CN101531003A - Parallel mechanism to implement tri-translation and mono-rotation - Google Patents
Parallel mechanism to implement tri-translation and mono-rotation Download PDFInfo
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- CN101531003A CN101531003A CN200910104825A CN200910104825A CN101531003A CN 101531003 A CN101531003 A CN 101531003A CN 200910104825 A CN200910104825 A CN 200910104825A CN 200910104825 A CN200910104825 A CN 200910104825A CN 101531003 A CN101531003 A CN 101531003A
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Abstract
The invention relates to a parallel mechanism to implement tri-translation and mono-rotation, consisting of a slider (8) and an end effector (7), and three groups of planar linkage mechanisms connecting said two, where the three groups include a five bar slider mechanism, a slider-crank mechanism and a plane four bar mechanism. The plane four bar mechanism consists of a driving element (5) and a driven element (6, 20). The end effector (7) has a rotary shaft connected to a connecting bar (2), while the driven element (20) of the plane four bar mechanism is connected with the end effector. The five bar slider mechanism and the slider-crank mechanism share a slider (4) and a drive motor (12), while the slider (4) is served as a driving element of the five bar slider mechanism. The slider-crank mechanism and the five bar slider mechanism form a planar combination mechanism to implement two degrees of freedom (DOF) motion required by the end effector by use of a drive motor (12). The plane four bar mechanism formed by a driving element (5) and a driven element (6, 20) can implement a function of rotation for the end effector. Furthermore, the slider (8) can implement straight reciprocating motion by means of a ball screw (10). Therefore, the mechanism can implement four DOF motion with tri-translation and mono-rotation, and implement four DOF motion of tri-translation and mono-rotation by means of three drive motor.
Description
Technical field
The present invention is under the jurisdiction of the industrial robot field, specially refers to a kind of three translations and parallel institution that rotates realized.
Background technology
Parallel institution is meant by two or more branches and links to each other that mechanism has two or more frees degree, and the mechanism that drives with parallel way.Parallel institution is widely used in numerous technical fields in recent years owing to have characteristics such as stiffness/weight ratio is big, bearing capacity is strong, error accumulation is little, dynamic property is good, compact conformation.Early stage parallel institution is the Stewart parallel institution of 6DOF normally, links to each other with six branches between the upper mounting plate of this mechanism and the lower platform, and each branch two ends is two ball pivots, and the centre is a moving sets.Drive the secondary moving sets that promotes and relatively move, change the length of bar, the position of upper mounting plate and attitude are changed.The Stewart parallel institution has shortcomings such as working space is little, motion normal solution difficulty, complex structural designs.In order to overcome these shortcomings of 6DOF parallel institution, many in recent years researchers have turned to the lower-mobility parallel institution to notice, that the lower-mobility parallel institution has is simple in structure, design with control advantages such as fairly simple.Four, the five-freedom parallel structure is used more extensive in industry.Existing four-freedom parallel mechanism adopts symmetrical mechanism mostly, (Chinese patent application number: 02158043.X) three translations of Ti Chuing and are rotated four-freedom parallel mechanism and are made of 4 identical movement branched chain of structure, and every movement branched chain is made up of revolute pair, universal joint and cylindrical pair as Fang Yuefa etc.(Chinese patent application number: 00105935.1) four-freedom parallel mechanism of Ti Chuing is made of the movement branched chain symmetry of RPS (R-revolute pair, P-moving sets, S-ball pair) and two kinds of structures of UPS (U-Hooke's hinge) Liu Xinjun etc.Existing four-freedom parallel mechanism adopts symmetrical structure mostly and contain complicated hinges such as ball pivot and Hooke's hinge in side chain, thereby can cause the working space of parallel institution little, complex structure, manufacturing cost height.
In addition, in the automatic production line of industries such as light industry, medicine, food and electronics, often need end effector to realize that special orbiting motion and working space are big such as operations such as letter sorting, packing, encapsulation, so such end effector is not suitable for adopting symmetrical parallel institution.For example simulate the cooking robot that moves on cook's kitchen range again, require this cooking robot can realize four effective actions on professional cook's kitchen range: the rolling pot, turn over pot, pot and move pot inclines, rolling pot and turn over pot and require pan can realize special orbiting motion, and the pot and move pot and require the space of pan big of inclining, so such cooking robot can only adopt the asymmetric parallel institution of four-degree-of-freedom to realize.
