CN101804629B - Crossed two-freedom-degree parallel mechanism - Google Patents
Crossed two-freedom-degree parallel mechanism Download PDFInfo
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- CN101804629B CN101804629B CN2010101538437A CN201010153843A CN101804629B CN 101804629 B CN101804629 B CN 101804629B CN 2010101538437 A CN2010101538437 A CN 2010101538437A CN 201010153843 A CN201010153843 A CN 201010153843A CN 101804629 B CN101804629 B CN 101804629B
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Abstract
The invention relates to a two-freedom-degree parallel mechanism, and aims to provide a mechanism with smaller horizontal size. The invention adopts the technical scheme that the crossed two-freedom-degree parallel mechanism consists of a movable platform, a fixed platform and a branched chain for connecting the movable platform and the fixed platform; the bottom end of the branched chain is hinged with the movable platform, while the top end is hinged with a sliding pair on the fixed platform; the hinged axes of the hinged points are full mutually parallel and mutually vertical to the moving direction of the sliding pair; the branched chain comprises a plurality of connecting rods arranged in an X shape, wherein the third connecting rod and the fourth connecting rod are positioned on the same moving plane, and the top ends of the third connecting rod and the fourth connecting rod are hinged on the sliding pair of the fixed platform together, while the bottom ends are hinged on the right side of the movable platform together; and the first connecting rod and the second connecting rod are arranged in parallel on the front and rear sides of the third connecting rod and the fourth connecting rod respectively, the top ends of the first connecting rod and the second connecting rod are hinged with a sliding pair on the right side of the fixed platform and the hinged axes of the two hinged points are coaxial, while the bottom ends are hinged on the left side of the movable platform together and the hinged axes of the two hinged points are coaxial.
Description
Technical field
The present invention relates to a kind of motion, especially two-freedom-degree parallel mechanism.
Background technology
The institution freedom number of degrees of lower-mobility parallel robot are less than 6.For requiring the free degree to be less than 6 operation task in the practical application in a large number, the unnecessary free degree has increased the complexity of system hardware, software and later maintenance, the also corresponding increase of cost.The research of lower-mobility parallel robot is subjected to showing great attention to of international relevant academia and industrial quarters with using always over nearly 10 years, configuration comprehensive theory and method for designing more became hot issue during particularly the lower-mobility parallel robot mechanism was learned.
The 2DOF mobile parallel connection mechanism of most of industrial employings is used for getting and putting of article, requires to have the both direction free degree, and keeps the stable of platform orientation.Except the serial machine people who uses two revolute pairs solves, also have some to propose the solution of closed loop moving chain, parallel four connecting rods of wherein most of employing are created a constraint and are kept the stable of platform orientation.
Brogardh (cloth sieve jar (unit of capacitance)) has proposed a 2DOF mobile parallel connection mechanism in calendar year 2001, links to each other with parallel four connecting rods between moving sets driving and terminal platform, replaces moving with rotating drive driving, and can also obtain the mechanism of an equivalence.In the once meeting about parallel institution future studies direction of nearest Montpellier, France in 2008, CEDRIC BARADAT (Cedric Ba Ladate) proposes a novel 2DOF parallel robot again.Literature search to prior art is found, domestic has also carried out many research to the 2DOF mobile parallel connection mechanism, for example, the two-degrees-of-freedom translation parallel robot mechanism that CN2511447Y proposes, adopt parallel branched structure to realize the translation of moving platform, kinematic pair is revolute pair entirely, and is simple and reliable for structure, at a high speed, advantage such as low cost; The two freedom mobile parallel connection robot mechanism that CN2675355Y proposes has high accuracy, simple in structure, low cost of manufacture, advantage such as in light weight; The two degrees of freedom translation parallel mechanism that CN101224578A proposes adopts the kinematic constraint of Hooke's hinge to realize translational motion, has improved the force-bearing situation of mechanism, has improved the rigidity of mechanism; The two degrees of freedom high speed translation parallel robot mechanism that the revolute pair that CN101224577A proposes drives forms space constraint by Hooke's hinge, has improved force-bearing situation, has guaranteed the dynamic and static rigidity when high-speed motion; The two freedom mobile parallel connection decoupling mechanism that CN101190527A proposes, in conjunction with two power truss structures, parallelogram sturcutre makes parallel institution realize the decoupling zero of two-freedom; The another kind of two-degree-of-freedom plane parallel robot mechanism that CN101104272A proposes adopts linear electric motors to drive, and air-float guide rail supports, and the air supporting rotary joint, and realization does not have friction, do not have the wearing and tearing driving.The working space of robot is the working region of robotic manipulator, and for above-mentioned parallel institution, working space is a shortcoming of its maximum for a short time.For satisfying bigger working space demand, must make mechanism's overall dimensions increase greatly, cost also increases greatly with floor space simultaneously, how reduces mechanism size under the situation of job requirement as much as possible satisfying, and is the key issue that invention designs.
