CN102554916A - Two-degrees-of-freedom translation over restraint parallel mechanism - Google Patents
Two-degrees-of-freedom translation over restraint parallel mechanism Download PDFInfo
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- CN102554916A CN102554916A CN2012100065204A CN201210006520A CN102554916A CN 102554916 A CN102554916 A CN 102554916A CN 2012100065204 A CN2012100065204 A CN 2012100065204A CN 201210006520 A CN201210006520 A CN 201210006520A CN 102554916 A CN102554916 A CN 102554916A
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Abstract
The invention discloses a two-degrees-of-freedom translation over restraint parallel mechanism, which comprises a fixed frame, drive devices, a movable platform, and four branched chains, wherein the four branched chains are connected between the fixed frame and the movable platform; the four branched chains consist of a first active chain and a second active chain which are arranged oppositely, and a first passive chain and a second passive chain which are arranged oppositely; the structure of the first active chain and the structure of the second active chain are the same; near hack levers of the first active chain and the second active chain are driven by one drive device, respectively; a movable plane of the first active chain and a movable plane of the second active chain are of the same plane or two parallel planes; the structure of the first passive chain and the structure of the second passive chain are the same or are arranged in a planar symmetric manner; a movable plane of the first passive chain and a movable plane of the second passive chain are crossed with the movable plane of the first active chain and the movable plane of the second active chain, respectively; the first passive chain and the second passive chain are connected with each other through a reverse constant-ratio transmission device; and the reverse constant-ratio transmission device is connected between near hack levers of the first passive chain and the second passive chain. The two-degrees-of-freedom translation over restraint parallel mechanism is good in lateral rigidity and ingenious in design.
Description
Technical field
The present invention relates to a kind of robot mechanism, particularly relate to a kind of two-degree of freedom translation and cross the constraint parallel institution.
Background technology
The lower-mobility parallel robot has simple in structure, with low cost and controls advantages such as easy, in food, medicine, electronics and other light industries, is widely used in the operation link of pick-and-place and vanning, and good application prospects is arranged.
Patent documentation CN1355087A discloses a kind of two-degrees-of-freedom translation parallel robot mechanism that only contains revolute pair, comprises frame, moving platform and two pairs of side chains that respectively contain two parallel-crank mechanisms.
Patent documentation CN101642907A discloses a kind of two degrees of freedom parallel robot mechanism, comprises pedestal, moving platform and two active branched chain and a passive side chain of connecting pedestal and moving platform respectively.
The limitation of said mechanism is: the former two side chains are in same plane, i.e. motion of mechanism plane, and mechanism is relatively poor perpendicular to the rigidity of this in-plane, is unfavorable for the stable of mechanism.Though the latter has adopted the passive side chain of article one, this side chain can only play attitude maintenance effect, and the constraint reaction on the plane that moves both vertically is not provided, and lateral rigidity is relatively poor.
Summary of the invention
The present invention provides a kind of lateral rigidity good for solving the technical problem that exists in the known technology, designs cleverly two-degree of freedom translation and crosses the constraint parallel institution.
The technical scheme that the present invention takes for the technical problem that exists in the solution known technology is: a kind of two-degree of freedom translation is crossed the constraint parallel institution; Comprise fixed mount, drive unit, moving platform and be connected said fixed mount and said moving platform between four side chains; Each bar side chain includes a nearly hack lever and coupled two parallel and isometric hack levers far away; Said drive unit is installed on the said fixed mount, and said four side chains are made up of first drive chain of positioned opposite and the first passive chain and the second passive chain of second drive chain and positioned opposite;
Said first drive chain is identical with the second drive chain structure, and each is driven their nearly hack lever by a said drive unit, and their free cheek is same plane or two parallel planes;
The said first passive chain is identical with the said second passive chain structure and be in the face of claim arranging, the free cheek of the said first passive chain and the said second passive chain intersects with the free cheek of said first drive chain and said second drive chain respectively; The said first passive chain and the said second passive chain connect through the ratio transmission device such as reverse that is connected between their nearly hack levers.
