CN101190526A - Two freedom mobile parallel connection mechanism with buffering ability - Google Patents
Two freedom mobile parallel connection mechanism with buffering ability Download PDFInfo
- Publication number
- CN101190526A CN101190526A CN 200710171876 CN200710171876A CN101190526A CN 101190526 A CN101190526 A CN 101190526A CN 200710171876 CN200710171876 CN 200710171876 CN 200710171876 A CN200710171876 A CN 200710171876A CN 101190526 A CN101190526 A CN 101190526A
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- CN
- China
- Prior art keywords
- fixed
- buffer unit
- buffer
- guide rail
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- 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.)
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
Abstract
The invention provides a two-DOF moving shunt connection mechanism with damping capability, comprising a guideway, a sliding block, two lower sliding supporters, a supporting rod, a rotation pair, a movable platform, a damping device, an end executer, and a basic platform. Two guideways are fixed on the basic platform; the sliding block is fixed on the guideway; the two lower sliding supporters are respectively fixed with corresponding sliding block; the movable platform is connected with the two sliding supporters by a parallelogram mechanism consisting of 8 supporting rods and the rotation pair; the damping device is fixed on the movable platform; the motion and the force transmission of the whole device are implemented by the end executer fixed on the damping device. The invention combines an isosceles triangle two-force member truss rod group, the parallelogram structure and the damping aligning principle, thus leading the final two-DOF moving shunt connection mechanism to have the advantages of high rigidity, good forcing characteristic, high transmission efficiency, simple structure, easy control, high operation precision, low cost and having certain damping capability and aligning capability in the direction vertical to the horizontal.
Description
Technical field
The present invention relates to the device in a kind of industrial robot field, specifically is a kind of two-degree of freedom translational parallel manipulator with buffer capacity that is applicable to two degrees of freedom operation occasion.
Background technology
Parallel institution is meant that two or more driver elements are installed in parallel and the mechanism of common execution, is widely used in technical fields such as heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation.Existing parallel robot adopts 3-6 free degree symmetrical structure mostly, generally adopts ball pivot, Hooke's hinge or moving sets to realize the spatial movement of the 3-6 free degree as kinematic pair, and working space generally do not have predominant direction, complex structure, and manufacturing cost is higher.For example common Stewart parallel institution, link with six branches between the upper mounting plate of this mechanism and the lower platform, each branch two ends is two ball pivots, and the centre is a moving sets, driver relatively moves the length that changes each bar by promoting moving sets, thereby the pose of control upper mounting plate changes.Yet in many instances, in automatic production line, plane heavy duty analog machine, end effector only need operation in the plane, therefore adopt the multiple degrees of freedom space parallel mechanism to seem again and there is no need, or manufacturing cost is too high.
In existing more lower-mobility parallel institution, rod member also bears the moment of flexure effect except that being subjected to the tension and compression effect, thereby not only can produce tension and compression deformation during this class mechanism stand under load, but also can produce flexural deformation.Because the deterioration of stress, cause that this type of mechanism's rigidity is low, resistance to shock is relatively poor.
Find through literature search prior art, existing most Two-Degree-of-Freedom mechanism, as " two-degrees-of-freedom translation parallel robot mechanism that only contains revolute pair " (referring to Chinese invention patent, publication number CN1355087), " two-degrees-of-freedom translation parallel robot mechanism " is (referring to Chinese invention patent, publication number CN2511447) etc., all consider when being subjected in mechanism's running perpendicular to the power of plane of movement or mechanism's off-centre, mechanism can be subjected to the resistance of deformation perpendicular to plane of movement, this moment, mechanism's stressing conditions was abominable, did not meet in the actual use two-degree of freedom translational parallel manipulator rigidity height, good and the requirement of mechanical characteristic with buffer capacity.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of two-degree of freedom translational parallel manipulator with buffer capacity is provided, it can planar be moved freely, simultaneously also have certain buffer capacity and aligning ability in the vertical plane direction, this rigidity of structure height, mechanical characteristic is good, transmission efficiency is high, and simple in structure, and control easily, the kinematic accuracy height, cost is low.
The present invention is achieved by the following technical solutions, the present invention includes guide rail, slide block, the downside sliding support, supporting rod, revolute pair, moving platform, buffer unit, end effector, basic platform, two guide rails are fixed on the basic platform, slide block is fixed on the guide rail, two fixing respectively corresponding slide blocks of downside sliding support, and moving platform is connected with two downside sliding supports by the parallel-crank mechanism of being made up of 8 supporting rods and revolute pair, buffer unit then is fixed on the moving platform, and the transmission of whole device motion and power then realizes by the end effector that is fixed on the buffer unit.
Described buffer unit comprises outside framework, buffer unit guide rail, buffer unit slide block, buffer spring, wherein outside framework is fixed on the moving platform, the buffer unit guide rail is fixed in outside framework inside, inner slide is fixed on the buffer unit guide rail, and buffer spring is parallel to the buffer unit guide rail, groove by outside framework medial surface, buffer unit guide rail side is fixed, perhaps also can be fixing as welding by other modes, and end effector is fixed on the buffer unit slide block upper surface.
