel robot have with
Lower advantage：Accumulated error is small, precision is higher；Drive device can be placed on fixed platform or close to the position of fixed platform, motion parts
Lightweight, speed is high, and dynamic response is good；Compact conformation, rigidity is high, large carrying capacity.
Minority carrier generation lifetime refers to that the free degree is less than 6 parallel institution, can be applied to many parallel institutions that are suitable to and grasps
Make but do not need the task of all 6 frees degree.Compared with 6DOF parallel institution, minority carrier generation lifetime has
Actuator is few, component is few, control is simple and convenient, it is easily fabricated, cheap the advantages of.Therefore, minority carrier generation lifetime
It is widely used in some occasions.
Due to being limited by Singularity, the turning power of parallel institution moving platform is often all smaller, even phase
To simple plane parallel mechanism, the slewing area that can be reached in theory is also no more than 180 °, actually can be smaller.
Part in parallel mechanism is by increasing redundant drive side chain come assistance platform across Singularity so as to obtain bigger
Turning power, but redundant drive can cause Planar Mechanisms so as to produce internal force, mechanism is faced the control problem of complexity；Also one
Parallel institution is divided then to select to increase redundant drive in some side chains, but which results in the appearance of mixed structure, so as to change original
There is the load transmission characteristic of parallel institution.
On automatic production line, existing parallel institution scheme is mainly positioned against the end increase actuator of parallel institution
(handgrip or sucker etc.) realizes crawl function, and this requires to increase servicing unit on the moving platform of parallel institution, or even needs
Motor is set up, the weight of parallel institution moving component is directly increased, the dynamic characteristic of parallel institution is had a strong impact on.
Chinese patent literature CN103538062A, date of publication 2014.1.29, disclose a kind of finger exercise of four-degree-of-freedom three
Make parallel institution, including a support, a moving platform and connection support and the SP type linear drives branches of moving platform and three
Put down by prismatic pair with dynamic individual completely identical in structure UPUR types finger actuation branch, one end of the SP types linear drives branch
Platform is connected, and its other end is coupled by spherical hinge with support；Three structure identical finger actuation branches are in support and moving platform
Between it is circumferentially uniform, one end of the linear drives bar in each finger actuation branch is coupled by universal pair with support, and its is another
One end is coupled by universal pair with one end of finger connecting rod, is coupled in the middle part of the finger connecting rod by revolute pair with moving platform, the hand
The other end for referring to connecting rod is free end.But the technology needs to set moving platform in addition between finger, adds the complexity of mechanism, no
Beneficial to the expansion of finger motion scope；Moreover, pose of the crawl motion of the technology finger depending on moving platform, is with fortune
It is dynamic, it is difficult to independent control.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of six-degree-of-freedom parallel based on crawl parallel-connection structure
Structure, slewing area is big, increases in Grasping skill, working space the overall situation without unusual, whole mechanism does not have motor to be placed in fortune
On dynamic component, the rotation for pointing to half of sphere is realized.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure, including fixed frame, crawl parallel-connection structure and two
Individual Three Degree Of Freedom translation structure, two Three Degree Of Freedom translation symmetrical configurations are arranged on the both sides of fixed frame, and the crawl is in parallel
Structure includes：
Clamp, the clamp is made up of two clamp connecting rods, and two clamp connecting rods are arranged in a crossed manner and connected by axis of rotation
Connect, two clamp connecting rods carry out open and close movement by center of rotation of rotating shaft,
Two three-dimensional translating connecting rods, the three-dimensional translating connecting rod is fixedly connected with Three Degree Of Freedom translation structure, the Three Degree Of Freedom
Translation structure drives three-dimensional translating connecting rod in the translational motion in X-axis, three directions of Y-axis and Z axis；
Two Hooke's hinges, the Hooke's hinge has orthogonal vertical bar axle and horizon bar axle, each three-dimensional translating connecting rod
On set a Hooke's hinge, the vertical bar axle of the Hooke's hinge is inserted in three-dimensional translating connecting rod to be connected with the three-dimensional translating link rotatable
Connect, the lower end of the Hooke's hinge, which is extended downwardly, makes horizon bar axle position below three-dimensional translating connecting rod, and the Hooke's hinge is with vertical bar axle
Axis is that rotary centerline is rotated relative to three-dimensional translating connecting rod；
Clamp small end is rotated with the horizon bar axle of Hooke's hinge lower end and is connected, and clamp connecting rod is using horizon bar axle as in rotating
The heart is rotated.
