CN102626922B - Four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm - Google Patents
Four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm Download PDFInfo
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- CN102626922B CN102626922B CN201210107081.6A CN201210107081A CN102626922B CN 102626922 B CN102626922 B CN 102626922B CN 201210107081 A CN201210107081 A CN 201210107081A CN 102626922 B CN102626922 B CN 102626922B
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- branched chain
- movement branched
- hack lever
- synchronous pulley
- chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm. The mechanical arm comprises a fixing frame, a motion platform and four motion branch chains, wherein the four motion branch chains are symmetrically arranged between the fixing frame and the motion platform and have the same structure; a pair of synchronous belt wheels which are crossly connected through a cog belt are fixedly connected to two opposite near frame rods; the motion platform comprises four gear handles, four helical sectors, two helical gears, a base and an end effecter; the end effecter is rotatably hinged with the base; the rotation directions of the two helical gears are opposite, and the two helical gears are coaxially fixed with the end effecter; the four gear handles mutually form 90 degrees and rotatably connected with the base respectively through a rotation shaft; and when the branch chains are driven to move by corresponding driving devices, the two-dimensional translation in a plane and the one-dimensional rotation relative to the base of the end effecter can be achieved.
Description
Technical field
The present invention relates to a kind of parallel robot, particularly relate to a kind of parallel manipulator with the two-dimensional translation one-dimensional rotation free degree.
Background technology
Patent document US 7090458 B2 and ZL 01154160.2 discloses one can realize the binary parallel institution of plane, comprises drive unit, frame, moving platform and two pairs of side chains.Two servomotors are arranged in frame, and moving platform is connected with frame by two side chains, form parallel closed loop structure.Two side chains, respectively containing two parallel-crank mechanisms, respectively as group of drive rods and follower lever group, adopt turning joint to connect completely between each movement parts.Parallelogram branched structure is adopted to realize the two-dimensional translation of moving platform.The limitation of said mechanism is: the every bar side chain of this mechanism respectively contains two groups of parallel-crank mechanisms, complex structure; Each moving link is all in same plane or be parallel to this plane, and the rigidity on plane normal direction is poor.
In Practical Project, there are some occasions needs mechanism's moving platform on the basis realizing two-dimensional translation, have certain posture adjustment ability, and adopts said mechanism cannot meet this demand.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of four side chain two-dimensional translations and one-dimensional rotation DOF parallel tool hand.The present invention has the good and simple feature of structure of integral rigidity, has fair speed and acceleration, better positioning precision and repetitive positioning accuracy.
In order to solve the problems of the technologies described above, the technical scheme that the present invention four side chain two-dimensional translation one-dimensional rotation DOF parallel tool hand is achieved is: comprise fixed mount, motion platform and be arranged symmetrically in the described fixed mount movement branched chain a identical with the structure between motion platform, movement branched chain b, movement branched chain c and movement branched chain d; Described fixed mount is connected with three drive units; Each movement branched chain comprises the nearly hack lever far away hack lever parallel and isometric with two respectively; One end on the nearly hack lever of movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d is hinged with connecting axle on respectively; Wherein, the nearly hack lever one end in movement branched chain a, movement branched chain b and movement branched chain d is connected with the output of three drive units respectively; The nearly hack lever of described movement branched chain a is fixedly connected with the first synchronous pulley, the nearly hack lever of described movement branched chain c is fixedly connected with the second synchronous pulley, the first synchronous pulley and pivot center identical with the wheel footpath of the second synchronous pulley respectively with the rotation axis coincident of be connected nearly hack lever; Described first synchronous pulley and the second synchronous pulley are by a cog belt interconnection; First synchronous pulley rotates under the driving of a drive unit and corresponding nearly hack lever, drives the second synchronous pulley to produce the rotation reverse greatly with the first synchronous pulley etc. by the gearing of cog belt arranged in a crossed manner; Homonymy one end of the hack lever far away of movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d and described upper connecting axle ball-joint, the other end of hack lever far away respectively with connecting axle ball-joint once; The hack lever formation parallelogram sturcutre far away that the lower connecting axle of every bar movement branched chain, upper connecting axle are parallel and isometric with two; Under the driving of drive unit, realize motion platform movement branched chain b and movement branched chain d two-dimensional translation planar; Described motion platform comprises four gear handles, four helical teeth fans, two helical gears, a pedestal and end effectors; Described end effector and described pedestal rotate hinged, and two helical gear rotation directions are contrary and coaxially fix with described end effector, and four gear handles are arranged in 90 ° and are rotationally connected respectively by a rotating shaft and described pedestal each other; Each helical teeth fan respectively with the rotating shaft consolidation on a wherein gear handle, two pairs of helical teeth fans positioned opposite engage respectively with two helical gears; The lower connecting axle of every bar side chain fixedly mounts wherein on a gear handle respectively; Because parallelogram sturcutre in each side chain is to the engagement between the effect of contraction of the pedestal helical gear contrary with rotation direction with two pairs of helical teeth fan, when each drive unit drives corresponding chain movement, can realize end effector movement branched chain b and movement branched chain d the one-dimensional rotation of two-dimensional translation planar and opposite base.