Described supporting rod is formed the truss rod group with the isosceles triangle form, in 8 supporting rods each supporting rod be only bear draw, compressive load and do not bear bending load, promptly so-called two power bars.
Described truss rod group is made up of equal in length and 8 bars being parallel to each other, and they and revolute pair combination form parallel-crank mechanism between any two.
Described revolute pair can be hinge, ball pivot, oscillating bearing etc.
Whole mechanism is fixed on the corresponding basic platform by guide rail, can be by motor or hydraulic cylinder or air cylinder driven, thereby move and drive moving platform by 8 supporting rods and revolute pair and move by driving the downside sliding support, moving platform drive end effector planar moves freely then, and the parallelogram sturcutre of 8 parallel bar compositions has guaranteed that translation only takes place for moving platform and end effector, and does not rotate.When mechanism was subjected to power perpendicular to plane of movement, two buffer springs in the buffer unit can stretch or shrink, and make end effector generation minor shifts, then made entire mechanism have buffer capacity perpendicular to plane of movement, had played the effect of protection mechanism; When mechanism was not subjected to power perpendicular to plane of movement, buffer spring also can automatic aligning, makes end effector return to initial position.
Compared with prior art, the present invention combines isosceles triangle two power bar truss rod groups, parallelogram sturcutre and buffering aligning principle, make that final two-degree of freedom translational parallel manipulator rigidity height, mechanical characteristic are good, transmission efficiency is high, simultaneously simple in structure, control easily, the kinematic accuracy height, cost is low, also has certain buffer capacity and aligning ability in the vertical plane direction.Main carrying direction obtains high rigidity property, and the maximum, force bearing capacity factor can reach more than 5, promptly is equivalent to obtain the driving force more than 5 times.Buffering aligning scope is at ± 150mm.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is buffer unit and end effector schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1: a kind of exemplary embodiment of the present invention has been shown among Fig. 1, and this embodiment can realize that the two degrees of freedom in the plane moves, and also has certain buffer capacity and aligning ability in the vertical plane direction.
Shown in Fig. 1-2, present embodiment comprises with lower member: 1-guide rail, 2-lower-left side slide and support the 3-supporting rod, the 4-moving platform, 5-buffer unit and end effector, 6-revolute pair, 7-lower right side sliding support, 8-right side slide block, 9-left slider, 10-basic platform.Whole mechanism is fixed on the corresponding basic platform 10 by guide rail 1, left slider 9,8 of right side slide blocks are fixed on the guide rail 1, two downside sliding supports 2,7 fixing respectively corresponding left slider 9, right side slide block 8, moving platform 4 then is connected with two downside sliding supports 2,7 by the parallel-crank mechanism of being made up of 8 supporting rods 3 and revolute pair 6, and buffer unit and end effector 5 are fixed on the moving platform 4.
Described revolute pair 9 can be hinge, ball pivot, oscillating bearing etc.
Fig. 2 is the structural representation of buffer unit and end effector 5.As shown in the figure, 11-outside framework, 12-buffer unit guide rail, 13-buffer spring, 14-buffer unit slide block, 15-end effector.Wherein outside framework 11 is fixed on the moving platform 4, buffer unit guide rail 12 is fixed in outside framework 11 inside, buffer unit slide block 14 is fixed on the buffer unit guide rail 12, and buffer spring 13 is parallel to buffer unit guide rail 12, groove by outside framework 11 medial surfaces, buffer unit guide rail 12 sides is fixed, perhaps also can be fixing as welding by other modes, end effector 15 is fixed on buffer unit slide block 14 upper surfaces.
The transmission of entire mechanism motion and power realizes by end effector 15, by driving downside sliding support 2, thereby 7 move and drive moving platforms 4 by 8 supporting rods 3 and revolute pair 6 and move, moving platform 4 drive end effectors 15 planar move freely then, and the parallelogram sturcutre of 8 supporting rod 3 compositions has guaranteed that translation takes place for moving platform 4 and 15 of end effectors, and do not rotate, therefore mechanism only can translation in XOY plane, when mechanism is subjected to the power of z direction, two buffer springs 13 in the buffer unit can stretch or shrink, make end effector 15 that minor shifts take place, then make entire mechanism have the buffer capacity of z direction, played the effect of protection mechanism; When mechanism is not subjected to the power of z direction, but buffer spring 13 automatic alignings make end effector 15 return to initial position.
Main carrying direction has high rigidity property, and the maximum, force bearing capacity factor can reach more than 5, promptly is equivalent to obtain the driving force more than 5 times.Buffering aligning scope is at ± 150mm.
Embodiments of the present invention are not limited to above-mentioned form.The entire mechanism type of drive can also be selected motor or air cylinder driven.The basic platform 10 of entire mechanism can be horizontal, also can erect perpendicular to ground side, and in concrete the application, can determine as required; Buffer unit and end effector 5 also can be fixed on the XOZ plane of moving platform 4.
