CN101224577A - Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive - Google Patents
Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive Download PDFInfo
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- CN101224577A CN101224577A CNA2008100189465A CN200810018946A CN101224577A CN 101224577 A CN101224577 A CN 101224577A CN A2008100189465 A CNA2008100189465 A CN A2008100189465A CN 200810018946 A CN200810018946 A CN 200810018946A CN 101224577 A CN101224577 A CN 101224577A
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- revolute pair
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Abstract
The invention discloses a two degrees of freedom (DOFs) high speed translation motion parallel robot mechanism which is driven by a rotation pair. A base of the parallel robot mechanism is connected with a motion platform which motions in two DOFs through two motion branched chains so as to form a closed structure; each motion branched chain consists of a drive rod, a middle component and a driven rod group which are connected with each other in series; the drive rod is respectively connected with the base and the middle component through the rotation pair; a positioning mechanism is arranged between the middle component and the base. The two DOFs translation motion parallel robot mechanism component which is driven by the rotation pair of the invention does not motion in planes which are fully parallel to or coincident with each other, but forms a space constraint through a hook hinge, thus improving the forcing condition of the component, and ensuring the dynamic rigidity and static rigidity of the mechanism in high speed operation.
Description
One technical field
The invention belongs to the industrial robot technology, particularly a kind of two degrees of freedom translation parallel robot mechanism that drives by revolute pair.
Two background technologies
In industries such as automation, light industry, food and medical treatment, usually need robot to finish such as operations such as plug-in mounting, encapsulation and packings, its needed number of degrees of freedom, that moves is few, the characteristics of these operations are: accurate resetting height, movement velocity height, action are reciprocating motion and do not change attitude in motion processes.Finish the manipulator that these tasks adopt serial mechanism to constitute more now, this class manipulator is an open loop structure, movement arm of a movement arm serial connection, each movement arm movement inertia is bigger, specific stiffness is low, therefore movement arm need be done very big its rigidity that guarantees.Can have higher requirement to the power and the torque factor of drive motors like this, be subjected to the influence of motor characteristic, its speed of service is difficult to further improve, and has limited the raising of production efficiency.In order further to improve the performance of this class manipulator, some high speed machine hand structures based on parallel institution also are suggested in succession.
At present, the high speed machine hand structure based on parallel institution mainly contains two kinds of structures.The one, the structure that patent application CN1355087A proposes comprises frame, motion platform and two side chains, two servomotors are installed on the frame, and moving platform links to each other with frame by two side chains, forms enclosed construction, two side chains respectively comprise two parallel-crank mechanisms, respectively as group of drive rods and follower lever group.But, the structure that CN1355087A proposes guarantees translational motion in the plane of moving platform by two parallel-crank mechanisms in the side chain, existence is the static and not high shortcoming of dynamic rate perpendicular to the direction of plane of movement, causes vibration like this when high-speed motion easily.
The structure that another part patent application CN1589191A proposes is a kind of linkage that is used for the grasping/releasing robot, this structure comprises a pedestal and a moving platform, two rotating drive units are installed on the pedestal, each drive unit is connected with moving platform by linkage respectively, each linkage is made up of driving lever and follower lever, one end and the drive unit of driving lever are affixed, and rotate with drive unit, one end and the moving platform of follower lever are hinged, and the other end of driving lever and follower lever is connected together by revolute pair.Constant in order to guarantee the pose of moving platform in motion process, external location structure on the basis of linkage, location structure comprise at the crank of driving lever and follower lever hinged place, are articulated in connecting rod between pedestal and the crank, are articulated in the connecting rod between crank and the moving platform.Because the structural requirement driving lever and first backstay that CN1589191A proposes are isometric, the follower lever and second backstay are isometric, its locate mode also is to guarantee by parallel-crank mechanism, so also have the static and not high shortcoming of dynamic rate, be unfavorable for the high-speed motion of mechanism perpendicular to the direction of plane of movement.
Three summary of the invention
The object of the present invention is to provide the two degrees of freedom high speed translation parallel robot mechanism that a kind ofly has the movement velocity height, in plane of movement and perpendicular to all high revolute pair of the direction rigidity of plane of movement, drives.
The technical solution that realizes the object of the invention is: the two degrees of freedom high speed translation parallel robot mechanism that a kind of revolute pair drives, and pedestal is connected by two movement branched chain with the motion platform of doing the two-freedom translational motion, forms enclosed construction; Every movement branched chain is composed in series by driving lever, intermediate member and driven rod member group, and this driving lever links to each other with intermediate member with pedestal respectively by revolute pair, and detent mechanism also is set between this intermediate member and the pedestal.
