CN201907121U - Three-dimensional translational and one-dimensional rotational parallel mechanism - Google Patents
Three-dimensional translational and one-dimensional rotational parallel mechanism Download PDFInfo
- Publication number
- CN201907121U CN201907121U CN2010206877777U CN201020687777U CN201907121U CN 201907121 U CN201907121 U CN 201907121U CN 2010206877777 U CN2010206877777 U CN 2010206877777U CN 201020687777 U CN201020687777 U CN 201020687777U CN 201907121 U CN201907121 U CN 201907121U
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- moving
- main platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/003—Program-controlled manipulators having parallel kinematics
- B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本实用新型公开了一种具有三维平动一维转动的并联机构，包括固定架、动平台以及对称布置在所述固定架与动平台之间的四条结构相同的支链；所述动平台包括同中心线且水平布置的主平台和副平台，所述主平台为封闭结构，所述副平台嵌入在所述主平台内部，所述主平台和所述副平台通过转动机构连接，所述转动机构包括固接于副平台上的螺母和通过轴承转动连接在所述主平台上的丝杠，所述螺母和丝杠构成螺旋副，所述丝杠的中心线与所述动平台的垂直轴线重合，所述主平台上固接有导向杆，所述副平台滑动连接在所述导向杆上。本实用新型结构紧凑，刚度和稳定性好，导向机构和转动机构设计轻巧，减少了运动质量，易实现高速抓取，且满足复杂抓放操作的要求。
The utility model discloses a parallel mechanism with three-dimensional translation and one-dimensional rotation, which comprises a fixed frame, a moving platform and four branch chains with the same structure symmetrically arranged between the fixed frame and the moving platform; the moving platform includes The main platform and the auxiliary platform arranged horizontally on the same center line, the main platform is a closed structure, the auxiliary platform is embedded inside the main platform, the main platform and the auxiliary platform are connected by a rotating mechanism, and the rotating The mechanism includes a nut fixed on the auxiliary platform and a lead screw connected to the main platform through bearing rotation. The nut and the lead screw form a screw pair, and the center line of the lead screw is in line with the vertical axis of the moving platform. Coincidentally, a guide rod is fixedly connected to the main platform, and the auxiliary platform is slidably connected to the guide rod. The utility model has the advantages of compact structure, good rigidity and stability, light and handy design of the guiding mechanism and the rotating mechanism, reduces the moving mass, is easy to realize high-speed grasping, and meets the requirements of complex grasping and placing operations.
Description
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of parallel institution that the spatial three-dimensional translational one dimension rotates that has of robot.
Background technology
According to patent US20090019960A1 and EP1084802B1 as can be known, the existing parallel institution of realizing that three-dimensional translation and one-dimensional rotates comprises four active branched chain and a moving platform, and every side chain comprises nearly hack lever and hack lever two parts far away.Wherein near hack lever one end only has one with respect to fixed frame and moves or rotational freedom, and the other end is connected with an end of hack lever far away by the hinge that only has two revolution frees degree; The hack lever other end far away is connected with moving platform by the hinge that only has two revolution frees degree, thereby guarantees the translation of mechanism; Moving platform is made up of four parts, wherein two parts need be parallel to each other, two other parts are connected by turning joint with aforementioned two parts that are parallel to each other, can realize winding rotational freedom by the mutual rotation between the parts, be equipped with corresponding enlarger simultaneously and can enlarge angle range perpendicular to the axis of moving platform.The limitation of said mechanism is: can only realize winding the weight that rotation and enlarger perpendicular to the moving platform axis have increased moving platform, be unfavorable for improving mechanism efficiency.
Summary of the invention
The utility model provides a kind of moving platform force transmission effect good and design the light and handy parallel institution with three-dimensional translation and one-dimensional rotation for solving the technical problem that exists in the known technology.
The utility model for the technical scheme that solves the technical problem that exists in the known technology and take is: a kind of have a parallel institution that three-dimensional translation and one-dimensional rotates, and comprises fixed mount, moving platform and be arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Every side chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two, and described nearly hack lever one end is affixed with the drive end that is fixed on the fixed mount, and the other end and last connecting axle are affixed; Described hack lever far away one end and described connecting axle ball-joint, the other end and the following connecting axle ball-joint that is fixed on the described moving platform gone up; Described moving platform comprises concentricity line and horizontally disposed main platform and auxiliary platform, the two ends of described main platform and described auxiliary platform are connected with relative described connecting axle down respectively, described main platform is an enclosed construction, described auxiliary platform is embedded in described main platform inside, described main platform is connected by rotating mechanism with described auxiliary platform, described rotating mechanism comprises the nut that is fixed on the auxiliary platform and is rotatably connected on leading screw on the described main platform by bearing, described nut and leading screw constitute screw pair, the center line of described leading screw overlaps with the vertical axis of described moving platform, be connected with guide post on the described main platform, described auxiliary platform is slidingly connected on the described guide post.