Claims (6)
1. two-degree of freedom translational parallel manipulator with buffer capacity, comprise guide rail, slide block, the downside sliding support, supporting rod, revolute pair, moving platform, buffer unit, end effector, basic platform, it is characterized in that, two guide rails are fixed on the basic platform, slide block is fixed on the guide rail, on two fixing respectively corresponding slide blocks of downside sliding support, and moving platform is connected with two downside sliding supports by the parallel-crank mechanism of being made up of 8 supporting rods and revolute pair, buffer unit then is fixed on the moving platform, and the transmission of whole device motion and power then realizes by the end effector that is fixed on the buffer unit.
Described buffer unit comprises outside framework, buffer unit guide rail, buffer unit slide block, buffer spring, wherein outside framework is fixed on the moving platform, the buffer unit guide rail is fixed in outside framework inside, inner slide is fixed on the buffer unit guide rail, and buffer spring is parallel to the buffer unit guide rail, groove by outside framework medial surface, buffer unit guide rail side is fixed, and end effector is fixed on the buffer unit slide block upper surface.
2. the described two-degree of freedom translational parallel manipulator of claim 1 with buffer capacity, it is characterized in that: described supporting rod is two power bars and forms the truss rod group with the isosceles triangle form, this truss rod group is made up of equal in length and 8 supporting rods being parallel to each other, they and revolute pair make up, and form parallel-crank mechanism between any two.
3. the described two-degree of freedom translational parallel manipulator with buffer capacity of claim 1 is characterized in that: described buffer spring, and symmetric arrangement, the buffer spring of buffer unit by symmetric arrangement moves inner slide and cushions with aligning on guide rail.
4. the described two-degree of freedom translational parallel manipulator with buffer capacity of claim 1, it is characterized in that: described revolute pair is hinge, ball pivot or oscillating bearing.
5. the described two-degree of freedom translational parallel manipulator with buffer capacity of claim 1 is characterized in that: described guide rail, the horizontal installation of the basic platform at its place, or the installation of side formula or the installation of tilting.
6. the described two-degree of freedom translational parallel manipulator with buffer capacity of claim 1, it is characterized in that: described end effector is fixed on the inner slide upper surface of buffer unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710171876 CN100551633C (en) | 2007-12-06 | 2007-12-06 | Two-degree of freedom translational parallel manipulator with buffer capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710171876 CN100551633C (en) | 2007-12-06 | 2007-12-06 | Two-degree of freedom translational parallel manipulator with buffer capacity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101190526A true CN101190526A (en) | 2008-06-04 |
| CN100551633C CN100551633C (en) | 2009-10-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710171876 Expired - Fee Related CN100551633C (en) | 2007-12-06 | 2007-12-06 | Two-degree of freedom translational parallel manipulator with buffer capacity |
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| Country | Link |
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| CN (1) | CN100551633C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863016A (en) * | 2010-04-27 | 2010-10-20 | 上海交通大学 | Redundancy fault-tolerant motion simulator |
| CN103158157A (en) * | 2013-04-01 | 2013-06-19 | 天津工业大学 | Simulated joint mechanism with radial direction buffering function |
| CN104044135A (en) * | 2014-07-10 | 2014-09-17 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism |
| CN104632305A (en) * | 2014-12-24 | 2015-05-20 | 上海交通大学 | High-pressure rotor horizontal type intelligent assembling equipment with elastic structure |
| CN105598978A (en) * | 2016-02-03 | 2016-05-25 | 吴燕 | Series-parallel structure-based massage executing device for head massage robot |
| CN110529549A (en) * | 2019-08-27 | 2019-12-03 | 中国北方车辆研究所 | A kind of vehicle-mounted subsidiary engine power station vibration damping and quick mounting structure |
-
2007
- 2007-12-06 CN CN 200710171876 patent/CN100551633C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863016A (en) * | 2010-04-27 | 2010-10-20 | 上海交通大学 | Redundancy fault-tolerant motion simulator |
| CN101863016B (en) * | 2010-04-27 | 2012-04-25 | 上海交通大学 | Redundancy fault-tolerant motion simulator |
| CN103158157A (en) * | 2013-04-01 | 2013-06-19 | 天津工业大学 | Simulated joint mechanism with radial direction buffering function |
| CN104044135A (en) * | 2014-07-10 | 2014-09-17 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism |
| CN104632305A (en) * | 2014-12-24 | 2015-05-20 | 上海交通大学 | High-pressure rotor horizontal type intelligent assembling equipment with elastic structure |
| CN104632305B (en) * | 2014-12-24 | 2016-01-13 | 上海交通大学 | There is the high pressure rotor horizontal intellectuality assembling equipment of elastic structure |
| CN105598978A (en) * | 2016-02-03 | 2016-05-25 | 吴燕 | Series-parallel structure-based massage executing device for head massage robot |
| CN110529549A (en) * | 2019-08-27 | 2019-12-03 | 中国北方车辆研究所 | A kind of vehicle-mounted subsidiary engine power station vibration damping and quick mounting structure |
| CN110529549B (en) * | 2019-08-27 | 2021-07-13 | 中国北方车辆研究所 | Vehicle-mounted auxiliary power station vibration damping and quick mounting structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100551633C (en) | 2009-10-21 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091021 Termination date: 20121206 |