CN102069497A - Parallel mechanism with three-dimensional translation and one-dimensional rotation - Google Patents
Parallel mechanism with three-dimensional translation and one-dimensional rotation Download PDFInfo
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- CN102069497A CN102069497A CN 201010614256 CN201010614256A CN102069497A CN 102069497 A CN102069497 A CN 102069497A CN 201010614256 CN201010614256 CN 201010614256 CN 201010614256 A CN201010614256 A CN 201010614256A CN 102069497 A CN102069497 A CN 102069497A
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Abstract
The invention discloses a parallel mechanism with three-dimensional translation and one-dimensional rotation, which comprises a fixed mount, a moving platform and four branched chains which are symmetrically arranged between the fixed mount and the moving platform and have same structures, wherein the moving platform comprises a main platform and a secondary platform which are horizontally arranged on the same centre line; the main platform is a closed structure; the secondary platform is embedded into the main platform; the main platform and the secondary platform are connected through a rotating mechanism; the rotating mechanism comprises a nut which is fixedly connected with the secondary platform and a screw which is rotatablely connected with the main platform through a bearing; the nut and the screw form a screw pair; the centre line of the screw is coincident with the vertical axis of the moving platform; the main platform is fixedly connected with a guide rod; and the secondary platform is glidingly connected with the guide rod. The parallel mechanism has a compact structure and high rigidity and stability; a guide mechanism and the rotating mechanism are designed light, thereby, the motion quality is reduced, high-speed capture is easy to realize and the requirements of the complicated capture and release operations are met.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution that the spatial three-dimensional translational one dimension rotates that has of robot.
Background technology
According to patent US20090019960A1 and EP1084802B1 as can be known, the existing parallel institution of realizing that three-dimensional translation and one-dimensional rotates comprises 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 limitation of said mechanism is: can only realize winding the weight that rotation and enlarger perpendicular to the moving platform axis have increased moving platform, be unfavorable for improving mechanism efficiency.
Summary of the invention
The present invention provides a kind of moving platform force transmission effect good and design the light and handy parallel institution with three-dimensional translation and one-dimensional rotation 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 have a parallel institution that three-dimensional translation and one-dimensional rotates, and comprises fixed mount, moving platform and be arranged symmetrically in four side chains that structure is identical between described fixed mount and the moving platform; Every side chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two, and described nearly hack lever one end is affixed with the drive end that is fixed on the fixed mount, and the other end and last connecting axle are affixed; Described hack lever far away one end and described connecting axle ball-joint, the other end and the following connecting axle ball-joint that is fixed on the described moving platform gone up; Described moving platform comprises concentricity line and horizontally disposed main platform and auxiliary platform, the two ends of described main platform and described auxiliary platform are connected with relative described connecting axle down respectively, described main platform is an enclosed construction, described auxiliary platform is embedded in described main platform inside, described main platform is connected by rotating mechanism with described auxiliary platform, described rotating mechanism comprises the nut that is fixed on the auxiliary platform and is rotatably connected on leading screw on the described main platform by bearing, described nut and leading screw constitute screw pair, the center line of described leading screw overlaps with the vertical axis of described moving platform, be connected with guide post on the described main platform, described auxiliary platform is slidingly connected on the described guide post.
Advantage and good effect that the present invention has are: simple and compact for structure, motion mode is clear and definite, can satisfy the requirement of complicated pick-and-place operation.Because the symmetrical distribution of drive end can improve the rigidity of mechanism at whole working space, the guidance quality that auxiliary platform is embedded closed guiding mechanism in the main platform is good, and the design of major and minor moving platform is light and handy, helps improving mechanism stability, realizes high-speed motion.
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.
Among the figure: 1, fixed mount, 2, servomotor, 3, decelerator, 4, nearly hack lever, 5, go up connecting axle, 6a, 6b, hack lever far away, 7, moving platform, 8, main platform, 9, auxiliary platform, 10, leading screw, 11, nut, 12, sliding bearing, 13, guide post, 14, connecting axle down, 15, sucker.
