CN100569460C - The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism - Google Patents
The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism Download PDFInfo
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- CN100569460C CN100569460C CNB2008100527921A CN200810052792A CN100569460C CN 100569460 C CN100569460 C CN 100569460C CN B2008100527921 A CNB2008100527921 A CN B2008100527921A CN 200810052792 A CN200810052792 A CN 200810052792A CN 100569460 C CN100569460 C CN 100569460C
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Abstract
The present invention relates to a kind of branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism, it is characterized in that this mechanism comprise support and moving platform and be connected in support and moving platform between and first, second and the 3rd movement branched chain that nest together; First movement branched chain comprises first motor that is fixed on the support and the screw pair of driving thereof, first rotary pair that axis of rotation is parallel with the screw pair axis, and moving direction is perpendicular to first moving sets of the first rotary pair axis of rotation; Second movement branched chain comprises second motor that is fixed on the support and second rotary pair of driving thereof, is nested in second moving sets on second rotary pair, and first moving sets shared with first side chain; The 3rd movement branched chain comprises the 3rd motor that is fixed on the support and the 3rd rotary pair of driving thereof, is nested in the three moving sets on the 3rd rotary pair and is nested on first moving sets and the 4th, the 5th and the 6th rotary pair that axis is parallel to each other.
Description
Technical field
The present invention relates to the parallel robot mechanism in mechanics field, be specially a kind of branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism, international Patent classificating number intends being Int.Cl B25J9/08 (2006.01).
Background technology
The birth of robot is the significant achievement of human development in science and technology of 20th century.Formerly system is made, being used widely in fields such as aviation, microelectronics, packing, is that new vitality is injected in the development of these industries in robot.Along with the industrial technology fast development, high-speed, that high precision manipulation becomes the modern industry robot theme and development trend.The SCARA robot is composed in series with a moving sets consistent with the axis of rotation direction by three parallel revolute joints of axis, and is widely used in occasions such as the high efficiency assembling of needs, welding, sealing, carrying and taking and placing.But, because SCARA (series connection) robot adopts series connection open loop mechanism, each joint or kinematic pair all need motor-driven in addition, thereby increased the quality of moving component, influenced the operation rigidity and the dynamic characteristic of robot end's operator, when realizing high accuracy, high speed operation, be subjected to limiting to a certain extent.The parallel robot drive motors generally is installed on the support, and heavy moving parts is little, and the operation rigidity and the dynamic property of terminal operator are good, have improved serial machine people's deficiency.This inherent characteristic of parallel robot is high-speed for realizing, high precision manipulation provides guarantee, but the parallel robot installing space is bigger, working space is less relatively, terminal operator cornering rate relative deficiency (can not realize continuous revolution), so parallel robot is applied in to a certain extent in industrial aspect and also is restricted.
For improving working space, the parallel robot of some offbeat forms occurs.As the parallel robot mechanism of redundancy input (referring to Liu Xin. the research of a kind of plane 2DOF redundancy parallel mechanism. Xian Electronics Science and Technology University's master thesis, 2006), solve near mechanics and the relatively poor problem of rigidity of unusual position shape, and improved working space; The robot of series parallel structure (referring to Liu Xinjun, Wang Jingsong, peak, Jin Zhenlin. the design of the redundant arm of the anthropomorphic seven freedom of a kind of series parallel structure. Chinese mechanical engineering, 2002, Vol.13 No.2:101-105), has increased its working space.But the parallel robot of these offbeat forms also is difficult to the operation of realization as the SCARA robot, promptly with the small device installing space, realizes very big opereating specification and flexibility ratio.In the scope of applicant retrieval, parallel robot mechanism still for finding to realize that similar SCARA robot is operated like that.
Summary of the invention
At the deficiencies in the prior art, the technical problem to be solved in the present invention is, design a kind of branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism, this mechanism has three degree of freedom, movement branched chain nests together, and motion and profile are similar to the SCARA robot of cascaded structure, but its moving platform can be realized continuous revolution, have the overall merit of series connection and parallel robot, the application and the scope of application are more extensive.
The technical scheme that the present invention solve the technical problem is: design a kind of branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism, it is characterized in that this mechanism comprise support and moving platform and be connected in support and moving platform between and first movement branched chain, second movement branched chain and the 3rd movement branched chain that nest together; Described first movement branched chain comprises: be fixed on first motor on the support and the screw pair of driving thereof, and first rotary pair that axis of rotation is parallel with the screw pair axis, moving direction is perpendicular to first moving sets of the first rotary pair axis of rotation; Described second movement branched chain comprises: is fixed on second motor on the support and second rotary pair of driving thereof, is nested in second moving sets on second rotary pair, and first moving sets shared with first side chain; Described the 3rd movement branched chain comprises: be fixed on the 3rd motor on the support and the 3rd rotary pair of driving thereof, be nested in the three moving sets on the 3rd rotary pair, and be nested on first moving sets and the 4th rotary pair, the 5th rotary pair and the 6th rotary pair that axis is parallel to each other.