One end of the said first passive chain and the nearly hack lever of the said second passive chain is rotationally connected with said fixed mount respectively; The other end is connected through an end of two hack levers far away of two spherical hinges and corresponding passive chains respectively; The said first passive chain is connected with said moving platform through two spherical hinges respectively with the other end of two hack levers far away of the said second passive chain; And the line of centres of two spherical hinges corresponding with it is parallel on two spherical hinges on every nearly hack lever of passive chain and the moving platform, and centre-to-centre spacing equates.
The two ends of two hack levers far away of said first drive chain and said second drive chain are connected with said moving platform with the nearly hack lever of corresponding drive chain through two spherical hinges respectively; And the line of centres of its corresponding two spherical hinges is parallel on two spherical hinges on every nearly hack lever of drive chain and the moving platform, and centre-to-centre spacing equates; Between said first drive chain and two hack levers far away of said second drive chain, be added with vertical affixed a plurality of constraining rods with them.
The two ends of two hack levers far away of said first drive chain and said second drive chain are connected through revolute pair with said moving platform with the nearly hack lever of its corresponding drive chain respectively, and its corresponding revolute pair axis is parallel to each other on revolute pair axis on every nearly hack lever of drive chain and the moving platform.
Said reverse ratio transmission device such as grade is any one in external gear pump group transmission mechanism, cross(ed) belt wheel drive mechanism and the cog belt transmission mechanism.
Advantage and good effect that the present invention has are: two passive side chains have been realized the attitude constraint and the crossing of lateral movement of moving platform are retrained through the ratio transmission device such as reverse on the nearly hack lever; The lateral rigidity of mechanism and the attitude hold facility of moving platform have been improved greatly; Be convenient to realize high speed, high acceleration motion; Simultaneously also can improve the motion of mechanism precision, the robotlike brings into play better kinetic characteristic architecture basics is provided in practical application for this reason.
Description of drawings
Fig. 1 is the structural representation of a certain angle of the present invention;
Fig. 2 is the structural representation of another angle of the present invention.
Among the figure: 1, first drive chain, 2, second drive chain, 3, the first passive chain, 4, the second passive chain; 5, fixed mount, 6a, 6b, drive unit, 7a～d, nearly hack lever, 8a, 8b, gear; 9a, 9b, hack lever far away, 10, constraining rod, 11, moving platform, 12, sucker.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, the following examples of giving an example now, and conjunction with figs. specifies as follows:
See also Fig. 1～Fig. 2; A kind of two-degree of freedom translation is crossed the constraint parallel institution; Comprise fixed mount 5, moving platform 11 and be connected fixed mount 5 and moving platform 11 between four side chains, each bar side chain includes a nearly hack lever and coupled two parallel and isometric hack lever 9a far away, 9b.Drive unit 6a, 6b are installed on the fixed mount 5, and four side chains are made up of first drive chain 1, the second drive chain, 2, the first passive chains 3 and the second passive chain 4; First drive chain 1 of positioned opposite is identical with second drive chain, 2 structures, and free cheek is same plane or two parallel planes, and nearly hack lever 7a, the 7b of first drive chain 1 and second drive chain 2 are connected with corresponding driving device 6a, 6b respectively.
The first passive chain 3 of positioned opposite is identical with second passive chain 4 structures and be in the face of claim arranging, the free cheek of the first passive chain 3 and the second passive chain 4 is crossing with the free cheek of first drive chain 1 and second drive chain 2 respectively; The end of the first passive chain 3 and the second passive chain 4 nearly hack lever 7c, 7d is rotationally connected with fixed mount 5 respectively; The first passive chain 3 and the second passive chain 4 are realized coupled motions through being fixed in gear 8a, 8b between their nearly hack lever 7c, the 7d transmission that is meshing with each other, and guarantee that it is to the constraint of moving platform 11 attitudes with along the mistake effect of contraction of vertical moving platform free cheek direction.Two hack lever 9a far away of the first passive chain 3 and the second passive chain 4, the two ends of 9b respectively the other end through two spherical hinges and the nearly hack lever of corresponding passive chain, be connected with moving platform 11; And the line of centres of two spherical hinges corresponding with it is parallel on the line of centres of two spherical hinges that the nearly hack lever 7c of passive chain, 7d are last and the moving platform 11, and centre-to-centre spacing equates.
