CN101863024B - Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement - Google Patents
Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement Download PDFInfo
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- CN101863024B CN101863024B CN2010102123120A CN201010212312A CN101863024B CN 101863024 B CN101863024 B CN 101863024B CN 2010102123120 A CN2010102123120 A CN 2010102123120A CN 201010212312 A CN201010212312 A CN 201010212312A CN 101863024 B CN101863024 B CN 101863024B
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Abstract
The invention provides a three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement, comprising a fixed frame, a movable platform and four branched chains which are symmetrically arranged between the fixing frame and the movable platform and have same structures. The movable platform comprises an upper platform and a lower platform, which are horizontally arranged and are connected through a rotating mechanism. The rotating mechanism comprises a lead screw nut fixed on the upper platform and a lead screw connected with the lead screw nut, and the lead screw is supported by a bearing installed on the lower platform. In the three-dimensional translation and one-dimensional rotation parallel mechanism, the movement of the upper platform and the lower platform is converted into rotation round the axis of the lead screw through the rotating mechanism, and the upper platform and the lower platform are respectively and fixedly connected with a pair of opposite lower connecting shafts. In the invention, the upper platform and the lower platform which are horizontally arranged are adopted for the movable platform, and the upper platform and the lower platform are connected through the rotating mechanism, thereby the three-dimensional translation and one-dimensional rotation parallel mechanism has compact structure, avoids using a steering mechanism and an amplifying mechanism, reduces the mechanism complexity and the movement quality, is easy to realize high-speed capture, and meets the requirement of complex catching and releasing operation.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to the three-dimensional translation and one-dimensional rotation parallel mechanism that a kind of robot can realize high-speed motion.
Background technology
U.S. Pat 4976582 has proposed a kind of parallel institution of realizing that three-dimensional translation and one-dimensional rotates, comprises moving platform and three active branched chain, and every side chain comprises nearly hack lever and hack lever two parts far away.Described hack lever far away is the parallelogram that two bars constitute, every bar two ends are connected with moving platform with nearly hack lever respectively by spherical hinge, wherein near hack lever one end only has one with respect to fixed frame and moves or rotational freedom, the other end is connected by the end of ball pivot with hack lever far away, thereby the restriction moving platform is with respect to three revolution frees degree of fixed frame.After this, be that the motor that the expansion link of hook hinge will be fixed on the frame is connected with moving component on the moving platform by adding two ends, thereby but realized the rotation of moving platform axis.The deficiency of above-mentioned four-degree-of-freedom mechanism is: increased the quality of mechanism kinematic parts, realized that the structure that one dimension rotates is comparatively complicated.
American documentation literature US20090019960A1 and European patent document EP1084802B1 disclose a kind of parallel institution of realizing that three-dimensional translation and one-dimensional rotates, comprise four active branched chain and a moving platform, and every side chain comprises nearly hack lever and hack lever two parts far away.Wherein near hack lever one end only has one with respect to fixed frame and moves or rotational freedom, and the other end is connected with an end of hack lever far away by the hinge that only has two revolution frees degree; The hack lever other end far away is connected with moving platform by the hinge that only has two revolution frees degree, thereby guarantees the translation of mechanism; Moving platform is made up of four parts, wherein two parts need be parallel to each other, two other parts are connected by turning joint with aforementioned two parts that are parallel to each other, can realize winding rotational freedom by the mutual rotation between the parts, be equipped with corresponding enlarger simultaneously and can enlarge angle range perpendicular to the axis of moving platform.The deficiency of said mechanism is: the moving platform size is bigger, and the enlarger that is provided with on it has increased the weight of moving platform.
Summary of the invention
The present invention provides the three-dimensional translation and one-dimensional rotation parallel mechanism of the high-speed motion realized of a kind of moving platform compact conformation and additional movement light weight for solving the technical problem that exists in the known technology.
The present invention for the technical scheme that solves the technical problem that exists in the known technology and take is: a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of realizing high-speed motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive end on the described fixed mount; Be connected with down connecting axle on the described moving platform; Every side chain comprises the hack lever far away that nearly hack lever is parallel with two, and described nearly hack lever one end and described drive end are affixed, and the other end is connected with connecting axle; Described two parallel hack lever far away one ends respectively with described two ends ball-joint of going up connecting axle, the other end respectively with the two ends ball-joint of described down connecting axle, the described connecting axle down on every side chain, describedly go up connecting axle and described two parallel hack levers far away form parallelogram; Described moving platform comprises horizontally disposed upper mounting plate and lower platform, described upper mounting plate is connected by rotating mechanism with lower platform, described rotating mechanism comprises feed screw nut and the connected leading screw that is fixed on the upper mounting plate, described leading screw is by the bearing supporting that is installed in described lower platform, this mechanism is by the mobile rotation that be converted into around described leading screw axis of described rotating mechanism with upper and lower platform, and described upper mounting plate is connected with a pair of relative described connecting axle down respectively with lower platform.