Summary of the invention
Technical problem to be solved by this invention is to overcome the deficiency that the above-mentioned background technology exists, and a kind of crossed two-freedom-degree parallel mechanism with littler lateral dimension is provided.
The technical solution used in the present invention is:
Crossed two-freedom-degree parallel mechanism is made of moving platform, fixed platform and the side chain that connects moving platform and fixed platform; The bottom and the moving platform that it is characterized in that described side chain are hinged, and the top and the sliding pair on the fixed platform of side chain are hinged; The hinge axes of above-mentioned each pin joint all is parallel to each other, and the direction of motion of sliding pair also all is parallel to each other, and hinge axes is then vertical mutually with the direction of motion of sliding pair; Described side chain comprises many connecting rods that are the X-shaped layout, the wherein upper left bottom right and third connecting rod and the 4th connecting rod of arranging that be parallel to each other are positioned at same plane of movement, and the top of third connecting rod and the 4th connecting rod is hinged on the sliding pair in fixed platform left side jointly, and the bottom of third connecting rod and the 4th connecting rod then is hinged on the moving platform right side jointly; And the first connecting rod of the upper right lower-left and the layout that is parallel to each other and the both sides, front and back that second connecting rod is arranged in parallel in third connecting rod and the 4th connecting rod respectively, and the top of first connecting rod and second connecting rod is hinged with a sliding pair on fixed platform right side respectively, and the hinge axes of two pin joints is coaxial; The bottom of first connecting rod and second connecting rod then is hinged on the moving platform left side jointly, and the hinge axes of two pin joints is also coaxial.
This mechanism is configuration five connecting rod and six connecting rod parallel with first connecting rod and second connecting rod also; The top of the 5th connecting rod and the 6th connecting rod be hinged on respectively aforementioned first connecting rod and second connecting rod on the sliding pair of hinged fixed platform, the bottom of the 5th connecting rod and the 6th connecting rod is hinged with described moving platform too.
Described sliding pair comprises guide rail on the frame and the slide block that can reciprocatingly slide on guide rail; The top of each connecting rod is hinged by and sliding pair described with the hinged realization of slide block.
The articulated structure that described each pin joint all adopts jointed shaft to cooperate with hinge hole.
Described each connecting rod is all isometric.
Also dispose anchor clamps in this mechanism, these anchor clamps are positioned under the moving platform, and the symmetrical center line of anchor clamps is perpendicular to the plane of moving platform.
Useful effect of the present invention is: owing to adopted the linkage arrangement of chiasma type, the guide rail of mechanism has littler lateral dimension, and this mechanism have simple and reliable for structure, the rigidity height, low cost of manufacture is easy to advantages such as control, can be used as industrial robot.
Description of drawings
Fig. 1 is the main TV structure schematic diagram of one of embodiment of the invention.
Fig. 2 is the perspective view of Fig. 1 embodiment.