The objective of the invention is to overcome the existing little shortcoming of four-freedom parallel mechanism working space and propose a kind of three translations and a rotation four-freedom parallel mechanism, such parallel institution has unsymmetric structure, high rigidity, working space is big, and kinematics is positive and negative separates advantages such as simple.
Summary of the invention
Technical problem to be solved by this invention provides a kind of three translations and parallel institution that rotates realized.
The technical solution adopted in the present invention: mechanism of the present invention comprises sliding shoe (8) and end effector (7), and three groups of planar linkage mechanisms that connect are between the two formed.These three groups of planar linkage mechanisms are: five bar slide block mechanisms, slider-crank mechanism and four-bar linkage.Five bar slide block mechanisms are made up of driving link (1) and driven member (2,3,4), and slider-crank mechanism is made up of driving link (17) and driven member (18,4), and four-bar linkage is made up of driving link (5) and driven member (6,20).The rotating shaft of end effector (7) is connected on the connecting rod (2), and the driven member of four-bar linkage (20) links to each other with end effector.A shared slide block of five bar slide block mechanisms and slider-crank mechanism (4) and a drive motors (12), and slide block (4) is as an actuator of five bar slide block mechanisms.Slider-crank mechanism and five bar slide block mechanisms are formed the plane combined mechanism, and this combined mechanism utilizes a drive motors (12) just can realize the desired two degree-of-freedom motion of end effector.Can finish a rotating function of end effector by the four-bar linkage of driving link (5) and driven member (6,20) composition.In addition, sliding shoe (8) is driven by ball-screw (10) and realizes straight reciprocating motion, so this mechanism can realize three translations and a rotation.
Characteristics of the present invention are: utilize three drive motors (11), (12), (13) just can realize the four-degree-of-freedom motion that three translations and are rotated; The novel structure compactness, the processing and manufacturing assembling is simple; Can realize the motion (as the pan compound movement of cooking robot) of special track.
The present invention rotates four-freedom parallel mechanism with existing three translations and and has compared following advantage:
1, all be to adopt simple revolute pair and moving sets in the movement branched chain of parallel institution of the present invention, simple in structure, be easy to make.
2, parallel institution of the present invention adopts asymmetrical branched structure, thereby working space is bigger than the parallel institution of symmetry.
3, parallel institution kinematics of the present invention is positive and negative separates simply.
4, parallel institution of the present invention is compared with traditional tandem mechanism, has high rigidity, characteristics such as bearing capacity is strong, error accumulation is little, dynamic property is good, compact conformation
Description of drawings
The schematic diagram of mechanism of five bar slide block mechanisms, slider-crank mechanism and the four-bar linkage of Fig. 3 embodiment of the invention 1
The schematic diagram of mechanism of the five-rod of Fig. 6 embodiment of the invention 2, crank and rocker mechanism and four-bar linkage
Among the figure: 1. the driving link (crank) in the five bar slide block mechanisms, 2. the driven member in the five bar slide block mechanisms, 3. the driven member in the five bar slide block mechanisms, 4. the driven member (slide block) in the five bar slide block mechanisms, 5. the driving link in the four-bar linkage, 6. the driven member in the four-bar linkage, 7. end effector, 8. sliding shoe, 9. linear guide, 10, ball-screw, 11. the drive motors of four-bar linkage, 12. the drive motors of five bar slide block mechanisms and slider-crank mechanism, 13. ball-screw drive motors, 14. gear, 15. gear, 16. gear, 17. the driving link of slider-crank mechanism, 18. the driven member of slider-crank mechanism, 19. frames, the driven member of 20. four-bar linkages, 21. the driving link in the five-rod (crank), 22. the driven member in the five-rod, the driven member of 23. five-rods, the driven member of 24. five-rods, 25. the driven wheel of five-rod, 26. the driven wheel of five-rod, the drive motors of 27. five-rods, the driving link in 28. crank and rocker mechanisms (crank), 29. the driven member in the crank and rocker mechanism, 30. the driven wheel in the four-bar linkage, the driven gear in 31. four-bar linkages, the rocking bar in 32. crank and rocker mechanisms.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
Embodiment 1: five bar slide block mechanism, slider-crank mechanism and four-bar linkage are formed four-freedom parallel mechanism
Accompanying drawing 1 and accompanying drawing 2 are side views of the embodiment of the invention 1, wherein drive motors 12 is by a pair of gear 14,15 drive the driving link 1 of five bar slide block mechanisms and the driving link 17 of slider-crank mechanism simultaneously, driving link 17 drives driven member 18 and slide block 4, and the rectilinear motion of slide block 4 and driving link 1 are united driving driven member 2,3, thus make driven member 2 realize desired movement locus of end effector and acceleration.Motor 11 is by the driving link 5 of gear 16 driving four-bar linkages, and driving link 5 drives driven members 6 and 20, and the rotation of driven member 20 can realize the rotation of end effector.13 is the drive motors of ball-screw, and this motor-driven sliding shoe 8 is realized straight reciprocating motion, and the aggregate motion that this straight reciprocating motion and driving link 1 drive the two degree-of-freedom motion of realizing can realize the complicated track motion of end effector.