The present invention compared with prior art, its remarkable advantage: rod member in prior art scheme detent mechanism or the follower lever group or member all are to be arranged in the direction that is parallel to each other, the move both vertically dynamic load of direction on plane of opposing is not strong, restricted the further raising of two degrees of freedom high speed translation parallel robot mechanism acceleration, and the two degrees of freedom translation parallel robot mechanism member that is driven by revolute pair of the present invention is not to move in the plane that is parallel to each other or overlaps entirely, but form space constraint by Hooke's hinge, improve the force-bearing situation of member, guaranteed the dynamic and static rigidity of mechanism when high-speed cruising.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Four description of drawings
Fig. 1 is the front view of the embodiment 1 of the two degrees of freedom high speed translation parallel robot mechanism of revolute pair driving of the present invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the 3-D view of Fig. 1.
Fig. 4 is installed in a 3-D view on the transverse movement assembly for Fig. 1 mechanism.
Fig. 5 is the 3-D view of the embodiment 2 of the two degrees of freedom high speed translation parallel robot mechanism of revolute pair driving of the present invention.
Fig. 6 is the front view of the embodiment of the invention 2.
Five specific embodiment
In conjunction with Fig. 1 to Fig. 3, the two degrees of freedom high speed translation parallel robot mechanism that revolute pair of the present invention drives, pedestal 1 keeps motionless, and motion platform 7 can be done the two-freedom translational motion.Pedestal 1 is connected by two movement branched chain with motion platform 7, forms enclosed construction; Every movement branched chain is composed in series by driving lever 8, intermediate member 4 and driven rod member group, and this driving lever 8 links to each other with intermediate member 4 with pedestal 1 respectively by revolute pair 9.For guaranteeing that moving platform can only translational motion, between this intermediate member 4 and the pedestal 1 detent mechanism is set also.
Wherein, driven rod member component is first, second, third driven rod member group 51a, 61,51b; 52a, 62,52b; 53a, 63,53b, every group is composed in series by Hooke's hinge, connecting rod and Hooke's hinge respectively; This first, second, third driven rod member group 51a, 61,51b; 52a, 62,52b; 53a, 63,53b are arranged between intermediate member 4 and the motion platform 7, three connecting rod 61,62,63 equal in length, and arrangement is as follows: first, second, third driven rod member group 51a, 61,51b; 52a, 62,52b; 53a, 63,53b are installed in motion platform 7 both sides, and wherein the 3rd driven rod member group 53a, 63,53b be in a side, first, second driven rod member group 51a, 61,51b; 52a, 62,52b be at opposite side, first, second driven rod member group 51a, 61,51b in the same side; Two connecting rods 61,62 of 52a, 62,52b are parallel to each other, and not parallel with the connecting rod 63 of the 3rd driven rod member group 53a, 63, the 53b of opposite side; First, second, third driven rod member group 51a, 61,51b; 52a, 62,52b; Hooke's hinge 51b, the 52b that Hooke's hinge 51a, the 52a that 53a, 63,53b link to each other with intermediate member 4, the revolute pair axis of 53a link to each other with motion platform 7, the revolute pair axis of 53b are parallel to each other, the Hooke's hinge 51a, the 51b that link to each other with three connecting rods 61,62,63; 52a, 52b; The revolute pair axis of 53a, 53b is parallel to each other.
Three driven rod member group 51a, 61,51b; 52a, 62,52b; 7 attitudes of 53a, 63,53b constrained motion platform are consistent with the attitude of intermediate member 4, and detent mechanism retrains intermediate member 4 and makes that the attitude of intermediate member 4 is consistent with the attitude of pedestal 1, to guarantee that motion platform 7 can only be done translational motion and attitude does not change; By driving the revolute pair 9 that two driving levers 8 link to each other with pedestal 1, drive driving lever 8 and be rotated motion around the axis of revolute pair 9, make intermediate member 4 also and then move together, the relative pedestal 1 in the position of intermediate member 4 just changes, but attitude remains unchanged, and pass through the geometrical constraint of mechanism itself, and make the position of moving platform 7 also and then change, realize binary translational motion.