Two main TV structure schematic diagram of Fig. 3 embodiment of the invention.
Fig. 4 is the perspective view of Fig. 3 embodiment.
Fig. 5 is the A portion structure for amplifying schematic diagram among Fig. 1.
Fig. 6 is the D portion structure for amplifying schematic diagram among Fig. 2.
Fig. 7 is the B portion structure for amplifying schematic diagram among Fig. 3.
Fig. 8 is the E portion structure for amplifying schematic diagram among Fig. 4.
Among the figure: 1, fixed platform, 2, first slide block, 3, second slide block, 4, the 3rd slide block, 5, first pin joint, 6, second pin joint, 7, first connecting rod, 8, second connecting rod, 9, the 3rd pin joint, 10, the 4th pin joint, 11, third connecting rod, 12, the 4th connecting rod, 13, the 5th pin joint, 14, the 6th pin joint, 15, the 7th pin joint, 17, moving platform, 18, anchor clamps, 19, first guide rail, 20, second guide rail, 21, the 3rd guide rail, 23, the 5th connecting rod, 24, the 6th connecting rod, 26, the 9th pin joint, 27, the tenth pin joint, 28, the 11 pin joint, 30, the frame leg.
The specific embodiment
The working space of robot is the working region of robotic manipulator, and an important indicator of parallel robot is the working space and the ratio that self takes up space.Target of the present invention is the volume that reduces mechanism itself under the prerequisite of working space satisfying, and effectively to reduce cost, reduces floor space, and makes mechanism compact more, easier control.
Further specify below in conjunction with embodiment shown in the drawings.
Embodiment 1:
Among Fig. 1, Fig. 2, Fig. 5, the embodiment 1 shown in Figure 6, (guide rail that shows among the figure all is slide bars for guide rail 19, guide rail 20 and guide rail 21; Also can select conventional various typical mechanism for use) being parallel to each other is fixed on the following transverse plane of fixed platform 1; First slide block 2, second slide block 3 and the 3rd slide block 4 respectively with guide rail 19, guide rail 20 and guide rail 21 chimeric and can on the chimeric guide rail level reciprocatingly slide.Third connecting rod 11, the 4th connecting rod oblique layout in 12 upper left bottom rights and be positioned at same plane of movement, common hinged first slide block 2, the moving platform 17 in the two ends of these two connecting rods formed parallel four-bar linkage with third connecting rod 11, the 4th connecting rod 12.First connecting rod 7,8 oblique layouts in upper right lower-left of second connecting rod and lay respectively at third connecting rod and the both sides, front and back of the 4th connecting rod, the top of first connecting rod 7, second connecting rod 8 respectively with the 3rd slide block 4 and second slide block 3 hinged (formation revolute pair), and first pin joint 5 and second pin joint 6 are coaxial; The bottom of first connecting rod 7, second connecting rod 8 is hinged on the moving platform 17 jointly, and two pin joints (only showing the 7th pin joint 15 among the figure) are also coaxial.Above-mentioned parallel four-bar linkage is the X-shaped that intersects with first connecting rod 7, second connecting rod 8 and arranges, first slide block 2 that promptly is positioned at fixed platform 1 left side connects the right side of moving platforms 17 by third connecting rod 11, the 4th connecting rod 12, and the 3rd slide block 4 that is positioned at fixed platform 1 right side and second slide block 3 are connected the left side of moving platform 17 by first connecting rod 7, second connecting rod 8; Anchor clamps 18 are positioned under the moving platform, and its symmetrical center line is perpendicular to moving platform.During the moving platform motion two frees degree are arranged, move horizontally with vertical and move.Adopt two motors (motor omits among the figure) to drive the slide block on fixed platform left side and right side respectively, can drive moving platform and do spatial movement.Can drive any one in second slide block 3 and the 3rd slide block 4 during use, another only is used for trimming moment.