Advantage and the good effect that the utlity model has are: simple and compact for structure, motion mode is clear and definite, can satisfy the requirement of complicated pick-and-place operation.Because the symmetrical distribution of drive end can improve the rigidity of mechanism at whole working space, the guidance quality that auxiliary platform is embedded closed guiding mechanism in the main platform is good, and the design of major and minor moving platform is light and handy, helps improving mechanism stability, realizes high-speed motion.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of moving platform in the utility model.
Among the figure: 1, fixed mount, 2, servomotor, 3, decelerator, 4, nearly hack lever, 5, go up connecting axle, 6a, 6b, hack lever far away, 7, moving platform, 8, main platform, 9, auxiliary platform, 10, leading screw, 11, nut, 12, sliding bearing, 13, guide post, 14, connecting axle down, 15, sucker.
The specific embodiment
For further understanding summary of the invention of the present utility model, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1, a kind of have a parallel institution that three-dimensional translation and one-dimensional rotates, and comprises fixed mount 1, servomotor 2, decelerator 3, moving platform 7 and be arranged symmetrically in described fixed mount 1 and the identical side chain formation of four structures between the moving platform 7; Every side chain by nearly hack lever 4, go up that connecting axle 5, two are parallel to each other and isometric hack lever 6a far away and hack lever 6b far away constitutes.One end of described nearly hack lever 4 is affixed with the output of the decelerator 3 that is fixed in fixed mount 1, and the other end of this decelerator and described servomotor 2 are affixed, and the other end and the last connecting axle 5 of nearly hack lever 4 are affixed; The end of described hack lever 6a far away and hack lever 6b far away is connected with the described connecting axle 5 of going up by spherical hinge respectively, and the other end is also respectively by spherical hinge and following connecting axle 14 ball-joints that are fixed on the described moving platform 7.Described servomotor 2 and decelerator 3 provide a rotational freedom for the nearly hack lever 4 affixed with it.
See also Fig. 2, described moving platform 7 is made of main platform 8, auxiliary platform 9, described auxiliary platform 9 embeds main platform 8 inside, described main platform 8 bilateral symmetry are arranged two guide posts 13, described guide post 13 and main platform 8 are affixed, described auxiliary platform 9 is corresponding to two sliding bearings 12 of guide post 13 symmetric arrangement, described sliding bearing 12 fixedly is built in the described auxiliary platform 9, described two guide posts 13 constitute a guiding mechanism with pairing sliding bearing 12, and described guiding mechanism has limited auxiliary platform 9 can only moving along guide post 13 directions with respect to main platform 8.
Said structure can limit three revolution frees degree of main platform 8 and auxiliary platform 9, promptly main platform 8 and auxiliary platform 9 all can be realized three-dimensional translating, and auxiliary platform 9 is except that with main platform 8 three-dimensional translatings, also can realize and the relatively moving of main platform along being fixed in guide post 13 on the main platform 8.
Main platform 8 and auxiliary platform 9 are affixed with corresponding guide post 13 and sliding bearing 12 respectively, can guarantee that there are higher rigidity and rotation precision in mechanism, and auxiliary platform 9 embeds main platform 8 inside, thereby effectively improve the stability of motion.
See also Fig. 2, described moving platform 7 is equipped with rotating mechanism can realize that sucker 15 winds the rotation perpendicular to the axis z axle of moving platform 7.Described rotating mechanism is made of leading screw 10 and nut 11, described nut 11 and leading screw 10 constitute screw pair, described nut 11 is affixed with auxiliary platform 9, can move with auxiliary platform 9, described leading screw 10 is rotatably connected on the main platform 8 by bearing, can be with the mobile rotation that be converted into leading screw 10 of nut 11 along main platform guide post, and the center line line of leading screw 10 overlaps with the vertical axis z axle of moving platform 7, described sucker 15 is fixed on the described leading screw 10, thereby sucker 15 is also rotated around axis z axle.This mechanism can be converted into leading screw rotating around its axis along guide post relative to the changing of the relative positions with major and minor platform by rotating mechanism and guiding mechanism.
The utility model compared with prior art, its difference is:
(1) main platform 8 is made enclosed construction, and adopt the fixing guiding mechanism in two ends, help improving the rigidity and the stability of mechanism.