Described two Hooke's hinges be arranged in parallel, and the horizon bar axle of two Hooke's hinge lower ends and rotating shaft are parallel to each other.
After described two three-dimensional translating connecting rods are connected with two Three Degree Of Freedom translation structures, two three-dimensional translating connecting rods it
Between form interval section, clamp connecting rod is located in the interval section between two three-dimensional translating connecting rods.
The three-dimensional translating connecting rod is provided with horizontal connector and two vertical connectors, and the three-dimensional translating connecting rod passes through water
Flushconnection part and two vertical connectors are connected with Three Degree Of Freedom translation structure.
Described two vertical connectors are symmetricly set on three-dimensional translating connecting rod.
Two rotational motions and one of the utility model by two three-dimensional translatings control, one crawl parallel-connection structure are grabbed
Take motion so that crawl parallel-connection structure has the turning power for pointing to half of sphere, adds Grasping skill；And working space
Interior global without unusual, whole mechanism does not have motor to be placed on moving component.
Brief description of the drawings
Accompanying drawing 1 is the dimensional structure diagram after the utility model is assembled；
Accompanying drawing 2 is the schematic perspective view that the utility model captures parallel-connection structure；
View when accompanying drawing 3 is utility model works.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model will be further described below in conjunction with the accompanying drawings.
As shown in figure 1 and 2, the utility model discloses a kind of six-degree-of-freedom parallel based on crawl parallel-connection structure
Structure, including fixed frame 1, crawl parallel-connection structure and two Three Degree Of Freedom translation structures 2, two 2 pairs of Three Degree Of Freedom translation structures
Claim installed in the both sides of fixed frame 1, the crawl parallel-connection structure includes：Clamp, two three-dimensional translating connecting rods 3 and two Hookes
Hinge 4.Clamp is made up of two clamp connecting rods 4, and two clamp connecting rods 4 are arranged in a crossed manner and rotate connection, this two folders by rotating shaft 6
It is that center of rotation carries out open and close movement that connecting rod 4, which is clamped, with rotating shaft 6, can open or clamp, form a folding free degree.Two
Three Degree Of Freedom translation structure 2 is fixedly connected with two three-dimensional translating connecting rods 3 respectively, and the Three Degree Of Freedom translation structure 2 drives three-dimensional
Translation connecting rod 3 forms X-axis, three translations in three directions of Y-axis and Z axis in the translational motion in X-axis, three directions of Y-axis and Z axis
The free degree.A Hooke's hinge 4 is set on each three-dimensional translating connecting rod 3, the Hooke's hinge 4 has vertical bar axle and horizon bar axle 7, Hooke
Is connected in the vertical bar axle insertion three-dimensional translating connecting rod of hinge 4 with the three-dimensional translating link rotatable, the lower end of the Hooke's hinge 4 is to downward
Stretching makes horizon bar axle position in the lower section of three-dimensional translating connecting rod 3, the Hooke's hinge 4 by rotary centerline of the axis of vertical bar axle relative to
Three-dimensional translating connecting rod 3 is rotated, and forms a rotational freedom.The lower end of two Hooke's hinges 5 is extended downwardly so that respective water
Flat bar axle position is in the lower section of three-dimensional translating connecting rod.The upper end of clamp connecting rod 5 rotates with the horizon bar axle 7 of the lower end of Hooke's hinge 4 and is connected, should
The vertical bar axle of horizon bar axle 7 and Hooke's hinge 4 is vertically arranged, and clamp connecting rod 5 is that center of rotation is moved with horizon bar axle 7,
Form a rotational freedom.Wherein, Hooke's hinge is around turning by the rotational freedom of rotary centerline of the axis of vertical bar axle
Dynamic motion, is in be mutually perpendicular to rotational motion of the clamp connecting rod using the axis of horizon bar axle as the rotational freedom of rotary centerline
Direction.By above structure setting, so as to form three translational degree of freedom of Three Degree Of Freedom translation structure, and capture and be coupled
In structure, a folding free degree of clamp connecting rod, and two rotations that two clamp connecting rods are connected with two Hooke's hinge lower ends are certainly
By spending, so as to form the motion of six-freedom degree.Horizon bar axle is fixedly mounted on vertical bar axle.