The two ends of 2 two hack levers far away of first drive chain 1 and second drive chain are connected with moving platform with the nearly hack lever of corresponding drive chain through two spherical hinges respectively; And the line of centres of its corresponding two spherical hinges is parallel on the line of centres of two spherical hinges that the nearly hack lever 7a of drive chain, 7b are last and the moving platform, and centre-to-centre spacing equates.On this basis; Add a plurality of constraining rods 10 respectively between two hack lever 9c far away of first drive chain 1 and second drive chain 2, the 9d; Constraining rod 10 vertically is fixed between two hack lever 9c far away, the 9d, makes two hack levers far away of every drive chain can only do rotatablely moving of around the end two spherical hinge lines of centres.According to the real work needs, end effectors such as paw or sucker 12 are installed on moving platform.
Under the constraint of first and second drive chains; Moving platform 11 has two one-movement-freedom-degrees in its free cheek; With a rotary freedom that winds perpendicular to this free cheek axis, the above-mentioned rotary freedom of the first and second passive chain constraint moving platforms guarantees that moving platform has only translational degree of freedom.The first and second passive chains are realized coupled motions through the transmission device that is fixed between the nearly hack lever, and the effect of contraction of crossing along vertical free cheek direction is provided.
The mechanism of the reverse geometric ratio transmission between the above-mentioned first and second passive chains can be external gear pump group transmission mechanism, cross(ed) belt wheel drive mechanism or cog belt transmission mechanism, can also be other mechanisms that meet reverse geometric ratio transmission.
In addition; Two hack levers far away of first drive chain 1 and second drive chain 2 are not limited to said structure; Also can adopt following structure: bar throws the reins between two hack levers far away of first drive chain 1 and second drive chain 2; The two ends of two hack levers far away directly are connected through revolute pair with moving platform with the nearly hack lever of the drive chain corresponding with it respectively, and its corresponding revolute pair axis is parallel to each other on revolute pair axis on every nearly hack lever of drive chain and the moving platform 11.
The present invention compared with prior art, its difference is:
1) adopts two passive chains that moving platform is carried out the redundancy constraint, its attitude hold facility is strengthened.
2) two passive chains wait the ratio transmission device effect that realized intercoupling through reverse on the nearly hack lever, for mechanism provides the constraint reaction on the plane that moves both vertically, raising lateral rigidity.
3) transmission device can be selected external gear pump for use between the two passive chains, and common transmission devices such as intersection cog belt are easily manufactured, stable performance.
This invention designs ingenious uniqueness, compact conformation, and rigidity and good stability, and motion is flexible, and it is stressed that evenly precision is higher, and long service life is convenient to realize high speed, high acceleration motion.
Although combine accompanying drawing that the preferred embodiments of the present invention are described above; But the present invention is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, is 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 (5)
1. a two-degree of freedom translation is crossed the constraint parallel institution; Comprise fixed mount, drive unit, moving platform and be connected said fixed mount and said moving platform between four side chains; Each bar side chain includes a nearly hack lever and coupled two parallel and isometric hack levers far away; Said drive unit is installed on the said fixed mount, it is characterized in that: said four side chains are made up of first drive chain of positioned opposite and the first passive chain and the second passive chain of second drive chain and positioned opposite;
Said first drive chain is identical with the second drive chain structure, and each is driven their nearly hack lever by a said drive unit, and their free cheek is same plane or two parallel planes;
The said first passive chain is identical with the said second passive chain structure and be in the face of claim arranging, the free cheek of the said first passive chain and the said second passive chain intersects with the free cheek of said first drive chain and said second drive chain respectively; The said first passive chain and the said second passive chain connect through the ratio transmission device such as reverse that is connected between their nearly hack levers.