(2) guide effect realizes with respect to the slip of the sliding bearing of correspondence respectively by two guide posts.
The utility model is embedded in main platform inside with auxiliary platform, its compact conformation, and rigidity and good stability, guiding mechanism and rotating mechanism design are light and handy, have reduced moving-mass, easily realize grasping at a high speed, and satisfy the requirement of complicated pick-and-place operation.
Although in conjunction with the accompanying drawings preferred embodiment of the present utility model is described above; but the utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; not breaking away under the scope situation that the utility model aim and claim protect, can also make a lot of forms, these all belong within the protection domain of the present utility model.
Claims (1)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206877777U CN201907121U (en) | 2010-12-29 | 2010-12-29 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
| PCT/CN2011/082898 WO2012088976A1 (en) | 2010-12-29 | 2011-11-24 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206877777U CN201907121U (en) | 2010-12-29 | 2010-12-29 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201907121U true CN201907121U (en) | 2011-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206877777U Expired - Fee Related CN201907121U (en) | 2010-12-29 | 2010-12-29 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN201907121U (en) |
| WO (1) | WO2012088976A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069497A (en) * | 2010-12-29 | 2011-05-25 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102490178A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Spatial three-rotation one-translation parallel manipulator |
| CN102632498A (en) * | 2012-03-21 | 2012-08-15 | 天津大学 | Spatial full-symmetric three rotation and one translation parallel mechanism |
| NL2010124A (en) * | 2012-01-13 | 2013-07-16 | Penta Robotics Patents B V | Fast pick-and-place parallel robot with compact travelling plate. |
| CN103317500A (en) * | 2013-06-18 | 2013-09-25 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with three-dimensional translation and one-dimensional rotation functions |
| CN103846907A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Double-parallel-connection-structure six-freedom high-speed mechanical hand |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | A Five-DOF Redundant Drive Parallel Mechanism with Large Rotation Angle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786212B (en) * | 2015-05-13 | 2017-01-04 | 哈尔滨工业大学 | A kind of parallel institution realizing the motion of apocenter, space |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| SE527992C2 (en) * | 2004-12-09 | 2006-08-01 | Exechon Ab | Parallel kinematic machine with active measurement system |
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| CN100393484C (en) * | 2006-06-09 | 2008-06-11 | 北京工业大学 | Three-translation-rotation parallel mechanism |
| ES2333930B1 (en) * | 2007-10-24 | 2010-12-28 | Universidad Del Pais Vasco Euskal Herriko Unibertsitatea | PARALLEL ROBOT WITH FOUR DEGREES OF FREEDOM. |
| ATE521457T1 (en) * | 2008-01-18 | 2011-09-15 | Fundacion Fatronik | PARALLEL MANIPULATOR WITH TWO DEGREES OF FREEDOM |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN101863024B (en) * | 2010-06-29 | 2011-11-09 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN102069497A (en) * | 2010-12-29 | 2011-05-25 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
-
2010
- 2010-12-29 CN CN2010206877777U patent/CN201907121U/en not_active Expired - Fee Related
-
2011
- 2011-11-24 WO PCT/CN2011/082898 patent/WO2012088976A1/en not_active Ceased
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069497A (en) * | 2010-12-29 | 2011-05-25 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102490178A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Spatial three-rotation one-translation parallel manipulator |
| NL2010124A (en) * | 2012-01-13 | 2013-07-16 | Penta Robotics Patents B V | Fast pick-and-place parallel robot with compact travelling plate. |
| EP2614933A1 (en) * | 2012-01-13 | 2013-07-17 | Penta Robotics Patents B.V. | Fast pick-and-place parallel robot with compact travelling plate |
| CN102632498A (en) * | 2012-03-21 | 2012-08-15 | 天津大学 | Spatial full-symmetric three rotation and one translation parallel mechanism |
| CN102632498B (en) * | 2012-03-21 | 2014-04-30 | 天津大学 | Spatial full-symmetric three rotation and one translation parallel mechanism |
| CN103317500A (en) * | 2013-06-18 | 2013-09-25 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with three-dimensional translation and one-dimensional rotation functions |
| CN103846907A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Double-parallel-connection-structure six-freedom high-speed mechanical hand |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | A Five-DOF Redundant Drive Parallel Mechanism with Large Rotation Angle |
| CN110682274B (en) * | 2019-10-15 | 2021-03-19 | 北京交通大学 | A Five-DOF Redundant Drive Parallel Mechanism with Large Rotation Angle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012088976A1 (en) | 2012-07-05 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110727 Termination date: 20161229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |