CN102490187A - Novel parallel manipulator with five freedom degrees - Google Patents
Novel parallel manipulator with five freedom degrees Download PDFInfo
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- CN102490187A CN102490187A CN2011104156231A CN201110415623A CN102490187A CN 102490187 A CN102490187 A CN 102490187A CN 2011104156231 A CN2011104156231 A CN 2011104156231A CN 201110415623 A CN201110415623 A CN 201110415623A CN 102490187 A CN102490187 A CN 102490187A
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Abstract
本发明公开了新型五自由度并联机械手，它包括固定架、第一主运动链、第二主运动链、第三主运动链、从动支链，第一主运动链包括第一主动支链，第二主运动链包括第二和第三主动支链，第三主运动链包括第四和第五主动支链，从动支链位于设置在固定架中央开孔内的从动支链座内，每一主动支链座与相应的固定架开孔内壁分别通过第一转轴转动相连，每一主动支链和与其对应设置的主动支链座之间分别通过第二转轴转动相连，第二主运动链将运动传至第一传动系统，再由第一传动系统传至定位头，第三主运动链将运动传至第二传动系统，再由第二传动系统传至旋转轴。本结构中，双主动支链可加大刚度/质量比，使机构动态性能好、定位精度与重复定位精度高。
The invention discloses a novel five-degree-of-freedom parallel manipulator, which includes a fixed frame, a first main kinematic chain, a second main kinematic chain, a third main kinematic chain, and a driven branch chain, and the first main kinematic chain includes a first active branch chain , the second main kinematic chain includes the second and third active branch chains, the third main kinematic chain includes the fourth and fifth active branch chains, and the driven branch chain is located in the driven branch chain seat arranged in the central opening of the fixed frame Inside, each active branch chain seat is connected to the inner wall of the corresponding fixed frame opening through the first rotating shaft, and each active branch chain is connected to the corresponding active branch chain seat through the second rotating shaft. The main kinematic chain transmits the motion to the first transmission system, and then to the positioning head from the first transmission system, and the third main kinematic chain transmits the motion to the second transmission system, and then to the rotating shaft from the second transmission system. In this structure, the double active branch chain can increase the stiffness/mass ratio, so that the dynamic performance of the mechanism is good, and the positioning accuracy and repeat positioning accuracy are high.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel manipulator hand of realizing the five degree of freedom operation function.
Background technology
Can know according to patent US4732525, ZL200510015095.5, the multi-coordinate manipulator of existing band positioning head, its way of realization is generally the hybrid connected structure form that the lower-mobility parallel institution is aided with the A/C Double swing head.Wherein, The lower-mobility parallel institution is installed in the location, position that the servomotor on the active branched chain is realized mechanism's moving platform through adjusting; The A/C Double swing head is realized the attitude location of end effector through the servomotor that adjusting is installed on the Double swing head, thereby realizes the multi-coordinate working ability of mechanism.
This type of manipulator, because servomotor and decelerator etc. are installed in the A/C Double swing head, its deficiency is: the weight of end effector is excessive, influences the fast forward capability and the dynamic property of mechanism; Because the bearing capacity of mechanism is born by the side chain of lower-mobility parallel institution fully, is unfavorable for pursuing the high rigidity/mass ratio of mechanism.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, provide a kind of and have that advantage direction of feed, dynamic property are good, rigidity/mass ratio big, positioning accuracy and the high novel five-freedom parallel tool hand of repetitive positioning accuracy.