Described upper mounting plate also is connected by the moving sets that is made of guide pin bushing and fairlead with lower platform, and described leading screw is arranged in described guide pin bushing and the fairlead.
The outside of described guide pin bushing and described fairlead is provided with the extension spring that is connected with described upper and lower platform.
Described guide pin bushing, described fairlead, described extension spring and described rotating mechanism are one group or at least two groups that are arranged in parallel.
Advantage and good effect that the present invention has are: because of moving platform has adopted horizontally disposed upper mounting plate and lower platform, and upper and lower platform connects by rotating mechanism, so its compact conformation, steering mechanism and enlarger have been avoided, reduced moving-mass when having reduced mechanism complexity, easily realize grasping at a high speed, and satisfy the requirement of complicated pick-and-place operation.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of moving platform among the present invention;
Fig. 3 is the cutaway view of moving platform upper guide bush among the present invention.
Among the figure: 1, fixed mount, 2, nearly hack lever, 3, go up connecting axle, 4, following connecting axle, 5a, 5b, 6a, 6b, spherical hinge, 7, hack lever I far away, 8, hack lever II far away, 9, upper mounting plate, 10, lower platform, 11, moving platform, 12, drive end, 13, extension spring, 14, feed screw nut, 15, leading screw, 16, guide pin bushing, 17, fairlead.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1～Fig. 3, a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of realizing high-speed motion comprises fixed mount 1, moving platform 11 and is arranged symmetrically in four side chains that structure is identical between described fixed mount 1 and the moving platform 11; Every side chain comprises nearly hack lever 2, hack lever I 7 far away, hack lever II 8 far away and and is connected the last connecting axle 3 of described nearly hack lever 2 and hack lever I 7 far away and hack lever II 8 far away and be connected hack lever I 7 far away and the following connecting axle 4 of hack lever II 8 far away, the following connecting axle 4 on every side chain, goes up the connecting axle 3 far away hack lever I 7 parallel with two, hack lever II 8 formation parallelogram far away.One end and the drive end 12 on the fixed mount 1 of described nearly hack lever 2 are affixed, and its other end and last connecting axle 3 are affixed; Described hack lever I far away 7 and hack lever II 8 far away be arranged in parallel, the one end respectively by spherical hinge 5a, 6a with described on connecting axle 3 be connected, the other end is respectively by spherical hinge 5b, 6b and be fixed in following connecting axle 4 ball-joints on the described moving platform 11.The drive end 12 of described fixed mount 1 provides a rotational freedom for the nearly hack lever 2 affixed with it.Moving platform 11 is made of upper mounting plate 9 and the lower platform of arranging 10 that be parallel to each other, upper mounting plate 9 and lower platform 10 are connected by rotating mechanism, rotating mechanism comprises feed screw nut 14 and the connected leading screw 15 that is fixed on the upper mounting plate 9, leading screw 15 is by the bearing supporting that is installed in the lower platform 10, and this mechanism is by the mobile rotation that be converted into around described leading screw 15 axis of above-mentioned rotating mechanism with upper and lower platform.Adopt the moving platform of said structure, compact conformation has been avoided steering mechanism and enlarger, has reduced moving-mass when having reduced mechanism complexity, easily realizes grasping at a high speed, and satisfies the requirement of complicated pick-and-place operation.But directly born the side force that when coming from upper and lower platform motion produce because of screw pair this moment, so the resistance of motion of screw pair own is bigger than normal, and easy to wear and reduction kinematic accuracy.In order to overcome above-mentioned defective, in leading screw 15 outsides the moving sets that is made of guide pin bushing 16 and fairlead 17 being set is connected upper and lower platform, the described guide pin bushing 16 outer spiral tension springs 13 that are furnished with connect described upper and lower platform, can not break away from mutually to guarantee guide pin bushing 16 and fairlead 17.The above-mentioned rotating mechanism of moving sets internal placement that described guide pin bushing 16 and fairlead 17 constitute, described upper mounting plate 9 and the affixed a pair of relative following connecting axle 4 of lower platform 10 difference.
When described upper and lower platform relative motion, drive leading screws 15 by feed screw nut 14, can be with upper mounting plate along axial mobile being converted into of guide pin bushing 16 around the axial rotation of guide pin bushing.The structure that adopts guide pin bushing 16 and fairlead 17 to constitute moving sets can guarantee that moving platform 11 has higher lateral rigidity, and side force can not influence inner rotating mechanism, thereby can satisfy the stability that mechanism's one dimension rotates.
Described extension spring, described guide pin bushing and fairlead and inner rotation mechanism can be provided with one group or at least two groups that are arranged in parallel, to satisfy the demand of carrying out a plurality of tasks.
The present invention compared with prior art, its difference is:
(1) moving platform 11 is connected and composed by rotating mechanism by horizontally disposed upper mounting plate and lower platform.
(2) moving platform 11 is simple in structure, compact.
