CN102632501A - Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator - Google Patents
Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator Download PDFInfo
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- CN102632501A CN102632501A CN2012101063850A CN201210106385A CN102632501A CN 102632501 A CN102632501 A CN 102632501A CN 2012101063850 A CN2012101063850 A CN 2012101063850A CN 201210106385 A CN201210106385 A CN 201210106385A CN 102632501 A CN102632501 A CN 102632501A
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- Prior art keywords
- connecting axle
- branched chain
- parallel
- movement branched
- platform
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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
Abstract
The invention discloses a two-dimensional translation and one-dimensional rotation high-speed parallel manipulator, which comprises a fixing bracket, a moving platform and four movement branch chains which are in the same structure and symmetrically arranged between the fixing bracket and the moving platform, wherein three driving devices are fixedly connected with the fixing bracket; each movement branch chain comprises a near bracket rod and two far bracket rods which are parallel and equal in length; the moving platform comprises a primary platform, a secondary platform, and two connection rods which are parallel and equal in length, an impeller, a pinion and a performer; the moving platform is in a parallelogram structure, and can convert a parallel dislocation between the primary platform and the secondary platform into rotation of the performer, and the near bracket rods of two adjacent movement branch chains are in meshing transmission through a pair of bevel gears with the same structure, so the primary platform swiveled at the tail end of one far bracket rod performs two-dimensional translation in symmetric surfaces of the two movement branch circuits. Lateral rigidity of the manipulator is greatly increased by a symmetric branch chain layout disclosed by the invention, and the branch chains are simple and light in structure, long in service life, low in manufacturing cost and easy to achieve high-speed movement, and meet quick catching and releasing requirements.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of high speed parallel robot with two-dimensional translation and one dimension rotation.
Background technology
American documentation literature US 7090458B2 and Chinese patent ZL 01145160.2 disclose a kind of parallel institution of realizing two-degree of freedom translation, comprise frame, moving platform and two pairs of side chains; Two servomotors are installed on frame, and moving platform is connected with frame through two branches, forms parallel closed loop structure; Two side chains respectively contain two parallel-crank mechanisms, respectively as group of drive rods and follower lever group, adopt turning joint to connect between each movement parts fully; Adopt the parallelogram branched structure to realize the two-dimensional translation of moving platform.The limitation of said mechanism is: every side chain of mechanism contains two groups of parallel-crank mechanisms, complex structure; All in same plane or parallel plane, the rigidity on the plane normal direction is relatively poor for each moving link; Only can realize two-dimensional translation, can't realize that two-dimensional translation and one dimension rotate.
Summary of the invention
To above-mentioned prior art, the present invention provides a kind of two-dimensional translation one dimension to rotate high-speed parallel manipulator, and its structural rigidity is good, long service life and simple in structure.
In order to solve the problems of the technologies described above, two-dimensional translation one dimension of the present invention rotates the technical scheme that high-speed parallel manipulator is achieved and is: comprise fixed mount, motion platform and be arranged symmetrically in said fixed mount and identical movement branched chain a, movement branched chain b, movement branched chain c and the movement branched chain d of structure between the motion platform; Be connected with first drive unit, second drive unit and the 3rd drive unit on the said fixed mount; Each movement branched chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two respectively; Said motion platform comprises main platform, auxiliary platform, two parallel and isometric connecting rods, impeller, pinion and actuators; Pass through described two parallel and isometric rod hinge connections between said main platform and the auxiliary platform; Said impeller is fixed on the said auxiliary platform; Said pinion is installed on the said main platform, said pinion and the engagement of said impeller, and said actuator is fixed on the said pinion; Said main platform is connected with first time connecting axle and second time connecting axle, and said auxiliary platform is connected with the 3rd time connecting axle and the 4th time connecting axle; One end and first drive unit of the nearly hack lever among the movement branched chain a are affixed, and are connected with first rotating shaft, and the other end of this nearly hack lever is connected with connecting axle on first; The same end of two parallel and isometric hack levers far away among the said movement branched chain a is gone up the connecting axle ball-joint with said respectively, its other end respectively with said first time connecting axle ball-joint; Connecting axle, said first time connecting axle and be connected the parallel and