CN201325062Y - 3-DOF anthropomorphic parallel mechanical arm - Google Patents
3-DOF anthropomorphic parallel mechanical arm Download PDFInfo
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- CN201325062Y CN201325062Y CNU2008201710474U CN200820171047U CN201325062Y CN 201325062 Y CN201325062 Y CN 201325062Y CN U2008201710474 U CNU2008201710474 U CN U2008201710474U CN 200820171047 U CN200820171047 U CN 200820171047U CN 201325062 Y CN201325062 Y CN 201325062Y
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Abstract
本实用新型公开了一种三自由度拟人并联机械臂，其技术方案的要点是：基座1和腕4由第一运动支链2和第二运动支链3相连，其中，第一运动支链2包括第一上直线电机7、第二上直线电机6、第一导轨8、第一上滑块10、第一下滑块9、第一推杆11、支撑杆12、第一定长杆13等部分；第二运动支链3包括第二直线电机5、第二导轨16、第二滑块15、第二定长杆14等部分。通过第一上直线电机7、第一下直线电机6和第二直线电机5分别对各滑块的驱动，可实现腕4的两个自由度的直线移动和一个自由度的转动。本实用新型的优点是：重量轻，体积小，结构紧凑、刚度高、承载能力强和惯性小，适合于拟人机器人等领域，完成一些较复杂的拟人操作。
The utility model discloses a three-degree-of-freedom anthropomorphic parallel mechanical arm. The key points of the technical solution are: a base 1 and a wrist 4 are connected by a first kinematic branch chain 2 and a second kinematic branch chain 3, wherein the first kinematic branch chain The chain 2 includes the first upper linear motor 7, the second upper linear motor 6, the first guide rail 8, the first upper slider 10, the first lower slider 9, the first push rod 11, the support rod 12, the first fixed-length The rod 13 and other parts; the second motion branch chain 3 includes the second linear motor 5, the second guide rail 16, the second slider 15, the second fixed length rod 14 and other parts. By driving the sliders respectively by the first upper linear motor 7 , the first lower linear motor 6 and the second linear motor 5 , the wrist 4 can realize two-degree-of-freedom linear movement and one-degree-of-freedom rotation. The utility model has the advantages of light weight, small size, compact structure, high rigidity, strong bearing capacity and small inertia, and is suitable for the fields of anthropomorphic robots and the like to complete some complicated anthropomorphic operations.
Description
(1) technical field
The utility model relates to the anthropomorphic robot field, particularly relates to a kind of three-DOF personified parallel manipulator.
(2) background technology
Chinese patent publication number CN 1864943A, open day on November 22nd, 2006, the name of innovation and creation is called four-freedom parallel mechanical arm, and this application case discloses a kind of four-freedom parallel mechanical arm applicable to modern industry fields such as automobile, shipbuilding and aviations.Its weak point is as being applied in the anthropomorphic robot field structure more complicated to be arranged then, and mechanical arm is heavier, and volume ratio is bigger, and being connected of movement branched chain and wrist is to adopt Hooke's hinge to connect in addition, processes relative with assembly difficulty higher.
(3) summary of the invention
The utility model will overcome the above-mentioned shortcoming of existing four-freedom parallel mechanical arm, propose a kind of anthropomorphic robot field that is applicable to, simple in structure, mechanical arm weight is lighter, volume is less, and bearing capacity is strong, processing and the good three-DOF personified parallel manipulator of assembly process process.
The technical scheme that its technical problem that solves the utility model adopts is:
Three-DOF personified parallel manipulator, comprise pedestal, first movement branched chain, described pedestal is except being articulated in an end of wrist by described first movement branched chain, also be articulated in the other end of described wrist by second movement branched chain, described second movement branched chain comprises second linear electric motors that are installed on the described pedestal and second guide rail, second slide block that is connected with the described second linear electric motors push rod, second connecting-rods with constant lengh that is articulated in the second slide block other end, the other end of described second connecting-rods with constant lengh is articulated in described wrist, and described second guide rail and second slide block cooperate.
Further, described first movement branched chain comprise be installed on described pedestal first on linear electric motors and the first time linear electric motors and first guide rail, be fixed on first top shoe of linear electric motors push rod on described first, be fixed on first sliding block of described first time linear electric motors push rod, be articulated in first connecting-rods with constant lengh of the described first top shoe other end, be articulated in first push rod of the described first sliding block other end, be articulated in the support bar of the described first push rod other end, the other end of described first connecting-rods with constant lengh is articulated in described wrist, the other end of described support bar is articulated in described first connecting-rods with constant lengh, the articulated position of described first connecting-rods with constant lengh and first top shoe does not overlap with the articulated position of described first connecting-rods with constant lengh and support bar, described first top shoe, first sliding block cooperates with described first guide rail.
Further, the pivot center of described each hinged place revolute pair is parallel to each other.
Technical conceive of the present utility model is: in the anthropomorphic robot field, the parallel mechanical arm of Three Degree Of Freedom can better be finished needed function, need not four frees degree.And four-freedom parallel mechanical arm weight is heavier, and the characteristics that volume is bigger are not suitable for anthropomorphic robot's field.And three degree of freedom mechanical arm weight is lighter, and smaller volume is particularly useful for the anthropomorphic robot field, and adopts revolute pair to connect with being connected of wrist, and processing and assembly process process are good.Respectively to the driving of each slide block, the straight line that can realize two frees degree of wrist moves the rotation with one degree of freedom to three-DOF personified parallel manipulator described in the utility model by three linear electric motors.