2. two-degree of freedom translation according to claim 1 is crossed the constraint parallel institution; It is characterized in that; One end of the said first passive chain and the nearly hack lever of the said second passive chain is rotationally connected with said fixed mount respectively; The other end is connected through an end of two hack levers far away of two spherical hinges and corresponding passive chains respectively; The said first passive chain is connected with said moving platform through two spherical hinges respectively with the other end of two hack levers far away of the said second passive chain, and the line of centres of its corresponding two spherical hinges is parallel on two spherical hinges on every nearly hack lever of passive chain and the moving platform, and centre-to-centre spacing equates.
3. two-degree of freedom translation according to claim 1 and 2 is crossed the constraint parallel institution; It is characterized in that; The two ends of two hack levers far away of said first drive chain and said second drive chain are connected with said moving platform with the nearly hack lever of corresponding drive chain through two spherical hinges respectively; And the line of centres of its corresponding two spherical hinges is parallel on two spherical hinges on every nearly hack lever of drive chain and the moving platform, and centre-to-centre spacing equates; Between said first drive chain and two hack levers far away of said second drive chain, be added with vertical affixed a plurality of constraining rods with them.
4. two-degree of freedom translation according to claim 1 and 2 is crossed the constraint parallel institution; It is characterized in that; The two ends of two hack levers far away of said first drive chain and said second drive chain are connected through revolute pair with said moving platform with the nearly hack lever of the drive chain corresponding with it respectively, and its corresponding revolute pair axis is parallel to each other on revolute pair axis on every nearly hack lever of drive chain and the moving platform.
5. two-degree of freedom translation according to claim 1 is crossed the constraint parallel institution, it is characterized in that, said reverse ratio transmission device such as grade is any one in external gear pump group transmission mechanism, cross(ed) belt wheel drive mechanism and the cog belt transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100065204A CN102554916A (en) | 2012-01-10 | 2012-01-10 | Two-degrees-of-freedom translation over restraint parallel mechanism |
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| CN2012100065204A CN102554916A (en) | 2012-01-10 | 2012-01-10 | Two-degrees-of-freedom translation over restraint parallel mechanism |
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| CN102554916A true CN102554916A (en) | 2012-07-11 |
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| CN2012100065204A Pending CN102554916A (en) | 2012-01-10 | 2012-01-10 | Two-degrees-of-freedom translation over restraint parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273482A (en) * | 2013-06-25 | 2013-09-04 | 安徽工业大学 | Master-slave branch chain separate type two-translational motion parallel robot |
| CN103846910A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Four-freedom high-speed parallel connection mechanical hand |
| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN112775934A (en) * | 2019-11-11 | 2021-05-11 | 株式会社安川电机 | Parallel connecting rod robot system and parallel connecting rod robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN101977737A (en) * | 2008-01-18 | 2011-02-16 | 法特罗尼克基金会 | Two degree-of-freedom parallel manipulator |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
-
2012
- 2012-01-10 CN CN2012100065204A patent/CN102554916A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN101977737A (en) * | 2008-01-18 | 2011-02-16 | 法特罗尼克基金会 | Two degree-of-freedom parallel manipulator |
| CN101973030A (en) * | 2010-09-25 | 2011-02-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273482A (en) * | 2013-06-25 | 2013-09-04 | 安徽工业大学 | Master-slave branch chain separate type two-translational motion parallel robot |
| CN103846910A (en) * | 2014-02-28 | 2014-06-11 | 天津大学 | Four-freedom high-speed parallel connection mechanical hand |
| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN112775934A (en) * | 2019-11-11 | 2021-05-11 | 株式会社安川电机 | Parallel connecting rod robot system and parallel connecting rod robot |
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Application publication date: 20120711 |