As shown in Figure 4, the two degrees of freedom high speed translation parallel robot mechanism that revolute pair of the present invention drives can also be unfixing with pedestal 1, pedestal 1 is installed on the guide rail 10 with moving platform 7 motion vertical, make pedestal 1 to move along guide rail 10 directions, transmission by leading screw 11 pair of nut makes pedestal 1 to move on the guide rail direction, and motion platform just can be done translational motion in three dimensions like this.
Embodiment 1.In conjunction with Fig. 1 to Fig. 3, the two degrees of freedom high speed translation parallel robot mechanism that revolute pair of the present invention drives, detent mechanism is made up of three passive side chains, and every passive side chain is composed in series by Hooke's hinge, connecting rod and Hooke's hinge; This first, second, third passive side chain 21a, 31,21b; 22a, 32,22b; 23a, 33,23b are arranged between intermediate member 4 and the pedestal 1, three connecting rod 31,32,33 equal in length, and arrangement is as follows: first, second, third passive side chain 21a, 31,21b; 22a, 32,22b; 23a, 33,23b are installed in intermediate member 4 both sides, and wherein the 3rd passive side chain 23a, 33,23b be in a side, first, second passive side chain 21a, 31,21b; 22a, 32,22b be at opposite side, first, second passive side chain 21a, 31,21b in the same side; Two connecting rods 31,32 of 22a, 32,22b are parallel to each other, and not parallel with the connecting rod 33 of the 3rd passive side chain 23a, 33, the 23b of opposite side; Article first, second, third, passive side chain 21a, 31,21b; 22a, 32,22b; Hooke's hinge 21a, the 22a that Hooke's hinge 21b, the 22b that 23a, 33,23b link to each other with intermediate member 4, the revolute pair axis of 23b link to each other with pedestal 1, the revolute pair axis of 23a are parallel to each other, the Hooke's hinge 21a, the 21b that link to each other with three connecting rods 31,32,33; 22a, 22b; The revolute pair axis of 23a, 23b is parallel to each other.
Embodiment 2.In conjunction with Fig. 5 and Fig. 6, it is consistent that the detent mechanism of the two degrees of freedom high speed translation parallel robot mechanism that revolute pair of the present invention drives also can retrain the attitude of the attitude of intermediate member 4 and pedestal 1 by positioning linkage rod 13 and revolute pair 9 and driving lever 8 formation parallel-crank mechanisms.
Claims (4)
1. the two degrees of freedom high speed translation parallel robot mechanism that drives of a revolute pair, it is characterized in that: pedestal [1] is connected by two movement branched chain with the motion platform of doing the two-freedom translational motion [7], the formation enclosed construction; Every movement branched chain is composed in series by driving lever [8], intermediate member [4] and driven rod member group, and this driving lever [8] links to each other with intermediate member [4] with pedestal [1] respectively by revolute pair [9], between this intermediate member [4] and the pedestal [1] detent mechanism is set also.
2. the two degrees of freedom high speed translation parallel robot mechanism that revolute pair according to claim 1 drives, it is characterized in that: driven rod member component is first, second, third driven rod member group [51a, 61,51b; 52a, 62,52b; 53a, 63,53b], every group is composed in series by Hooke's hinge, connecting rod and Hooke's hinge respectively; This first, second, third driven rod member group [51a, 61,51b; 52a, 62,52b; 53a, 63,53b] be arranged between intermediate member [4] and the motion platform [7], three connecting rods [61,62,63] equal in length, arrangement is as follows: first, second, third driven rod member group [51a, 61,51b; 52a, 62,52b; 53a, 63,53b] be installed in motion platform [7] both sides, wherein the 3rd driven rod member group [53a, 63,53b] is in a side, first, second driven rod member group [51a, 61,51b; 52a, 62,52b] at opposite side, first, second driven rod member group [51a, 61,51b in the same side; 52a, 62,52b] two connecting rods [61,62] be parallel to each other, and not parallel with the connecting rod [63] of the 3rd driven rod member group [53a, 63,53b] of opposite side; First, second, third driven rod member group [51a, 61,51b; 52a, 62,52b; 53a, 63,53b] the revolute pair axis of the Hooke's hinge [51b, 52b, 53b] that links to each other with motion platform [7] of the revolute pair axis of the Hooke's hinge [51a, 52a, 53a] that links to each other with intermediate member [4] is parallel to each other the Hooke's hinge [51a, the 51b that link to each other with three connecting rods [61,62,63]; 52a, 52b; 53a, 53b] the revolute pair axis be parallel to each other.