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, a kind of have a parallel institution that three-dimensional translation and one-dimensional rotates, and comprises fixed mount 1, servomotor 2, decelerator 3, moving platform 7 and be arranged symmetrically in described fixed mount 1 and the identical side chain formation of four structures between the moving platform 7; Every side chain by nearly hack lever 4, go up that connecting axle 5, two are parallel to each other and isometric hack lever 6a far away and hack lever 6b far away constitutes.One end of described nearly hack lever 4 is affixed with the output of the decelerator 3 that is fixed in fixed mount 1, and the other end of this decelerator and described servomotor 2 are affixed, and the other end and the last connecting axle 5 of nearly hack lever 4 are affixed; The end of described hack lever 6a far away and hack lever 6b far away is connected with the described connecting axle 5 of going up by spherical hinge respectively, and the other end is also respectively by spherical hinge and following connecting axle 14 ball-joints that are fixed on the described moving platform 7.Described servomotor 2 and decelerator 3 provide a rotational freedom for the nearly hack lever 4 affixed with it.
See also Fig. 2, described moving platform 7 is made of main platform 8, auxiliary platform 9, described auxiliary platform 9 embeds main platform 8 inside, described main platform 8 bilateral symmetry are arranged two guide posts 13, described guide post 13 and main platform 8 are affixed, described auxiliary platform 9 is corresponding to two sliding bearings 12 of guide post 13 symmetric arrangement, described sliding bearing 12 fixedly is built in the described auxiliary platform 9, described two guide posts 13 constitute a guiding mechanism with pairing sliding bearing 12, and described guiding mechanism has limited auxiliary platform 9 can only moving along guide post 13 directions with respect to main platform 8.
Said structure can limit three revolution frees degree of main platform 8 and auxiliary platform 9, promptly main platform 8 and auxiliary platform 9 all can be realized three-dimensional translating, and auxiliary platform 9 is except that with main platform 8 three-dimensional translatings, also can realize and the relatively moving of main platform along being fixed in guide post 13 on the main platform 8.
See also Fig. 2, described moving platform 7 is equipped with rotating mechanism can realize that sucker 15 winds the rotation perpendicular to the axis z axle of moving platform 7.Described rotating mechanism is made of leading screw 10 and nut 11, described nut 11 and leading screw 10 constitute screw pair, described nut 11 is affixed with auxiliary platform 9, can move with auxiliary platform 9, described leading screw 10 is rotatably connected on the main platform 8 by bearing, can be with the mobile rotation that be converted into leading screw 10 of nut 11 along main platform guide post, and the center line line of leading screw 10 overlaps with the vertical axis z axle of moving platform 7, described sucker 15 is fixed on the described leading screw 10, thereby sucker 15 is also rotated around axis z axle.This mechanism can be converted into leading screw rotating around its axis along guide post relative to the changing of the relative positions with major and minor platform by rotating mechanism and guiding mechanism.
The present invention compared with prior art, its difference is:
(1) main platform 8 is made enclosed construction, and adopt the fixing guiding mechanism in two ends, help improving the rigidity and the stability of mechanism.
(2) guide effect realizes with respect to the slip of the sliding bearing of correspondence respectively by two guide posts.
The present invention is embedded in main platform inside with auxiliary platform, its compact conformation, and rigidity and good stability, guiding mechanism and rotating mechanism design are light and handy, have reduced moving-mass, easily realize grasping at a high speed, and satisfy the requirement of complicated pick-and-place operation.