Accompanying drawing 3 is schematic diagram of mechanisms of five bar slide block mechanisms, slider-crank mechanism and four-bar linkage, driving link 1 and 17 is driven by same drive motors, driven member 20 links together with end effector, and the rotation of driven member 20 can realize the rotation of end effector.
Embodiment 2: five-rod, crank and rocker mechanism and four-bar linkage are formed four-freedom parallel mechanism
Accompanying drawing 4 and accompanying drawing 5 are side views of the embodiment of the invention 2, wherein drive motors 27 is by a pair of gear 25,26 drive the driving link 21 of five-rod and the driving link 28 of crank and rocker mechanism simultaneously, driving link 28 drives driven member 29 and rocking bar 32, and the swing of rocking bar 32 and driving link 21 are united driving driven member 23,24, thus make driven member 24 realize desired movement locus of end effector and acceleration.Motor 11 is by the driving link 5 of gear 30 and 31 driving four-bar linkages, and driving link 5 drives driven members 6 and 20, and the rotation of driven member 20 can realize the rotation of end effector.13 is the drive motors of ball-screw, and this motor-driven sliding shoe 8 is realized straight reciprocating motion, and the aggregate motion that this straight reciprocating motion and driving link 21 drive the two degree-of-freedom motion of realizing can realize the complicated track motion of end effector.
Accompanying drawing 6 is schematic diagram of mechanisms of five-rod, crank and rocker mechanism and four-bar linkage, and driving link 21 and 28 is driven by same drive motors, and driven member 20 links together with end effector, and the rotation of driven member 20 can realize the rotation of end effector.
Claims (5)
1, can realize three translations and a parallel institution that rotates, comprise sliding shoe (8) and end effector (7), and three groups of planar linkage mechanisms that connect is between the two formed.These three groups of planar linkage mechanisms are: five bar slide block mechanisms, slider-crank mechanism and four-bar linkage.Five bar slide block mechanisms are made up of driving link (1) and driven member (2,3,4), and slider-crank mechanism is made up of driving link (17) and driven member (18,4), and four-bar linkage is made up of driving link (5) and driven member (6,20).The rotating shaft of end effector (7) is connected on the connecting rod (2), and the driven member of four-bar linkage (20) links to each other with end effector (7).
2, three translations and the parallel institution that rotates realized according to claim 1, it is characterized in that: a shared slide block of five bar slide block mechanisms and slider-crank mechanism (4) and a drive motors (12), slide block (4) are again as an actuator in the five bar slide block mechanisms.Slider-crank mechanism and five bar slide block mechanisms are formed the plane combined mechanism, and this combined mechanism utilizes a drive motors (12) just can realize the desired two degree-of-freedom motion of end effector.
3, according to claim 1,2 described three translations and the parallel institutions that rotate realized, it is characterized in that: sliding shoe (8) is driven by ball-screw (10) and realizes that straight reciprocating motion, the aggregate motion of this straight reciprocating motion and right 2 described two degree-of-freedom motions can realize the complex track motion.