Compared with prior art, the invention has the beneficial effects as follows:
The parallelogram sturcutre of the every bar side chain in the present invention adopts ball-joint mode, and the gap that disappears is convenient, thus the positioning precision of this mechanism is high; Have employed the engaging structure that helical gear and helical teeth are fanned in moving platform structure, make its structure simple, compact, move more flexible; Mechanism is space symmetr mechanism, significantly the lateral rigidity of hoisting mechanism, motion platform symmetric design, gear drive uniform force, and kinematic accuracy is high, and the stability of a system is good, easily realizes capturing at a high speed, can meet the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention four side chain two-dimensional translation and one-dimensional rotation DOF parallel tool hand;
Fig. 2 is the agent structure schematic diagram of moving platform in the present invention;
Fig. 3 is the fan of helical teeth shown in Fig. 2 and helical gear mesh schematic representation.
In figure:
The nearly hack lever of 1a, 1b, 1d-drive unit 2-fixed mount 3a, 3b, 3c, 3d-
4a, 4b, 4c, 4d-upper connecting axle 5a, 5b-hack lever 6-first far away synchronous pulley
7-second synchronous pulley 8-cog belt 9-motion platform
Connecting axle 11a ~ 11d-gear handle 12a ~ 12d-helical teeth fan under 10a, 10b, 10c, 10d-
13a, 13b-helical gear 14-pedestal 15-end effector
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is described in further detail.
As shown in Figure 1, four side chain two-dimensional translation one-dimensional rotation DOF parallel tool hands of the present invention, comprise fixed mount 2, motion platform 9 and are arranged symmetrically in the described fixed mount movement branched chain a identical with the structure between motion platform, movement branched chain b, movement branched chain c and movement branched chain d; Described fixed mount is connected with three drive units 1a, 1b, 1d; Each movement branched chain comprises the nearly hack lever far away hack lever parallel and isometric with two respectively; One end on nearly hack lever 3a, 3b, 3c, 3d of movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d is hinged with connecting axle 4a, 4b, 4c, 4d on one respectively; Wherein, nearly hack lever 3a, 3b, 3d one end in movement branched chain a, movement branched chain b and movement branched chain d is connected with the output of three drive units 1a, 1b, 1d respectively; The nearly hack lever 3a of described movement branched chain a is fixedly connected with the first synchronous pulley 6, the nearly hack lever 3c of described movement branched chain c is fixedly connected with the second synchronous pulley 7, first synchronous pulley 6 and pivot center identical with the wheel footpath of the second synchronous pulley 7 respectively with the rotation axis coincident of be connected nearly hack lever; Described first synchronous pulley 6 and the second synchronous pulley 7 are by cog belt 8 interconnection; Drive unit 1a drives the first synchronous pulley 6 to rotate while actuation movement side chain a, the motion of the first synchronous pulley 6 is reached the second synchronous pulley 7 by cog belt 8 arranged in a crossed manner, thus makes the second synchronous pulley 7 produce the rotation reverse greatly with the first synchronous pulley 6 grade.Thus constraint moving platform 9 only can at movement branched chain a and movement branched chain c to becoming move in plane.Homonymy one end of the hack lever far away of movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d and the upper connecting axle ball-joint of affiliated movement branched chain, the other end of hack lever far away respectively with the lower connecting axle ball-joint of described movement branched chain; The hack lever formation parallelogram sturcutre far away that the lower connecting axle of every bar movement branched chain, upper connecting axle are parallel and isometric with two; That is, described lower connecting axle 10a ~ 10d, described upper connecting axle 4a ~ 4d form four groups of parallelogram sturcutres respectively with the parallel hack lever 5a ~ 5d far away of two in each movement branched chain; Under the driving of drive unit, because the parallelogram sturcutre in four movement branched chain is to the effect of contraction of described motion platform 9, realize motion platform 9 movement branched chain b and movement branched chain d two-dimensional translation planar.