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 (1)
1. one kind has the parallel institution that three-dimensional translation and one-dimensional rotates, and 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; Every side chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two, and described nearly hack lever one end is affixed with the drive end that is fixed on the fixed mount, and the other end and last connecting axle are affixed; Described hack lever far away one end and described connecting axle ball-joint, the other end and the following connecting axle ball-joint that is fixed on the described moving platform gone up; Described moving platform comprises concentricity line and horizontally disposed main platform and auxiliary platform, the two ends of described main platform and described auxiliary platform are connected with relative described connecting axle down respectively, it is characterized in that, described main platform is an enclosed construction, described auxiliary platform is embedded in described main platform inside, described main platform is connected by rotating mechanism with described auxiliary platform, described rotating mechanism comprises the nut that is fixed on the auxiliary platform and is rotatably connected on leading screw on the described main platform by bearing, described nut and leading screw constitute screw pair, the center line of described leading screw overlaps with the vertical axis of described moving platform, be connected with guide post on the described main platform, described auxiliary platform is slidingly connected on the described guide post.
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| CN 201010614256 CN102069497A (en) | 2010-12-29 | 2010-12-29 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
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| CN 201010614256 CN102069497A (en) | 2010-12-29 | 2010-12-29 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490185A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Face-symmetry five-freedom-degree parallel-connection manipulator |
| CN102490187A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Novel parallel manipulator with five freedom degrees |
| CN102490186A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Novel four-degree-of-freedom parallel manipulator |
| WO2012088976A1 (en) * | 2010-12-29 | 2012-07-05 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| 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 |
| CN102616563A (en) * | 2012-03-19 | 2012-08-01 | 上海交通大学 | Linkage handling mechanical hand |
| CN102848382A (en) * | 2012-04-12 | 2013-01-02 | 天津大学 | High-speed parallel manipulator with three-dimensional translation and one-dimensional rotation |
| CN103386681A (en) * | 2013-07-25 | 2013-11-13 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
| CN103846910A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Four-freedom high-speed parallel connection mechanical hand |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105234924A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism |
| 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 |
| CN109531543A (en) * | 2018-12-21 | 2019-03-29 | 清华大学 | Four-freedom-degree parallel-connection robot with double acting platform structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
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2010
- 2010-12-29 CN CN 201010614256 patent/CN102069497A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012088976A1 (en) * | 2010-12-29 | 2012-07-05 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102490186B (en) * | 2011-12-13 | 2013-12-18 | 天津大学 | Four-degree-of-freedom parallel manipulator |
| CN102490187A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Novel parallel manipulator with five freedom degrees |
| CN102490186A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Novel four-degree-of-freedom parallel manipulator |
| CN102490185A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Face-symmetry five-freedom-degree parallel-connection manipulator |
| CN102490185B (en) * | 2011-12-13 | 2014-05-21 | 天津大学 | Face-symmetry five-freedom-degree parallel-connection manipulator |
| CN102490187B (en) * | 2011-12-13 | 2013-12-25 | 天津大学 | Parallel manipulator with five freedom degrees |
| 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 |
| CN102616563A (en) * | 2012-03-19 | 2012-08-01 | 上海交通大学 | Linkage handling mechanical hand |
| CN102616563B (en) * | 2012-03-19 | 2014-07-02 | 上海交通大学 | Linkage handling mechanical hand |
| CN102848382A (en) * | 2012-04-12 | 2013-01-02 | 天津大学 | High-speed parallel manipulator with three-dimensional translation and one-dimensional rotation |
| CN102848382B (en) * | 2012-04-12 | 2015-01-14 | 天津大学 | High-speed parallel manipulator with three-dimensional translation and one-dimensional rotation |
| CN103386681A (en) * | 2013-07-25 | 2013-11-13 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
| CN103386681B (en) * | 2013-07-25 | 2015-06-03 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
| CN103846910A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Four-freedom high-speed parallel connection mechanical hand |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105234924A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism |
| 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 |
| CN109531543A (en) * | 2018-12-21 | 2019-03-29 | 清华大学 | Four-freedom-degree parallel-connection robot with double acting platform structure |
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Open date: 20110525 |