4, three translations and the parallel institution that rotates realized according to claim 1 is characterized in that: the rotating function that can be finished end effector by the four-bar linkage of driving link (5) and driven member (6,20) composition.
5, according to claim 1,2,3 and 4 described three translations and the parallel institutions that rotate realized, it is characterized in that: three drive motors are realized the four-degree-of-freedom motion that three translations and of end effector are rotated, thereby can realize the complex track motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910104825A CN101531003A (en) | 2009-01-14 | 2009-01-14 | Parallel mechanism to implement tri-translation and mono-rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910104825A CN101531003A (en) | 2009-01-14 | 2009-01-14 | Parallel mechanism to implement tri-translation and mono-rotation |
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| CN101531003A true CN101531003A (en) | 2009-09-16 |
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| CN200910104825A Pending CN101531003A (en) | 2009-01-14 | 2009-01-14 | Parallel mechanism to implement tri-translation and mono-rotation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286773A (en) * | 2013-07-01 | 2013-09-11 | 安徽工业大学 | Three-DOF (Degree of Freedom) parallel robot mechanism |
| CN106569328A (en) * | 2015-10-13 | 2017-04-19 | 中国科学院西安光学精密机械研究所 | Five-rod mechanism, swinging mirror system and two-dimensional swinging mirror device |
| CN107161309A (en) * | 2016-01-18 | 2017-09-15 | 山东大学 | A kind of deflector type vector propeller and submarine navigation device |
| CN108402914A (en) * | 2018-04-17 | 2018-08-17 | 温州市晟食昌明科技有限公司 | A kind of Dian Guo mechanisms of cooking machine |
| CN109079760A (en) * | 2018-09-12 | 2018-12-25 | 哈尔滨工业大学（深圳） | A kind of curved space truss break catching apparatus of telescopic |
| CN109139031A (en) * | 2018-10-26 | 2019-01-04 | 中铁工程装备集团有限公司 | The variable rock tunnel(ling) machine for excavating section of novel single-tool disk |
| CN109139030A (en) * | 2018-10-26 | 2019-01-04 | 中铁工程装备集团有限公司 | The variable rock tunnel(ling) machine for excavating section of hilted broadsword disk |
-
2009
- 2009-01-14 CN CN200910104825A patent/CN101531003A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286773A (en) * | 2013-07-01 | 2013-09-11 | 安徽工业大学 | Three-DOF (Degree of Freedom) parallel robot mechanism |
| CN106569328A (en) * | 2015-10-13 | 2017-04-19 | 中国科学院西安光学精密机械研究所 | Five-rod mechanism, swinging mirror system and two-dimensional swinging mirror device |
| CN106569328B (en) * | 2015-10-13 | 2019-10-29 | 中国科学院西安光学精密机械研究所 | Five-rod, pendulum mirror system and two dimension pendulum lens device |
| CN107161309A (en) * | 2016-01-18 | 2017-09-15 | 山东大学 | A kind of deflector type vector propeller and submarine navigation device |
| CN107161309B (en) * | 2016-01-18 | 2019-02-22 | 山东大学 | A kind of deflector type vector propeller and submarine navigation device |
| CN108402914A (en) * | 2018-04-17 | 2018-08-17 | 温州市晟食昌明科技有限公司 | A kind of Dian Guo mechanisms of cooking machine |
| CN109079760A (en) * | 2018-09-12 | 2018-12-25 | 哈尔滨工业大学（深圳） | A kind of curved space truss break catching apparatus of telescopic |
| CN109079760B (en) * | 2018-09-12 | 2021-05-04 | 哈尔滨工业大学（深圳） | Foldable and foldable space truss catching device |
| CN109139031A (en) * | 2018-10-26 | 2019-01-04 | 中铁工程装备集团有限公司 | The variable rock tunnel(ling) machine for excavating section of novel single-tool disk |
| CN109139030A (en) * | 2018-10-26 | 2019-01-04 | 中铁工程装备集团有限公司 | The variable rock tunnel(ling) machine for excavating section of hilted broadsword disk |
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Application publication date: 20090916 |