isometric hack levers far away of between the two two and form parallelogram on said first; One end of the nearly hack lever among the movement branched chain b is connected with second rotating shaft, and the other end of this nearly hack lever is connected with connecting axle on second; The same end of two parallel and isometric hack levers far away among the said movement branched chain b respectively with second on the connecting axle ball-joint, its other end respectively with second time connecting axle ball-joint; Connecting axle, said second time connecting axle and be connected the parallel and isometric hack levers far away of between the two two and form parallelogram on said second; The pivot center of said first rotating shaft and said second rotating shaft with separately under the pivot center of nearly hack lever in the side chain overlap and intersect at a bit; The end of said first rotating shaft and second rotating shaft is provided with intermeshing first bevel gear and second bevel gear, and first bevel gear is identical with the second bevel gear structure, and the dead in line of rotation of each bevel gear and place rotating shaft also intersects at a bit; One end and second drive unit of the nearly hack lever among the movement branched chain c are affixed, and its other end is connected with connecting axle on the 3rd; The same end of two parallel and isometric hack levers far away among the said movement branched chain c respectively with the 3rd on the connecting axle ball-joint, the 3rd time connecting axle ball-joint respectively of its other end; One end and the 3rd drive unit of the nearly hack lever among the movement branched chain d are affixed, and its other end is connected with connecting axle on the 4th; The same end of two parallel and isometric hack levers far away among the said movement branched chain d respectively with the 4th on the connecting axle ball-joint, the 4th time connecting axle ball-joint respectively of its other end; Movement branched chain a and movement branched chain b realize that said main platform makes two-dimensional translation in the plane of symmetry of movement branched chain a and movement branched chain b under the driving of first drive unit; Under the acting in conjunction of first drive unit, second drive unit and the 3rd drive unit; The parallel changing of the relative positions takes place between main platform and the auxiliary platform, and intermeshing pinion and impeller are converted into the parallel changing of the relative positions between main platform and the auxiliary platform rotation of actuator.
Compared with prior art, the invention has the beneficial effects as follows:
Side chain among the present invention is a symmetric arrangement, and simple in structure, and mechanism reliability raising, long service life and manufacturing cost are lower; Every arrangement that side chain is at an angle to each other has been strengthened the effect of contraction to the moving platform free degree, significantly the lateral rigidity of hoisting mechanism; The parallelogram sturcutre of every side chain adopts the ball-joint mode, and the crack that disappears is convenient, thereby the positioning accuracy of this mechanism is high; This mechanism's branched structure is simple, the moving platform design is ingenious, and total quality is lighter, is prone to realize high-speed motion, satisfies quick pick-and-place needs.
Description of drawings
Fig. 1 rotates the structural representation of high-speed parallel manipulator for two-dimensional translation one dimension of the present invention;
Fig. 2 is nearly hack lever syndeton sketch map among the present invention;
Among the figure:
1a, 1c, the nearly hack lever of 1d-drive unit 2-fixed mount 3a～3d-
Connecting axle 5a～5d hack lever far away on 4a～4d-first, second, third, fourth
First, second, third, fourth time connecting axle 7-master of 6a～6d platform
8-auxiliary platform 9,10-connecting rod 11-impeller
12-pinion 13-actuator
14a, first, second rotating shaft of 14b-15a, first, second bevel gear of 15b-.
The specific embodiment
Below in conjunction with the specific embodiment the present invention is done to describe in further detail.
See also Fig. 1; A kind of two-dimensional translation one dimension of the present invention rotates high-speed parallel manipulator; Comprise fixed mount 2, motion platform (7～12) and be arranged symmetrically in said fixed mount 2 and four identical movement branched chain of structure between the motion platform; Be movement branched chain a, movement branched chain b, movement branched chain c and movement branched chain d, each movement branched chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two respectively; Be connected with the first drive unit 1a, the second drive unit 1c and the 3rd drive unit 1d on the said fixed mount 2.Said motion platform comprises main platform 7, auxiliary platform 8, two parallel and isometric connecting rods 9,10, impeller 11, pinion 12 and actuators (like sucker) 13; Hinged between said main platform 7 and the auxiliary platform 8 through described two parallel and isometric connecting rods 9,10; Said impeller 11 is fixed on the said auxiliary platform 8; Said pinion 12 is installed on the said main platform 7; Said pinion 12 and said impeller 11 engagements, said actuator 13 is fixed on the said pinion 12; Said main platform 7 is connected with first time connecting axle 6a and second time connecting axle 6b, and said auxiliary platform 8 is connected with the 3rd time connecting axle 6c and the 4th time connecting axle 6d.