Novel five-freedom parallel tool hand of the present invention, it comprises fixed mount, the first main motion chain, the second main motion chain, the 3rd main motion chain, driven side chain, the described first main motion chain comprises first active branched chain; The described second main motion chain comprises the second and the 3rd active branched chain, and described the 3rd main motion chain comprises the 4th and the 5th active branched chain, and described driven side chain is positioned at the driven side chain seat that is arranged on the fixed mount central openings; First, second, third main motion chain is placed with respect to driven side chain symmetry and phase place each other is 120 °; First active branched chain is positioned at the first active branched chain seat that is arranged on fixed mount first perforate, and the second and the 3rd active branched chain lays respectively in second and third active branched chain seat that is arranged in fixed mount second perforate, and the 4th and the 5th active branched chain lays respectively in the fourth, fifth active branched chain seat that is arranged in fixed mount the 3rd perforate; Each described active branched chain seat is rotatedly connected through first rotating shaft respectively with corresponding fixed mount perforate inwall; Be rotatedly connected through second rotating shaft respectively between the active branched chain seat of each described active branched chain and corresponding setting with it, described first and second rotating shafts are conllinear not each other, and driven side chain is a tubular structure; Described driven side chain seat comprises outer ring and inner ring; Said outer ring is rotationally connected through outer ring rotating shaft and said fixed mount central openings inwall, and said inner ring is connected with said outer ring through the inner ring rotating shaft, and the outer wall of described driven side chain links to each other through first sliding block guide track structure with inner ring; Said inner ring, outer ring shaft axis be conllinear not; Below described fixed mount, be provided with a transmission system housing, the lower end of described driven side chain and transmission system housing are fixedly linked, and the lower end of first active branched chain is connected with first hinge seat through rotating shaft; The lower end of said second and third active branched chain links to each other with a rotating shaft of first cross-garnet butt; The rotating shaft in the lower end of described fourth, fifth active branched chain and second cross-garnet butt links to each other, and described first and second cross-garnet butts link to each other with second, third hinge seat through bearing respectively, and said first, second, third hinge seat bottom is fixedly connected with the 3rd, the 4th, the 5th rotating shaft respectively; Said the 3rd, the 4th, the 5th rotating shaft and transmission system housing are rotatedly connected through bearing; Bottom at described transmission system housing is rotatably connected to positioning head through bearing, another rotating shaft of each cross-garnet butt separately be arranged on the transmission system housing in a drive bevel gear link to each other, each described drive bevel gear respectively be arranged on the transmission system housing in the cooperation that is meshed of a driven wheel of differential; The 5th rotating shaft that wherein connects first driven wheel of differential rotates through the 6th rotating shaft middle with being arranged on the transmission system housing of the first synchronous pulley structure and cooperates; In described the 6th rotating shaft, be connected with the 3rd drive bevel gear, the cooperation that is meshed with the 3rd driven wheel of differential on the rotating shaft that is located at through bearing bracket stand on the positioning head of described the 3rd drive bevel gear is equipped with driving pulley in the 4th rotating shaft that connects second driven wheel of differential; On positioning head, be provided with the driven belt wheel shaft through bearing bracket stand; Described driving pulley and the driven pulley that is installed on the driven belt wheel shaft are rotatedly connected through belt pulley, on described driven pulley, connect said positioning head, the setting that is parallel to each other and is perpendicular to one another with described rotating shaft of the gear shaft of described first, second driven wheel of differential and the 6th shaft axis.
Novel five-freedom parallel tool hand beneficial effect of the present invention is: the main motion chain adopts the form of two active branched chain; Can realize the motion that a translation two is rotated by driving mechanism; Can drive it again and realize rotation around the A/C axle; Effectively reduce the positioning head quality, realize the modular construction design, have the advantage direction of feed.Two active branched chain can strengthen rigidity/mass ratio, make that mechanism's dynamic property is good, positioning accuracy and repetitive positioning accuracy be high.
Description of drawings
Fig. 1 is the structural representation of novel five-freedom parallel tool hand of the present invention;
Fig. 2 is the vertical view of manipulator shown in Figure 1;
Fig. 3 is the structural representation of first active branched chain of manipulator shown in Figure 1;
Fig. 4 be manipulator shown in Figure 1 second and third, the structural representation of four, five active branched chain;
Fig. 5 is the transmission system of manipulator shown in Figure 1 and the partial sectional view of positioning head;
Fig. 6 is the routine structural representation of manipulator application implementation shown in Figure 1.