Described two Hooke's hinges be arranged in parallel, and the horizon bar axle 7 of two Hooke's hinges and rotating shaft 6 are parallel to each other.That is,
The axis of the vertical bar axle of two Hooke's hinges is parallel to each other, the axis of two horizon bar axles and the axis of rotating shaft these three axis phases
It is mutually parallel, it is ensured that the proper motion of each free degree.
After described two three-dimensional translating connecting rods are connected with two Three Degree Of Freedom translation structures, two three-dimensional translating connecting rods it
Between form interval section, clamp connecting rod is located in the interval section between two three-dimensional translating connecting rods.
The three-dimensional translating connecting rod is provided with horizontal connector and two vertical connectors, and the three-dimensional translating connecting rod passes through water
Flushconnection part and two vertical connectors are connected with Three Degree Of Freedom translation structure.The vertical connector of two of which is symmetricly set on three
Tie up on translation connecting rod.
In addition, above-mentioned Three Degree Of Freedom translation structure has no and is particularly limited as the structure of which kind, as long as X can be realized
The structure of axle, the three-degree-of-freedom motion of the translational motion in three directions of Y-axis and Z axis, is not particularly limited herein.
In addition, for clamp, other structures form is can also be, as long as the mesh of gripping workpiece can be realized using rotating
, clamp structure described above is one of which preferably embodiment, is not to limit.And the clamp is acted still
It is so to be controlled by two three-dimensional translating connecting rods.
In the utility model, Three Degree Of Freedom translation structure drives three-dimensional translating connecting rod to carry out X-axis, Y-axis and the direction of Z axis three
Translational motion, so as to drive the translational degree of freedom in three directions of clamp connecting rod to move.Two clamp connecting rods are using rotating shaft as rotation
Center carries out the motion of the folding free degree.Hooke's hinge turns using it to axis as rotary centerline relative to three-dimensional translating connecting rod
It is dynamic, a rotational freedom is formed, drives the vertical bar axle of clamp connecting rod using Hooke's hinge to be rotated as center of rotation.Two folders
Pincers connecting rod carries out the rotation of two rotational freedoms by center of rotation of the horizon bar axle of two Hooke's hinges.
Three degree of freedom is coupled by the translational motion in the X-axis of three-dimensional translating connecting rod, three directions of Y-axis and Z axis and controlled, and by
Two Three Degree Of Freedom translation structure synchronization displacement Differential Controls；Clamp connecting rod with the folding free degree provides and actively captures work(
Can, irredundant driving and complicated internal force, control are simple.As shown in Figure 3, clamp has the turning power for pointing to half of sphere,
Global without motion is unusual.
It should be noted that described above limited of the present utility model, wound of the present utility model is not being departed from
On the premise of making design, any obvious replacement is within protection domain of the present utility model.
Claims (5)
1. a kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure, including fixed frame, crawl parallel-connection structure and two
Three Degree Of Freedom translation structure, two Three Degree Of Freedom translation symmetrical configurations are arranged on the both sides of fixed frame, it is characterised in that described
Crawl parallel-connection structure includes：
Clamp, the clamp is made up of two clamp connecting rods, and two clamp connecting rods are arranged in a crossed manner and connected by axis of rotation, should
Two clamp connecting rods carry out open and close movement by center of rotation of rotating shaft；
Two three-dimensional translating connecting rods, the three-dimensional translating connecting rod is fixedly connected with Three Degree Of Freedom translation structure, Three Degree Of Freedom translation knot
Structure drives three-dimensional translating connecting rod in the translational motion in X-axis, three directions of Y-axis and Z axis；
Two Hooke's hinges, the Hooke's hinge has to be set on vertically disposed vertical bar axle and horizon bar axle, each three-dimensional translating connecting rod
One Hooke's hinge, the vertical bar axle of the Hooke's hinge is inserted in three-dimensional translating connecting rod and is connected with the three-dimensional translating link rotatable, should
The lower end of Hooke's hinge, which is extended downwardly, makes horizon bar axle position below the three-dimensional translating connecting rod, the Hooke's hinge using the axis of vertical bar axle as
Rotary centerline is rotated relative to three-dimensional translating connecting rod；
Clamp small end is rotated with the horizon bar axle of Hooke's hinge lower end and is connected, and clamp connecting rod is entered using horizon bar axle as center of rotation
Row is rotated.