Embodiment 2:
Fig. 3, Fig. 4, Fig. 7, embodiment 2 shown in Figure 8 are to have set up the connecting rod that pair of parallel is arranged on the basis of embodiment 1, specifically are to have disposed five connecting rod 23 and six connecting rod 24 parallel with first connecting rod 7 and second connecting rod 8; And the top of the 5th connecting rod 23 be hinged on aforementioned first connecting rod 7 on the 3rd slide block 4 (pin joint 27) of hinged fixed platform, the top of the 6th connecting rod 24 be hinged on aforementioned second connecting rod 8 on second slide block 3 (pin joint 26) of hinged fixed platform, and the axis coaxle of pin joint 27 and pin joint 26; The bottom of the 5th connecting rod 23 and the 6th connecting rod 24 is hinged with described moving platform too, and the axis of two pin joints (only showing pin joint 28 among the figure) is also coaxial.
Obviously, the first connecting rod in this mechanism 7, the 5th connecting rod 23, the 3rd slide block 4 have been formed a parallel four-bar linkage with moving platform 17; Second connecting rod 8, the 6th connecting rod 24, second slide block 3 have been formed another parallel four-bar linkage with moving platform 17.And in the said structure, first connecting rod 7 and the 5th connecting rod 23 also are in same plane of movement, and second connecting rod 8 and the 6th connecting rod 24 also are in same plane of movement, and these two plane of movement are parallel to each other.Still have during the moving platform motion and move horizontally and vertical mobile two frees degree; Adopt two motors can drive the slide block on fixed platform left side and right side respectively, do spatial movement to drive moving platform.Can drive in second slide block 3, the 3rd slide block 4 on fixed platform right side any one, another is only made trimming moment and uses.
Obviously, than embodiment 1, the structure of embodiment 2 is more stable, can bear bigger load.
Still it should be noted that: for drawing clear, all pin joints hinge hole that only draws among the figure, jointed shaft all gives omission.
Claims (5)
1. crossed two-freedom-degree parallel mechanism is by moving platform (17), fixed platform (1) and the side chain formation that connects moving platform and fixed platform; The bottom and the moving platform that it is characterized in that described side chain are hinged, and the top and the sliding pair on the fixed platform of side chain are hinged; The hinge axes of above-mentioned each pin joint all is parallel to each other, and the direction of motion of sliding pair also all is parallel to each other, and hinge axes is then vertical mutually with the direction of motion of sliding pair; Described side chain comprises many connecting rods that are the X-shaped layout, the wherein upper left bottom right and third connecting rod (11) and the 4th connecting rod of arranging (12) that be parallel to each other are positioned at same plane of movement, and the top of third connecting rod and the 4th connecting rod is hinged on the sliding pair in fixed platform (1) left side jointly, and the bottom of third connecting rod and the 4th connecting rod then is hinged on moving platform (17) right side jointly; And the first connecting rod (7) of the upper right lower-left and the layout that is parallel to each other and the both sides, front and back that second connecting rod (8) is arranged in parallel in third connecting rod (11) and the 4th connecting rod (12) respectively, and the top of first connecting rod and second connecting rod is hinged with a sliding pair on fixed platform (1) right side respectively, and the hinge axes of two pin joints is coaxial; The bottom of first connecting rod and second connecting rod then is hinged on moving platform (17) left side jointly, and the hinge axes of two pin joints is also coaxial; Described each connecting rod is all isometric.
2. crossed two-freedom-degree parallel mechanism according to claim 1 is characterized in that this mechanism also disposes five connecting rod (23) parallel with first connecting rod (7) and second connecting rod (8) and the 6th connecting rod (24); The top of the 5th connecting rod and the 6th connecting rod be hinged on respectively aforementioned first connecting rod and second connecting rod on the sliding pair of hinged fixed platform, the bottom of the 5th connecting rod and the 6th connecting rod is hinged with described moving platform (17) too.