Compared with prior art, parallel robot mechanism of the present invention has three degree of freedom, but its three movement branched chain are not separated structures, but nest together installation, the terminal moving platform of parallel robot mechanism is turned round continuously, realization is similar to the motion that SCARA serial machine people can finish like that, has the overall merit of serial machine people and parallel robot mechanism, has enlarged the application and the scope of application of parallel robot mechanism.
Description of drawings
The overall structure schematic diagram of a kind of embodiment of Fig. 1 parallel robot mechanism of the present invention.
The specific embodiment
Be described in detail the present invention below in conjunction with embodiment and accompanying drawing thereof.Embodiment is a foundation with the technical solution of the present invention, has provided detailed embodiment and process, but the protection domain of claim of the present invention is not limited to following embodiment.
The parallel robot mechanism of the present invention's design is (hereinafter to be referred as mechanism, referring to Fig. 1), it is characterized in that this mechanism comprise support 1 and moving platform 2 and be connected in support 1 and moving platform 2 between and the first movement branched chain A, the second movement branched chain B and the 3rd movement branched chain C that nest together; The upper plate 11 that described support 1 comprises level and lower plate 12 and the riser 13 that is connected upper plate 11 and lower plate; The described first movement branched chain A comprises: the screw rod A2 that is installed in the first motor A1 on support 1 lower plate 12 bottom surfaces and directly drives, screw rod A2 be vertically mounted on support 1 on, between the lower plate, (one is screwed hole to be fitted with diplopore on it, another is a unthreaded hole) nut A4, the equipped screw pair A3 that forms of the screwed hole of nut A4 and screw rod A2, the unthreaded hole of nut A4 is fitted with vertical slide bar A6, vertical slide bar A6 passes the upper plate 11 of support 1, and constitute the first rotary pair A5 with the unthreaded hole of nut A4, and the axis of rotation of the first rotary pair A5 is parallel with the axis of screw pair A3, upper end at vertical slide bar A6 is fixed with horizontal sliding bar A7, be fitted with slide block A9 on the horizontal sliding bar A7, horizontal sliding bar A7 and equipped slide block A9 constitute the first moving sets A8 of moving direction perpendicular to the first rotary pair A5 axis;
The described second movement branched chain B comprises: be installed in the second motor B1 on support 1 upper plate 11, the second motor B1 by last driving member B2 drive (driving member B2 can be the band, chain or gear, embodiment has adopted band) the second rotary pair B3, the first rotary pair A5 coaxial line or nested of the second rotary pair B3 and the first movement branched chain A, described vertical slide bar A6 passes the second rotary pair B3, and constitute the second moving sets B4, vertical slide bar A6 can move up and down by the second moving sets B4, the vertical slide bar A6 of the described first side chain A, the horizontal sliding bar A7 and the first moving sets A8 and the second side chain B are shared, and they also belong to the part of the second side chain B in other words;
Described the 3rd movement branched chain C comprises: be installed in the 3rd motor C1 on support 1 lower plate, (driving member C2 can be a band to the 3rd motor C1 by lower transmission component C2 driving, chain or gear, embodiment has adopted band) the 3rd rotary pair C3, the first rotary pair A5 coaxial line of the 3rd rotary pair C3 and the first movement branched chain A or nested shared, the 3rd rotary pair C3 is passed in the 3rd slide bar C5 lower end, and can move up and down by nested three moving sets C4, center and waling stripe C7 that while the 3rd slide bar C5 upper end edge axis direction passes the second moving sets B4 and vertical slide bar A6 are connected, and waling stripe C7 constitutes the 4th rotary pair C6 with vertical slide bar A6 upper end, between waling stripe C7 and slide block A9, be connected with connecting rod C9, constitute the 5th rotary pair C8 and the 6th rotary pair C10 between connecting rod C9 and waling stripe C7 and the slide block A9 respectively, in brief, described the 4th rotary pair C6, the axis of the 5th rotary pair C8 and the 6th rotary pair C10 and the axis of the 3rd rotary pair C3 are parallel to each other, and are nested on the first moving sets A8; Described slide block A9 and moving platform 2 are connected or one design (embodiment designs for one).Can only relatively rotate between described vertical slide bar A6, the 3rd slide bar C5 and the nut A4, be fixed together moving up and down direction.