See also Fig. 2, the end of the nearly hack lever 3a among the movement branched chain a and the output of the first drive unit 1a are affixed, and are connected with the first rotating shaft 14a, and the other end of this nearly hack lever 3a is connected with connecting axle 4a on first; Through spherical hinge and said upward connecting axle 4a ball-joint, its other end is respectively through spherical hinge and said first time connecting axle 6a ball-joint respectively for the same end of two parallel and isometric hack levers far away among the said movement branched chain a; Connecting axle 4a, said first time connecting axle 6a and be connected the parallel and isometric hack lever 5a far away of between the two two and form parallelogram on said first; The end of nearly hack lever 3b among the movement branched chain b is connected with the second rotating shaft 14b, and the other end of this nearly hack lever 3b is connected with connecting axle 4b on second; The same end of two parallel and isometric hack lever 5b far away among the said movement branched chain b is respectively through connecting axle 4b ball-joint on the spherical hinge and second, and its other end is respectively through spherical hinge and second time connecting axle 6b ball-joint; Connecting axle 4b, said second time connecting axle 6b and be connected the parallel and isometric hack lever 5b far away of between the two two and form parallelogram on said second; The said first drive unit 1a provides a rotational freedom for two nearly hack lever 3a, the 3b affixed with it.
See also Fig. 2, the pivot center of said first rotating shaft 14a and the said second rotating shaft 14b with separately under the pivot center of nearly hack lever in the side chain overlap and intersect at a bit; The end of the said first rotating shaft 14a and the second rotating shaft 14b is provided with the intermeshing first bevel gear 15a and the second bevel gear 15b; The first bevel gear 15a is identical with the second bevel gear 15b structure, and the dead in line of rotation of each bevel gear and place rotating shaft also intersects at a bit.
See also Fig. 1 and Fig. 2, said movement branched chain a and the engaged transmission effect of said movement branched chain b through the identical bevel gear of a pair of structure make said drive unit 1a when drive movement side chain a, and movement branched chain b will produce identical motion; By two groups of said hack lever 5a far away, 5b and connecting axle 4a on first, second, 4b and first, second down the parallelogram that constitutes of connecting axle 6a, 6b only in the plane of symmetry of movement branched chain a and movement branched chain b, make two-dimensional translation jointly to the effect of contraction of said moving main platform 7 thereby limited said main platform 7.
See also Fig. 1, an end of the nearly hack lever among the movement branched chain c and the output of the second drive unit 1c are affixed, and its other end is connected with connecting axle 4c on the 3rd; The same end of two parallel and isometric hack lever 5c far away among the said movement branched chain c is respectively through connecting axle 4c ball-joint on the spherical hinge and the 3rd, and its other end is respectively through the 3rd time connecting axle 6c ball-joint of spherical hinge; One end of the nearly hack lever among the movement branched chain d and the output of the 3rd drive unit 1d are affixed, and its other end is connected with connecting axle 4d on the 4th; The same end of two parallel and isometric hack lever 5d far away among the said movement branched chain d is respectively through connecting axle 4d ball-joint on the spherical hinge and the 4th, and its other end is respectively through spherical hinge and the 4th time connecting axle 6d ball-joint;
Under the driven in common effect of the first drive unit 1a, the second drive unit 1b and the 3rd drive unit 1c; The parallel changing of the relative positions takes place between main platform 7 and the auxiliary platform 8; And intermeshing pinion 12 has formed a motion enlarger with impeller 11, and the parallel changing of the relative positions between main platform 7 and the auxiliary platform 8 is converted into the rotation with the affixed actuator 13 of pinion 12.
The present invention compared with prior art, its difference is:
(1) through being installed on the movement branched chain of four symmetric arrangement between fixed mount and the motion platform; Generation is to the constraint of motion platform and make motion platform only produce translation; Under the driving action of drive unit, can make the opposing parallel changing of the relative positions that produces between the major and minor platform be converted into one dimension and rotate.
(2) the nearly hack lever axis of two movement branched chain among the present invention intersects at a bit; Nearly fixed a pair of gear of hack lever one end and engagement are installed; Through two gear meshing gearings, make the motion of nearly hack lever of these two movement branched chain identical, further the constrained motion platform only can produce two-dimensional translation in the plane of symmetry of this two movement branched chain; Article two, side chain arrangement at an angle to each other makes mechanism's rigidity in perpendicular to the plane of movement of motion platform improve.
(3) the nearly hack lever in the movement branched chain, frame parallelogram far away and motion platform is simple in structure, reliability is high, the moving link quality is little, thereby realize high-speed motion easily.
To sum up, reasonable in design of the present invention, compactness, rigidity is fine with stability; Each side chain symmetric arrangement, stressed evenly motion is light and handy, is prone to realize grasping at a high speed, and service life is higher.