As shown in Figures 2 and 3, described motion platform 9 comprises four gear handles 11a, 11b, 11c, 11d, and four helical teeth fan 12a, 12b, 12c, 12d, two helical gear 13a, 13b, a pedestal 14 and end effectors 15; Described end effector 15 rotates hinged with described pedestal 14, two helical gear rotation directions are contrary and coaxially fix with described end effector 15, four gear handles 11a, 11b, 11c, 11d arrange in 90 ° and are rotationally connected respectively by a rotating shaft and described pedestal 14 each other, each helical teeth fan respectively with the rotating shaft consolidation on respective teeth wheel shank.Four gear handle 11a ~ 11d are fixedly connected with described lower connecting axle 10a ~ 10d respectively; Four helical teeth fan 12a ~ 12d are separately fixed on four gear handle 11a ~ 11d.
As shown in Figure 3, two couples of helical teeth fan 12a ~ 12d positioned opposite engage respectively with two helical gears 13a, 13b, namely, a pair helical teeth fan 12a, 12c and the helical gear 13a be fixed on end effector 15 is connected with a joggle, other a pair helical teeth fan 12b, 12d and another helical gear 13b be fixed on end effector 15 is connected with a joggle, on the contrary and be fixedly connected on end effector 15 coaxially, described end effector 15 rotates hinged with described pedestal 14 for two helical gear 13a, 13b rotation directions.As shown in Figure 2, lower connecting axle 10a, 10b, 10c, 10d of every bar movement branched chain fixedly mount wherein on a gear handle respectively; Because parallelogram sturcutre in each movement branched chain is to the engagement between the effect of contraction of pedestal 14 helical gear contrary with rotation direction with two pairs of helical teeth fan, when each drive unit drives corresponding chain movement, two gear handles 11a, 11c positioned opposite produce the rotational motion contrary relative to the direction of pedestal 14 by the gearing of movement branched chain a and movement branched chain c, thus drive helical teeth fan 12a, 12c to produce the contrary rotary motion in direction, by driving end effector 15 to produce one-dimensional rotation with the engaged transmission effect of helical gear 13a.
To sum up, the present invention four side chain two-dimensional translation one-dimensional rotation DOF parallel tool hand can realize end effector 15 movement branched chain b and movement branched chain d the one-dimensional rotation of two-dimensional translation planar and opposite base 14.
Compared with prior art, its difference is in the present invention:
(1) four movement branched chain be symmetrically arranged between fixed mount and moving platform are provided with, the identical synchronous pulley and in two wheel footpaths that moves through of the nearly hack lever of movement branched chain a, movement branched chain c intersects cog belt and is connected, when making the arbitrary movement branched chain in drive unit actuation movement side chain a and movement branched chain c, another movement branched chain such as to produce at the fortune contrary greatly thereupon, thus the plane at movement branched chain b and movement branched chain d place is main motion plane, makes motion platform realize two-dimensional translation motion by the effect of contraction of the parallelogram sturcutre in four movement branched chain; The plane at movement branched chain a and movement branched chain c place and movement branched chain b and movement branched chain d place plane orthogonal are arranged, thus this present invention rigidity on the direction perpendicular to moving platform plane of movement is higher.
(2) four gear handle 11a ~ 11d produce the rotation relative to movement platform base under the driving effect of four movement branched chain a ~ d, thus drive helical teeth fan to rotate, by helical teeth fan and helical gear engaged transmission effect, end effector is driven to produce one-dimensional rotation.