The present invention is connected by rotating mechanism with lower platform because of moving platform has adopted horizontally disposed upper mounting plate, so its compact conformation has been avoided steering mechanism and enlarger, alleviated moving-mass when reducing mechanism complexity, easily realize grasping at a high speed, and satisfy the requirement of complicated pick-and-place operation.
Among the present invention nearly hack lever and by two hack levers far away and on, following connecting axle is formed the side chain of parallelogram and the closed loop that upper mounting plate connects to form has 4 frees degree, be respectively 3 translational degree of freedom and 1 rotational freedom, in like manner, the closed loop that is connected with lower platform also has 3 translational degree of freedom and 1 rotational freedom, if upper mounting plate is connected by moving sets with lower platform, 2 rotational freedoms of above-mentioned two closed loops have then been limited, introduce 3 passive constraints simultaneously, but increased the one-movement-freedom-degree of upper mounting plate with respect to lower platform, therefore this mechanism must free degree f=4+4-2-3+1=4, i.e. 3 translational degree of freedom and 1 isolated degree of freedom, local one-movement-freedom-degree can be converted into rotational freedom by steering mechanism.
Although in conjunction with the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (4)
1. the three-dimensional translation and one-dimensional rotation parallel mechanism that can realize high-speed motion comprises fixed mount, moving platform and is arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive end on the described fixed mount; Be connected with down connecting axle on the described moving platform; Every side chain comprises the hack lever far away that nearly hack lever is parallel with two, and described nearly hack lever one end and described drive end are affixed, and the other end is connected with connecting axle; Described two parallel hack lever far away one ends respectively with described two ends ball-joint of going up connecting axle, the other end respectively with the two ends ball-joint of described down connecting axle, the described connecting axle down on every side chain, describedly go up connecting axle and described two parallel hack levers far away form parallelogram; It is characterized in that, described moving platform comprises horizontally disposed upper mounting plate and lower platform, described upper mounting plate is connected by rotating mechanism with lower platform, described rotating mechanism comprises feed screw nut and the connected leading screw that is fixed on the upper mounting plate, described leading screw is by the bearing supporting that is installed in described lower platform, this parallel institution is by the mobile rotation that be converted into around described leading screw axis of described rotating mechanism with upper and lower platform, and described upper mounting plate is connected with a pair of relative described connecting axle down respectively with lower platform.
2. the three-dimensional translation and one-dimensional rotation parallel mechanism of realizing high-speed motion according to claim 1, it is characterized in that, described upper mounting plate also is connected by the moving sets that is made of guide pin bushing and fairlead with lower platform, and described leading screw is arranged in described guide pin bushing and the fairlead.
3. a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of realizing high-speed motion according to claim 2 is characterized in that the outside of described guide pin bushing and described fairlead is provided with the extension spring that is connected with described upper and lower platform.
4. a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of realizing high-speed motion according to claim 3 is characterized in that, described guide pin bushing, described fairlead, described extension spring and described rotating mechanism are one group or at least two groups that are arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102123120A CN101863024B (en) | 2010-06-29 | 2010-06-29 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
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| CN2010102123120A CN101863024B (en) | 2010-06-29 | 2010-06-29 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
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| CN101863024A CN101863024A (en) | 2010-10-20 |
| CN101863024B true CN101863024B (en) | 2011-11-09 |
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Cited By (2)
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| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
| NL2010124A (en) * | 2012-01-13 | 2013-07-16 | Penta Robotics Patents B V | Fast pick-and-place parallel robot with compact travelling plate. |
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| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
| CN102069497A (en) * | 2010-12-29 | 2011-05-25 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
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| CN102554917A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation |
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| CN102632501A (en) * | 2012-04-12 | 2012-08-15 | 天津大学 | Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator |
| CN102848382B (en) * | 2012-04-12 | 2015-01-14 | 天津大学 | High-speed parallel manipulator with three-dimensional translation and one-dimensional rotation |
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| CN105364922B (en) * | 2015-10-26 | 2017-04-19 | 浙江理工大学 | Four-freedom-degree parallel type transfer robot driven by movable pairs |
| CN107139162B (en) * | 2017-06-12 | 2019-11-22 | 清华大学 | Sorting machine people in parallel with double acting platform structure |
| CN107598901A (en) * | 2017-10-30 | 2018-01-19 | 江苏哈工海渡工业机器人有限公司 | Four-freedom-degree parallel-connection robot |
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| CA2712260A1 (en) * | 2008-01-18 | 2009-07-23 | Centre National De La Recherche Scientifique (Cnrs) | Two degree-of-freedom parallel manipulator |
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| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN101659059A (en) * | 2009-09-25 | 2010-03-03 | 深圳职业技术学院 | Three-translating and one-rotating parallel robot mechanism |
Cited By (3)
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| NL2010124A (en) * | 2012-01-13 | 2013-07-16 | Penta Robotics Patents B V | Fast pick-and-place parallel robot with compact travelling plate. |
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| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
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| CN101863024A (en) | 2010-10-20 |
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