Shape of cross section at slide bar A6 of the present invention and the 3rd slide bar C5 can be driven the Any shape of rotating together by the described first rotary pair A5 and the second rotary pair B3 respectively.Described vertical slide bar A6, the horizontal sliding bar A7 of the embodiment of the invention and the 3rd slide bar C5 are the bar of square-section, but also can be moving sets slide bar shape of cross sections commonly used such as rectangle, triangle, hexagon, spline shape.The unthreaded hole of described nut A4 is a circular port.
In mechanism of the present invention, under the situation that does not influence described institution freedom motion, perhaps under the situation that satisfies described mechanism kinematic area requirement, the planform of described moving platform 2 can be arbitrarily, be not subjected to the qualification of embodiment, the planform of described support 1 also can be arbitrarily, is not subjected to the qualification of embodiment; Equally, the planform of described waling stripe C7, connecting rod C9 is not subjected to the qualification of embodiment yet.
The operation principle and the process of mechanism of the present invention is (referring to Fig. 1): mechanism of the present invention is a parallel robot, and its branched chain nesting three-freedom moving platform can be done continuous gyration.When the first motor A1 drives the screw rod A2 of the described first movement branched chain A, nut A4 moves up and down by screw pair A3, move up and down with its vertical slide bar A6 that is connected up and down and the 3rd slide bar C5, horizontal sliding bar A7 moves up and down synchronously together with waling stripe C7, connecting rod C9 and moving platform 2; When the second motor B1 drives the second rotary pair B3 of the described second movement branched chain B, nested vertical slide bar A6 within it together rotates, and horizontal sliding bar A7 drive moving platform 2 rotations by being connected with it, and moving platform 2 can be done continuous gyration around the Z axle, simultaneously, the rotation of horizontal sliding bar A7 can cause the variation of angle between itself and the waling stripe C7, thereby makes moving platform 2 produce moving along horizontal sliding bar A7 direction; When the 3rd motor C1 drives the 3rd rotary pair C3 of described the 3rd movement branched chain C, nested the 3rd slide bar C5 is within it together rotated, and further drive waling stripe C7 and rotate, angle between horizontal sliding bar A7 and the waling stripe C7 is changed, thereby make moving platform 2 produce along moving on the horizontal sliding bar A7 direction.
The outstanding advantages of parallel robot mechanism of the present invention is that movement branched chain adopts nested structure, has realized But the continuous rotary of terminal moving platform, and realized being similar to SCARA serial machine human motion, combine Close the advantage of series and parallel connections robot, enlarged range of application.
The present invention does not address part and is applicable to prior art.
Claims (1)
1. branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism, it is characterized in that this mechanism comprise support and moving platform and be connected in support and moving platform between and first movement branched chain, second movement branched chain and the 3rd movement branched chain that nest together; Described first movement branched chain comprises first motor that is fixed on the support and the screw pair of driving thereof, first rotary pair that axis of rotation is parallel with the screw pair axis, and moving direction is perpendicular to first moving sets of the first rotary pair axis of rotation; Described second movement branched chain comprises second motor that is fixed on the support and second rotary pair of driving thereof, is nested in second moving sets on second rotary pair, and first moving sets shared with first side chain; Described the 3rd movement branched chain comprises the 3rd motor that is fixed on the support and the 3rd rotary pair of driving thereof, be nested in the three moving sets on the 3rd rotary pair, and be nested on first moving sets and the 4th rotary pair, the 5th rotary pair and the 6th rotary pair that axis is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100527921A CN100569460C (en) | 2008-04-18 | 2008-04-18 | The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100527921A CN100569460C (en) | 2008-04-18 | 2008-04-18 | The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101259616A CN101259616A (en) | 2008-09-10 |
| CN100569460C true CN100569460C (en) | 2009-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2008100527921A Expired - Fee Related CN100569460C (en) | 2008-04-18 | 2008-04-18 | The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360160B (en) * | 2011-07-29 | 2012-11-07 | 河北工业大学 | 2R1T three degree of freedom space flexible precision positioning platform |
| CN102699904B (en) * | 2012-07-03 | 2015-08-05 | 河北工业大学 | A kind of six degree of freedom three side chain parallel robot mechanism |
| CN102729243B (en) * | 2012-07-03 | 2015-05-27 | 河北工业大学 | Two-freedom parallel robot mechanism with continuously rotated dynamic platform |
| CN104439813B (en) * | 2014-12-16 | 2016-04-20 | 广西大学 | A kind of large space multi-freedom-degreecontrollable controllable mechanism type welding robot |
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
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- 2008-04-18 CN CNB2008100527921A patent/CN100569460C/en not_active Expired - Fee Related
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