Adopt synchronous pulley to intersect cog belt between the nearly hack lever in the present invention in movement branched chain a and movement branched chain c to be in transmission connection mode, make in the plane at the restrained movement branched chain b of moving platform and movement branched chain d place, motion platform have employed the meshing transmission structure of helical teeth fan 12a ~ 12d and helical gear 13a, 13b, the present invention designs ingenious uniqueness, the rigidity of structure and good stability, motion flexibly, uniform force, precision is higher, long service life, easily realize high-speed motion, and meet the requirement of complicated pick-and-place operation.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (1)
1. four side chain two-dimensional translation one-dimensional rotation DOF parallel tool hands, comprise fixed mount (2), motion platform (9) and are arranged symmetrically in the described fixed mount movement branched chain a identical with the structure between motion platform, movement branched chain b, movement branched chain c and movement branched chain d;
Described fixed mount is connected with three drive units (1a, 1b, 1d); Each movement branched chain comprises the nearly hack lever far away hack lever parallel and isometric with two respectively; One end on the nearly hack lever of movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d is connecting axle on affixed respectively; Wherein, the nearly hack lever in movement branched chain a, movement branched chain b and movement branched chain d is connected with the output of three drive units respectively; Homonymy one end of the hack lever far away of movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d and described upper connecting axle ball-joint, the other end of hack lever far away respectively with connecting axle ball-joint once; The hack lever formation parallelogram sturcutre far away that the lower connecting axle of every bar movement branched chain, upper connecting axle are parallel and isometric with two;
It is characterized in that,
The nearly hack lever of described movement branched chain a is fixedly connected with the first synchronous pulley (6), the nearly hack lever of described movement branched chain c is fixedly connected with the second synchronous pulley (7), the first synchronous pulley (6) and pivot center identical with the wheel footpath of the second synchronous pulley (7) respectively with the rotation axis coincident of be connected nearly hack lever; Described first synchronous pulley (6) and the second synchronous pulley (7) are by a cog belt (8) interconnection; Drive unit (1a) drives nearly hack lever (3a), thus drive the first synchronous pulley (6) to rotate, the rotation driving the second synchronous pulley (7) generation and the first synchronous pulley (6) etc. reverse greatly by the gearing of cog belt (8) arranged in a crossed manner; Realize motion platform (9) movement branched chain b and movement branched chain d two-dimensional translation planar;
Described motion platform (9) comprises four gear handles (11a, 11b, 11c, 11d), four helical teeth fans (12a, 12b, 12c, 12d), two helical gears (13a, 13b), a pedestal (14) and end effectors (15); Described end effector (15) and described pedestal (14) rotate hinged, two helical gear rotation directions are contrary and coaxially fix with described end effector (15), and four gear handles (11a, 11b, 11c, 11d) are arranged in 90 ° and are rotationally connected respectively by a rotating shaft and described pedestal (14) each other;
Each helical teeth fan respectively with the rotating shaft consolidation on a wherein gear handle, two pairs of helical teeth fans positioned opposite engage respectively with two helical gears; The lower connecting axle of every bar side chain fixedly mounts wherein on a gear handle respectively; Because parallelogram sturcutre in each side chain is to the engagement between the effect of contraction of pedestal (14) helical gear contrary with rotation direction with two pairs of helical teeth fan, when each drive unit drives corresponding chain movement, can realize end effector (15) movement branched chain b and movement branched chain d the one-dimensional rotation of two-dimensional translation planar and opposite base (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210107081.6A CN102626922B (en) | 2012-04-12 | 2012-04-12 | Four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210107081.6A CN102626922B (en) | 2012-04-12 | 2012-04-12 | Four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm |
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| Publication Number | Publication Date |
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| CN102626922A CN102626922A (en) | 2012-08-08 |
| CN102626922B true CN102626922B (en) | 2015-01-14 |
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| CN201210107081.6A Expired - Fee Related CN102626922B (en) | 2012-04-12 | 2012-04-12 | Four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm |
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| CN106737600B (en) * | 2017-01-16 | 2019-05-07 | 安徽工业大学 | A kind of seven freedom transfer robot containing ball-screw moving platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| CA2712260A1 (en) * | 2008-01-18 | 2009-07-23 | Centre National De La Recherche Scientifique (Cnrs) | Two degree-of-freedom parallel manipulator |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102152306B (en) * | 2011-04-27 | 2012-05-23 | 天津大学 | Bar-wheel combined type three-translation one-rotation parallel mechanism |
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