2. the six-degree-of-freedom parallel connection mechanism according to claim 1 based on crawl parallel-connection structure, it is characterised in that described two
Individual Hooke's hinge be arranged in parallel, and the horizon bar axle of two Hooke's hinge lower ends and rotating shaft are parallel to each other.
3. the six-degree-of-freedom parallel connection mechanism according to claim 2 based on crawl parallel-connection structure, it is characterised in that described two
After individual three-dimensional translating connecting rod is connected with two Three Degree Of Freedom translation structures, interstitial area is formed between two three-dimensional translating connecting rods
Between, clamp connecting rod is located in the interval section between two three-dimensional translating connecting rods.
4. the six-degree-of-freedom parallel connection mechanism according to claim 3 based on crawl parallel-connection structure, it is characterised in that described three
Tie up translation connecting rod and be provided with horizontal connector and two vertical connectors, the three-dimensional translating connecting rod passes through horizontal connector and two
Vertical connector is connected with Three Degree Of Freedom translation structure.
5. the six-degree-of-freedom parallel connection mechanism according to claim 4 based on crawl parallel-connection structure, it is characterised in that described two
Individual vertical connector is symmetricly set on three-dimensional translating connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720191768.0U CN206578816U (en) | 2017-03-01 | 2017-03-01 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720191768.0U CN206578816U (en) | 2017-03-01 | 2017-03-01 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206578816U true CN206578816U (en) | 2017-10-24 |
Family
ID=60092434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720191768.0U Active CN206578816U (en) | 2017-03-01 | 2017-03-01 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206578816U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826767A (en) * | 2017-03-01 | 2017-06-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
| CN113510685A (en) * | 2021-06-18 | 2021-10-19 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
-
2017
- 2017-03-01 CN CN201720191768.0U patent/CN206578816U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826767A (en) * | 2017-03-01 | 2017-06-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
| CN113510685A (en) * | 2021-06-18 | 2021-10-19 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
| CN113510685B (en) * | 2021-06-18 | 2022-07-15 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2252437B1 (en) | Two degree-of-freedom parallel manipulator | |
| CN104985590B (en) | Six degree of freedom partly decoupled parallel institution | |
| CN101704244B (en) | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN102350697A (en) | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism | |
| CN101875198A (en) | Overconstraint parallel robot mechanism with three degrees of freedom | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN100553898C (en) | A kind of two freedom space parallel mechanism | |
| CN202292114U (en) | Three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts | |
| CN107336219A (en) | A kind of parallel institution that there are two movements three to rotate five degree of freedom | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN206578816U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure | |
| CN104999472A (en) | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN102601791A (en) | Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN106826767A (en) | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure | |
| CN107932482A (en) | A kind of five-freedom parallel structure of achievable Three dimensional rotation and bidimensional moving movement | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN206551011U (en) | A kind of six-freedom parallel device based on crawl parallel institution | |
| CN110394777B (en) | Multi-degree-of-freedom parallel grabbing robot for model recovery | |
| CN106625591A (en) | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion | |
| CN207104907U (en) | A kind of SCARA motion parallel connection mechanisms with rectangular workspace | |
| CN110539293A (en) | Four-degree-of-freedom parallel mechanism | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171123 Address after: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 1 unit 17.. Patentee after: Dongguan Songshan Lake Industrial Robot Development Co. Ltd. Address before: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 2 unit 17.. Patentee before: Dongguan Songshan Lake Robot Research Institute International Company Limited |