3. crossed two-freedom-degree parallel mechanism according to claim 1 and 2 is characterized in that described sliding pair comprises guide rail on the frame and the slide block that can reciprocatingly slide on guide rail; The top of each connecting rod is hinged by and sliding pair described with the hinged realization of slide block.
4. crossed two-freedom-degree parallel mechanism according to claim 3 is characterized in that described each pin joint is the articulated structure that adopts jointed shaft to cooperate with hinge hole.
5. crossed two-freedom-degree parallel mechanism according to claim 4 is characterized in that also disposing in this mechanism anchor clamps (18), and these anchor clamps are positioned under the moving platform (17), and the symmetrical center line of anchor clamps is perpendicular to the plane of moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101538437A CN101804629B (en) | 2010-04-17 | 2010-04-17 | Crossed two-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101538437A CN101804629B (en) | 2010-04-17 | 2010-04-17 | Crossed two-freedom-degree parallel mechanism |
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| Publication Number | Publication Date |
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| CN101804629A CN101804629A (en) | 2010-08-18 |
| CN101804629B true CN101804629B (en) | 2011-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101538437A Expired - Fee Related CN101804629B (en) | 2010-04-17 | 2010-04-17 | Crossed two-freedom-degree parallel mechanism |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103887734A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Four-connecting-rod mass-center-adjustable patrol robot mechanism |
| CN104044135A (en) * | 2014-07-10 | 2014-09-17 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism |
| CN104882061B (en) * | 2015-06-17 | 2017-07-25 | 上海大学 | Land experimental system applied to two-freedom mobile robot module |
| CN108381547A (en) * | 2018-05-17 | 2018-08-10 | 上海金东唐科技有限公司 | Parallel manipulator and materials conveying system |
| CN110170984A (en) * | 2019-05-13 | 2019-08-27 | 霸州市华硕汽车零部件有限公司 | A kind of parallel connection processing platform robot |
| CN110154002B (en) * | 2019-06-17 | 2024-03-12 | 无锡超通智能制造技术研究院有限公司 | Plane two-degree-of-freedom parallel mechanism |
| CN111376235B (en) * | 2020-03-31 | 2022-07-15 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN112935897B (en) * | 2021-02-01 | 2022-08-09 | 北华航天工业学院 | Main feeding mechanism of parallel machine tool |
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| JP2002239958A (en) * | 2001-02-20 | 2002-08-28 | Fukui Prefecture | Parallel mechanism robot arm (2) |
| CN1772442A (en) * | 2005-11-11 | 2006-05-17 | 华南理工大学 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| CN101190527A (en) * | 2007-12-06 | 2008-06-04 | 上海交通大学 | Two freedom mobile parallel connection decoupling mechanism |
| JP2009012123A (en) * | 2007-07-04 | 2009-01-22 | Jtekt Corp | Parallel mechanism and machine tool provided with the same mechanism |
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2010
- 2010-04-17 CN CN2010101538437A patent/CN101804629B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002239958A (en) * | 2001-02-20 | 2002-08-28 | Fukui Prefecture | Parallel mechanism robot arm (2) |
| CN1772442A (en) * | 2005-11-11 | 2006-05-17 | 华南理工大学 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
| JP2009012123A (en) * | 2007-07-04 | 2009-01-22 | Jtekt Corp | Parallel mechanism and machine tool provided with the same mechanism |
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| CN101190527A (en) * | 2007-12-06 | 2008-06-04 | 上海交通大学 | Two freedom mobile parallel connection decoupling mechanism |
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| CN101804629A (en) | 2010-08-18 |
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Application publication date: 20100818 Assignee: ANHUI HISEED ROBOT Co.,Ltd. Assignor: Zhejiang Sci-Tech University Contract record no.: 2018330000026 Denomination of invention: Crossed two-freedom-degree parallel mechanism Granted publication date: 20110615 License type: Exclusive License Record date: 20180529 |
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