The utility model has the advantages that: in light weight, volume is little, processing and assembly process process is good, compact conformation, rigidity height, bearing capacity is strong and inertia is little, is suitable for fields such as anthropomorphic robot, finishes some complicated personifications operations.
(4) description of drawings
Fig. 1 is the structure chart of three-DOF personified parallel manipulator.
Fig. 2 is the stereogram of three-DOF personified parallel manipulator.
(5) specific embodiment
Fig. 1 is the disclosed embodiment of the utility model, and this three-DOF personified parallel manipulator comprises pedestal 1, wrist 4 and is connected between the two first movement branched chain 2 and second movement branched chain 3.Wherein, first movement branched chain 2 comprise be installed on described pedestal 1 first on linear electric motors 7 and the first time linear electric motors 6 and first guide rail 8, be fixed on first top shoe 10 of linear electric motors 7 push rods on described first, be fixed on first sliding block 9 of described first time linear electric motors 6 push rod, be articulated in first connecting-rods with constant lengh 13 of described first top shoe, 10 other ends, be articulated in first push rod 11 of described first sliding block, 9 other ends, be articulated in the support bar 12 of described first push rod, 11 other ends, the other end of described first connecting-rods with constant lengh 13 is articulated in described wrist 4, the articulated position that the other end of described support bar 12 is articulated in described first connecting-rods with constant lengh, 13, the first connecting-rods with constant lenghs 13 and first top shoe 10 does not overlap with the articulated position of described first connecting-rods with constant lengh 13 and support bar 12.Under the driving of each linear electric motors, first top shoe 10 and first sliding block 9 can (be respectively the inboard and the outside) respectively and slide on first guide rail 8, and then drive the motion of first connecting-rods with constant lengh 13.
Described second movement branched chain 3 comprises second linear electric motors 5 that are installed on the described pedestal 1 and second guide rail 16, second slide block 15 that is connected with described second linear electric motors, 5 push rods, second connecting-rods with constant lengh 14 that is articulated in second slide block, 15 other ends, and the other end of described second connecting-rods with constant lengh 14 is articulated in described wrist 4.Under the driving of second linear electric motors 5, described second slide block 15 can slide on second guide rail 16, and then drives the motion of second connecting-rods with constant lengh 14.
Further, the pivot center of each revolute pair hinge is parallel to each other in this three-DOF personified parallel manipulator.
Respectively to the driving of each slide block, the straight line that can realize two frees degree of wrist 4 moves the rotation with one degree of freedom to this three-DOF personified parallel manipulator by linear electric motors on first 7, first time linear electric motors 6 and second linear electric motors 5.
The described content of this specification embodiment only is enumerating utility model design institute's way of realization; the concrete form that protection domain of the present utility model should only not be confined to embodiment is stated, protection domain of the present utility model reaches in those skilled in the art according to the thinkable equivalent technologies means of technical conceive of the present utility model.
Claims (3)
1, three-DOF personified parallel manipulator, comprise pedestal, first movement branched chain, it is characterized in that: described pedestal is except being articulated in an end of wrist by described first movement branched chain, also be articulated in the other end of described wrist by second movement branched chain, described second movement branched chain comprises second linear electric motors that are installed on the described pedestal and second guide rail, second slide block that is connected with the described second linear electric motors push rod, second connecting-rods with constant lengh that is articulated in the second slide block other end, the other end of described second connecting-rods with constant lengh is articulated in described wrist, and described second guide rail and second slide block cooperate.
2, three-DOF personified parallel manipulator according to claim 1, it is characterized in that: described first movement branched chain comprise be installed on described pedestal first on linear electric motors and the first time linear electric motors and first guide rail, be fixed on first top shoe of linear electric motors push rod on described first, be fixed on first sliding block of described first time linear electric motors push rod, be articulated in first connecting-rods with constant lengh of the described first top shoe other end, be articulated in first push rod of the described first sliding block other end, be articulated in the support bar of the described first push rod other end, the other end of described first connecting-rods with constant lengh is articulated in described wrist, the other end of described support bar is articulated in described first connecting-rods with constant lengh, the articulated position of described first connecting-rods with constant lengh and first top shoe does not overlap with the articulated position of described first connecting-rods with constant lengh and support bar, described first top shoe, first sliding block cooperates with described first guide rail.
3, three-DOF personified parallel manipulator according to claim 1 and 2 is characterized in that: the pivot center of described each hinged place revolute pair is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201710474U CN201325062Y (en) | 2008-12-11 | 2008-12-11 | 3-DOF anthropomorphic parallel mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201710474U CN201325062Y (en) | 2008-12-11 | 2008-12-11 | 3-DOF anthropomorphic parallel mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201325062Y true CN201325062Y (en) | 2009-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201710474U Expired - Fee Related CN201325062Y (en) | 2008-12-11 | 2008-12-11 | 3-DOF anthropomorphic parallel mechanical arm |
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| Country | Link |
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| CN (1) | CN201325062Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
| CN106806002A (en) * | 2016-12-13 | 2017-06-09 | 上海工程技术大学 | A kind of end effector mechanism for external Minimally Invasive Surgery support endoscope |
-
2008
- 2008-12-11 CN CNU2008201710474U patent/CN201325062Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
| CN106806002A (en) * | 2016-12-13 | 2017-06-09 | 上海工程技术大学 | A kind of end effector mechanism for external Minimally Invasive Surgery support endoscope |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091014 Termination date: 20121211 |