3. the two degrees of freedom high speed translation parallel robot mechanism that revolute pair according to claim 1 drives, it is characterized in that: detent mechanism is made up of three passive side chains, and every passive side chain is composed in series by Hooke's hinge, connecting rod and Hooke's hinge; This first, second, third passive side chain [21a, 31,21b; 22a, 32,22b; 23a, 33,23b] be arranged between intermediate member [4] and the pedestal [1], three connecting rods [31,32,33] equal in length, arrangement is as follows: first, second, third passive side chain [21a, 31,21b; 22a, 32,22b; 23a, 33,23b] be installed in intermediate member [4] both sides, wherein the 3rd passive side chain [23a, 33,23b] be in a side, first, second passive side chain [21a, 31,21b; 22a, 32,22b] at opposite side, first, second passive side chain [21a, 31,21b in the same side; 22a, 32,22b] two connecting rods [31,32] be parallel to each other, and not parallel with the connecting rod [33] of the 3rd the passive side chain [23a, 33,23b] of opposite side; Article first, second, third, passive side chain [21a, 31,21b; 22a, 32,22b; 23a, 33,23b] the revolute pair axis of the Hooke's hinge [21a, 22a, 23a] that links to each other with pedestal [1] of the revolute pair axis of the Hooke's hinge [21b, 22b, 23b] that links to each other with intermediate member [4] is parallel to each other the Hooke's hinge [21a, the 21b that link to each other with three connecting rods [31,32,33]; 22a, 22b; 23a, 23b] the revolute pair axis be parallel to each other.
4. the two degrees of freedom high speed translation parallel connection that revolute pair according to claim 1 drives
RobotMechanism is characterized in that: detent mechanism constitutes parallel-crank mechanism by positioning linkage rod [13] and revolute pair [9] and driving lever [8], and to retrain the attitude of the attitude of intermediate member [4] and pedestal [1] consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810018946A CN100594102C (en) | 2008-02-01 | 2008-02-01 | Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810018946A CN100594102C (en) | 2008-02-01 | 2008-02-01 | Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive |
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| Publication Number | Publication Date |
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| CN101224577A true CN101224577A (en) | 2008-07-23 |
| CN100594102C CN100594102C (en) | 2010-03-17 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192370A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Multi-joint robot |
| CN104084949A (en) * | 2014-06-30 | 2014-10-08 | 梧州学院 | Novel mechanical arm |
| CN105058370A (en) * | 2015-09-02 | 2015-11-18 | 佛山市新合龙智能装备有限公司 | Parallel robot |
| CN107618695A (en) * | 2017-10-23 | 2018-01-23 | 安徽工程大学 | A kind of toothbrush captures feeding packing apparatus |
| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4962676A (en) * | 1989-10-12 | 1990-10-16 | The Gillette Company | Two axis transfer device |
-
2008
- 2008-02-01 CN CN200810018946A patent/CN100594102C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192370A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Multi-joint robot |
| CN103192370B (en) * | 2012-01-06 | 2015-07-29 | 沈阳新松机器人自动化股份有限公司 | Articulated robot |
| CN104084949A (en) * | 2014-06-30 | 2014-10-08 | 梧州学院 | Novel mechanical arm |
| CN105058370A (en) * | 2015-09-02 | 2015-11-18 | 佛山市新合龙智能装备有限公司 | Parallel robot |
| CN107618695A (en) * | 2017-10-23 | 2018-01-23 | 安徽工程大学 | A kind of toothbrush captures feeding packing apparatus |
| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
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| Publication number | Publication date |
|---|---|
| CN100594102C (en) | 2010-03-17 |
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Assignee: Yangzhou Metalforming Machine Group Co., Ltd. Assignor: Nanjing University of Science and Technology Contract record no.: 2011320000509 Denomination of invention: Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive Granted publication date: 20100317 License type: Exclusive License Open date: 20080723 Record date: 20110402 |
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Change date: 20140219 Contract record no.: 2011320000509 Assignee after: Yangzhou Forging Machine Tool Co., Ltd. Assignee before: Yangzhou Metalforming Machine Group Co., Ltd. |
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Change date: 20140219 Contract record no.: 2011320000509 Assignee after: Yangzhou Forging Machine Tool Co., Ltd. Assignee before: Yangzhou Metalforming Machine Group Co., Ltd. |
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