The specific embodiment
Below in conjunction with concrete embodiment, and, the present invention is done further explanation with reference to accompanying drawing:
Like novel five-freedom parallel tool hand of the present invention shown in the drawings, it comprises fixed mount 2, the first main motion chain, the second main motion chain, the 3rd main motion chain, driven side chain 8, and the described first main motion chain comprises first active branched chain 1; The described second main motion chain comprises the second and the 3rd active branched chain 3,4, and described the 3rd main motion chain comprises the 4th and the 5th active branched chain 9,10, and described driven side chain is positioned at the driven side chain seat that is arranged on the fixed mount central openings; First, second, third main motion chain is placed with respect to driven side chain symmetry and phase place each other is 120 °; First active branched chain is positioned at the first active branched chain seat that is arranged on fixed mount first perforate, and the second and the 3rd active branched chain lays respectively in second and third active branched chain seat that is arranged in fixed mount second perforate, and the 4th and the 5th active branched chain lays respectively in the fourth, fifth active branched chain seat that is arranged in fixed mount the 3rd perforate; Each described active branched chain seat is rotatedly connected through first rotating shaft respectively with corresponding fixed mount perforate inwall; Be rotatedly connected through second rotating shaft respectively between the active branched chain seat of each described active branched chain and corresponding setting with it, described first and second shaft axis are conllinear not, and driven side chain is a tubular structure; Described driven side chain seat comprises outer ring and inner ring; Said outer ring is rotationally connected through outer ring rotating shaft and said fixed mount central openings inwall, and said inner ring is connected with said outer ring through the inner ring rotating shaft, and the outer wall of described driven side chain links to each other through first sliding block guide track structure with inner ring; Said inner ring, outer ring shaft axis be conllinear not; Below described fixed mount, be provided with a transmission system housing 5, the lower end of described driven side chain and transmission system housing are fixedly linked, and the lower end of first active branched chain is connected with first hinge seat through rotating shaft; The lower end of second and third active branched chain links to each other with a rotating shaft of first cross-garnet butt; The rotating shaft in the lower end of described fourth, fifth active branched chain and second cross-garnet butt links to each other, and described first and second cross-garnet butts link to each other with second, third hinge seat through bearing respectively, and said first, second, third hinge seat bottom is fixedly connected the 3rd, the 4th, the 5th rotating shaft respectively; Said the 3rd, the 4th, the 5th rotating shaft and transmission system housing are rotatedly connected through bearing respectively; Bottom at described transmission system housing is rotatably connected to positioning head 6 through bearing, another rotating shaft of each cross-garnet butt separately be arranged on the transmission system housing in a drive bevel gear 43,29 link to each other, each described drive bevel gear respectively be arranged on the transmission system housing in a driven wheel of differential 42,30 cooperation that is meshed; The 5th rotating shaft 41 that wherein connects first driven wheel of differential 42 rotates through the 6th rotating shaft 38 middle with being arranged on the transmission system housing of the first synchronous pulley structure and cooperates; In described the 6th rotating shaft 38, be connected with the 3rd drive bevel gear 37, the cooperation that is meshed with the 3rd driven wheel of differential 36 on the rotating shaft 35 that is located at through bearing bracket stand on the positioning head of described the 3rd drive bevel gear 37 is equipped with driving pulley 32 in the 4th rotating shaft 31 that connects second driven wheel of differential 30; On positioning head, be provided with the driven belt wheel shaft through bearing bracket stand; Described driving pulley is rotatedly connected through belt pulley with the driven pulley 33 that is installed on the driven belt wheel shaft, on described driven pulley, connects said positioning head 6, the setting that is parallel to each other and is perpendicular to one another with described rotating shaft 35 of the gear shaft of described first, second driven wheel of differential and the 6th rotating shaft 38 axis.
Combine each width of cloth figure that the present invention is further specified below again:
As illustrated in fig. 1 and 2, said first active branched chain 1 is the first main motion chain, and second active branched chain 3 and the 3rd active branched chain 4 are combined into the second main motion chain, and the 4th active branched chain 9 and the 5th active branched chain 10 are combined into the 3rd main motion chain.Driven side chain 8 is positioned at fixed mount central authorities, and first, second and third main motion chain is placed about driven side chain 8 circumference symmetry, and the phase angle is 120 ° each other.Said fixed mount 2 and first active branched chain 1, second active branched chain 3, the 3rd active branched chain 4, the 4th active branched chain 9, the 5th active branched chain 10 are connected through first hinge 11, second hinge 12, the 3rd hinge 13, the 4th hinge 14, the 5th hinge 15 respectively; First hinge 11, second hinge 12, the 3rd hinge 13, the 4th hinge 14, the 5th hinge 15 are respectively the active branched chain seat that is rotatedly connected through first rotating shaft and fixed mount perforate.Driven side chain 8 is a tubular structure; Be connected with said fixed mount 2 through the 6th hinge 16; The 6th hinge 16 is a driven side chain seat, and this driven side chain seat comprises outer ring and interior coil structures, and said outer ring is rotationally connected through outer ring rotating shaft and said fixed mount; Said inner ring is connected with said outer ring through the inner ring rotating shaft, and the outer wall of driven side chain 8 links to each other through first sliding block guide track structure 17 with the inner ring of the 6th hinge 16.Inner ring described herein, outer ring shaft axis be conllinear not, and the lower end of driven side chain 8 is fixedly connected with transmission system housing 5.