Although invention has been described for top combination figure; But the present invention is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, rather than restrictive; Those of ordinary skill in the art is under enlightenment of the present invention; Under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (1)
1. a two-dimensional translation one dimension rotates high-speed parallel manipulator, comprises fixed mount, motion platform and is arranged symmetrically in said fixed mount and identical movement branched chain a, movement branched chain b, movement branched chain c and the movement branched chain d of structure between the motion platform; It is characterized in that,
Be connected with first drive unit (1a), second drive unit (1c) and the 3rd drive unit (1d) on the said fixed mount;
Each movement branched chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two respectively;
Said motion platform comprises main platform (7), auxiliary platform (8), two parallel and isometric connecting rods (9,10), impeller (11), pinion (12) and actuator (13); Hinged between said main platform (7) and the auxiliary platform (8) through described two parallel and isometric connecting rods (9,10); Said impeller (11) is fixed on the said auxiliary platform (8); Said pinion (12) is installed on the said main platform (7); Said pinion (12) and said impeller (11) engagement, said actuator (13) is fixed on the said pinion (12);
Said main platform (7) is connected with first time connecting axle (6a) and second time connecting axle (6b), and said auxiliary platform (8) is connected with the 3rd time connecting axle (6c) and the 4th time connecting axle (6d);
One end and first drive unit (1a) of the nearly hack lever (3a) among the movement branched chain a are affixed, and are connected with first rotating shaft (14a), and the other end of this nearly hack lever (3a) is connected with connecting axle on first (4a); The same end of two parallel and isometric hack levers far away among the said movement branched chain a is gone up connecting axle (4a) ball-joint with said respectively, its other end respectively with said first time connecting axle (6a) ball-joint; Connecting axle on said first (4a), said first time connecting axle (6a) and two parallel and isometric hack levers far away that are connected between the two form parallelogram;
One end of the nearly hack lever (3b) among the movement branched chain b is connected with second rotating shaft (14b), and the other end of this nearly hack lever (3b) is connected with connecting axle on second (4b); The same end of two parallel and isometric hack levers far away among the said movement branched chain b respectively with second on connecting axle (4b) ball-joint, its other end respectively with second time connecting axle (6b) ball-joint; Connecting axle on said second (4b), said second time connecting axle (6b) and two parallel and isometric hack levers far away that are connected between the two form parallelogram;
The pivot center of said first rotating shaft (14a) and said second rotating shaft (14b) with separately under the pivot center of nearly hack lever in the side chain overlap, and intersect at a bit; The end of said first rotating shaft (14a) and second rotating shaft (14b) is provided with intermeshing first bevel gear (15a) and second bevel gear (15b); First bevel gear (15a) is identical with second bevel gear (15b) structure, and the dead in line of rotation of each bevel gear and place rotating shaft also intersects at a bit;
One end of the nearly hack lever among the movement branched chain c and second drive unit (1c) are affixed, and its other end is connected with connecting axle on the 3rd (4c); The same end of two parallel and isometric hack levers far away among the said movement branched chain c respectively with the 3rd on connecting axle (4c) ball-joint, its other end is the 3rd time connecting axle (6c) ball-joint respectively;
One end of the nearly hack lever among the movement branched chain d and the 3rd drive unit (1d) are affixed, and its other end is connected with connecting axle on the 4th (4d); The same end of two parallel and isometric hack levers far away among the said movement branched chain d respectively with the 4th on connecting axle (4d) ball-joint, its other end is the 4th time connecting axle (6d) ball-joint respectively;
Movement branched chain a and movement branched chain b realize that said main platform (7) makes two-dimensional translation in the plane of symmetry of movement branched chain a and movement branched chain b under the driving of first drive unit (1a);
Under the acting in conjunction of first drive unit (1a), second drive unit (1b) and the 3rd drive unit (1c); The parallel changing of the relative positions takes place between main platform (7) and the auxiliary platform (8), and intermeshing pinion (12) and impeller (11) are converted into the parallel changing of the relative positions between main platform (7) and the auxiliary platform (8) rotation of actuator (13).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101063850A CN102632501A (en) | 2012-04-12 | 2012-04-12 | Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101063850A CN102632501A (en) | 2012-04-12 | 2012-04-12 | Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator |
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| CN102632501A true CN102632501A (en) | 2012-08-15 |
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| CN2012101063850A Pending CN102632501A (en) | 2012-04-12 | 2012-04-12 | Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103317500A (en) * | 2013-06-18 | 2013-09-25 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with three-dimensional translation and one-dimensional rotation functions |
| CN106426115A (en) * | 2016-11-24 | 2017-02-22 | 天津大学 | Rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator |
| NL2017167B1 (en) * | 2016-07-14 | 2018-01-18 | Penta Robotics Patents B V | Robot arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| NL2017167B1 (en) * | 2016-07-14 | 2018-01-18 | Penta Robotics Patents B V | Robot arm |
| CN106426115A (en) * | 2016-11-24 | 2017-02-22 | 天津大学 | Rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator |
| CN106426115B (en) * | 2016-11-24 | 2019-03-19 | 天津大学 | The flat one turn of high-speed parallel manipulator of four branch of rocking bar dislocation type three |
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