Shown in Fig. 3 and 4; First active branched chain 1 comprises the first outer tube 23-1 that is rotatedly connected through rotating shaft 21-1 and corresponding active branched chain seat; At the top of the described first outer tube 23-1 servomotor 18-1 is housed; The output shaft of described servomotor 18-1 is fixedly linked through the end of the decelerator 19-1 and the first leading screw 20-1; Nut with its threaded engagement is housed on the described first leading screw 20-1, and described nut and one are inserted into that pipe 22-1 is fixedly linked in first in first outer tube, link to each other through the second guide rail slide block structure between the pipe 22-1 in the described first outer tube 23-1 and first; Second, third, the 4th, the 5th active branched chain includes the second outer tube 23-2 that is rotatedly connected through rotating shaft 21-2 and corresponding active branched chain seat; At the top of the described second outer tube 23-2 servomotor 18-2 is housed; The output shaft of described servomotor 18-2 is fixedly linked through the end of the second decelerator 19-2 and the second leading screw 20-2; Nut with its threaded engagement is housed on the described second leading screw 20-2; Described nut and second an interior pipe 22-2 who is inserted in second outer tube are fixedly linked; Pipe 22-1 lower end is connected with first hinge seat, 24, the first hinge seats, 24 bottoms through rotating shaft and is fixedly connected the 3rd rotating shaft in said first active branched chain first, and said the 3rd rotating shaft and transmission system housing are rotatedly connected through bearing; Pipe 22-2 lower end links to each other with a rotating shaft of first cross-garnet butt 27 in second and third active branched chain second, and pipe 22-2 lower end links to each other with 45 1 rotating shafts of second cross-garnet butt in described fourth, fifth active branched chain second.Pipe all adopts the type of drive of servomotor-decelerator-ball-screw in the present embodiment, but also can adopt hydraulic pressure, structure such as pneumatic as type of drive.
The said second main motion chain links to each other with first transmission system; Promptly the interior pipe 22-2 lower end of second active branched chain 3 and the 3rd active branched chain 4 links to each other with 27 1 rotating shafts of first cross-garnet butt; Another rotating shaft of first cross-garnet butt 27 and second hinge seat 28 and second drive bevel gear 29 that is arranged in the transmission system housing link to each other; Said second hinge seat 28 bottoms are fixedly connected the 4th rotating shaft 31; The 4th rotating shaft 31 and transmission system housing 5 are rotatedly connected through bearing, and said the 4th rotating shaft 31 is connected with second driven wheel of differential 30 and driving pulley 32 through key.
Said the 3rd main motion chain links to each other with second transmission system; Promptly the 4th active branched chain 9 links to each other with 45 1 rotating shafts of second cross-garnet butt with the 5th active branched chain 10 interior pipe 22-2 lower ends; Another rotating shaft of second cross-garnet butt 45 and the 3rd hinge seat 44 and first drive bevel gear 43 that is arranged in the transmission system housing link to each other; Said the 3rd hinge seat 44 bottoms are fixedly connected the 5th rotating shaft 41; The 5th rotating shaft 41 and transmission system housing 5 are rotatedly connected through bearing, are connected with first driven wheel of differential 42 and driving pulley 40 through key in said the 5th rotating shaft 41.
The second main motion chain reaches first transmission system with motion, reaches positioning head 6 by first transmission system again.The 3rd main motion chain reaches second transmission system with motion, reaches rotating shaft 35 by second transmission system again.
Said first transmission system is with transmission to realize through Bevel Gear Transmission synchronously.Second active branched chain 3 causes that with the different input values of the 4th active branched chain 4 servomotors first cross-garnet butt 27 rotates, and drives second drive bevel gear 29 and rotates; Second drive bevel gear 29 and 30 engagements of second driven wheel of differential make to rotate to reach the 4th rotating shaft 31; The 4th rotating shaft 31 drives driving pulley 32 and rotates, and through synchronous band motion is reached driven pulley 33; Driven pulley 33 and positioning head 6 are connected through key, and then driven pulley 33 rotates the rotation that is positioning head 6.
Said second transmission system is through Bevel Gear Transmission, be with transmission, Bevel Gear Transmission to realize synchronously.The 4th active branched chain 9 causes that with the different input values of the 5th active branched chain 10 servomotors second cross-garnet butt 45 rotates, and drives first drive bevel gear 43 and rotates; First drive bevel gear 43 and 42 engagements of first driven wheel of differential make to rotate to reach the 5th rotating shaft 41; The 5th rotating shaft 41 drives driving pulley 40 and rotates, and through synchronous band motion is reached driven pulley 39; Driven pulley 39 connects through key and links to each other with the 6th rotating shaft 38, and then the rotation of belt wheel can reach the 6th rotating shaft 38; The 6th rotating shaft 38 links to each other with the 3rd drive bevel gear 37 through key, and then the rotation of the 6th rotating shaft 38 reaches the 3rd drive bevel gear 37; The 3rd drive bevel gear 37 and 36 engagements of the 3rd driven wheel of differential, and the 3rd driven wheel of differential 36 is connected with rotating shaft 35 keys, then the rotation of bevel gear 37 finally reaches rotating shaft 35.
Novel five-freedom parallel tool hand of the present invention can be realized the motion of five degree of freedom.Second active branched chain 3 has identical input value with the servomotor of the 3rd active branched chain 4 in the second main motion chain; And when the 4th active branched chain 9 has identical input value with the servomotor of the 5th active branched chain 10 in the 3rd main motion chain; Because the first, second, third, fourth, the 5th hinge has double rotation freedom degrees; Said each active branched chain can drive terminal moving platform and realize double rotation freedom degrees under private clothes motor-driven, and pipe is connected through the feed screw nut and the first guide rail slide block mechanism with outer tube in the said active branched chain; Pipe can be realized moving axially with respect to outer tube in said; So moving platform can be realized the motion that a translation two is rotated, promptly mechanism can arrive the arbitrary position in the given working space, realizes positioning function.When second active branched chain 3 in the second main motion chain has different input value with the servomotor of the 3rd active branched chain 4, can the rotation that two chain ends produce be reached positioning head 6 through first transmission system, realize the rotation of positioning head 6 around the C axle.When the 4th active branched chain 9 in the 3rd main motion chain has different input value with the servomotor of the 5th active branched chain 10; Can the rotation that two chain ends produce be reached rotating shaft 35 through second transmission system; Mechanism realizes the rotation of rotating shaft 35, so can realize the five degree of freedom motion around the A axle.
Novel five-freedom parallel tool hand of the present invention, second, third main motion chain adopts the version of two active branched chain.Two active branched chain have identical input, can realize the motion that a translation two is rotated by driving mechanism; Two active branched chain have different inputs, can realize the rotation around the A/C axle by driving mechanism, thereby effectively alleviate the positioning head quality, increase mechanism's integral rigidity, improve positioning head positioning accuracy and repetitive positioning accuracy, realize that mechanism's fast forward capability and dynamic property promote.
Novel five-freedom parallel tool hand operating position general introduction of the present invention: shown in Fig. 6 embodiment 1; With five-freedom parallel tool hand of the present invention as a module; Integrated with the long stroke guide rail unit of three directions, realize the working ability in the bigger working space.
The above description of this invention only is schematically, rather than restrictive, so embodiment of the present invention is not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, under the situation that does not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110415623 CN102490187B (en) | 2011-12-13 | 2011-12-13 | Parallel manipulator with five freedom degrees |
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|---|---|---|---|
| CN 201110415623 CN102490187B (en) | 2011-12-13 | 2011-12-13 | Parallel manipulator with five freedom degrees |
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| CN102490187A true CN102490187A (en) | 2012-06-13 |
| CN102490187B CN102490187B (en) | 2013-12-25 |
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| CN 201110415623 Expired - Fee Related CN102490187B (en) | 2011-12-13 | 2011-12-13 | Parallel manipulator with five freedom degrees |
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Cited By (5)
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| CN105798635A (en) * | 2016-05-18 | 2016-07-27 | 哈尔滨工业大学 | Few-acting point five-degree-of-freedom parallel mechanism including independent double-output composite universal joint |
| CN107009350A (en) * | 2017-04-28 | 2017-08-04 | 河南理工大学 | A kind of determination method of 3 PRS serial parallel mechanism equivalent mass |
| CN108284435A (en) * | 2018-03-07 | 2018-07-17 | 燕山大学 | A kind of planar three freedom parallel connection platform of big revolution |
| WO2019090474A1 (en) * | 2017-11-07 | 2019-05-16 | 大连理工大学 | Scara high-speed parallel manipulator having partially decoupled kinematics |
| CN111267070A (en) * | 2020-01-02 | 2020-06-12 | 南京理工大学 | A six-degree-of-freedom parallel robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108284435A (en) * | 2018-03-07 | 2018-07-17 | 燕山大学 | A kind of planar three freedom parallel connection platform of big revolution |
| CN108284435B (en) * | 2018-03-07 | 2024-02-06 | 燕山大学 | Large-rotation plane three-degree-of-freedom parallel platform |
| CN111267070A (en) * | 2020-01-02 | 2020-06-12 | 南京理工大学 | A six-degree-of-freedom parallel robot mechanism |
| CN111267070B (en) * | 2020-01-02 | 2022-04-19 | 南京理工大学 | A six-degree-of-freedom parallel robot mechanism |
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| Publication number | Publication date |
|---|---|
| CN102490187B (en) | 2013-12-25 |
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