CN102848385A - High-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees - Google Patents
High-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees Download PDFInfo
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- CN102848385A CN102848385A CN2012101067584A CN201210106758A CN102848385A CN 102848385 A CN102848385 A CN 102848385A CN 2012101067584 A CN2012101067584 A CN 2012101067584A CN 201210106758 A CN201210106758 A CN 201210106758A CN 102848385 A CN102848385 A CN 102848385A
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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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Abstract
The invention discloses a high-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees. The manipulator comprises a fixing frame, a moving platform and four moving branch chains with the same structure, wherein each of the moving branch chains comprises a close rest and two far rests which are in parallel and have the same length, a pair of meshed bevel gears are arranged on rotary shafts of the close rests of two adjacent moving branch chains, and the moving platform is limited to two-dimensional translation in symmetrical surfaces of the two moving branch chains. The moving platform comprises a main platform and two secondary platforms, wherein the two secondary platforms are respectively connected with the main platform in a rotary mode through two groups of connection rods which are in parallel and have the same length. A small gear and two sectors which mesh with the small gear are connected with the main platform in a rotary mode, the two sectors are fixedly connected with two parallel connection rods respectively, under the action of drive devices, the main platform and the two secondary platforms are displaced in parallel, the parallel connection rods and the sectors are driven, and the motion is converted to rotary motion of the small gear and an end effector. The manipulator has the advantages of being good in structural rigidity, long in service life and simple in structure.
Description
Technical field
The present invention relates to a kind of parallel robot, particularly relate to a kind of high-speed parallel manipulator with bidimensional dimensional translation and one rotational freedom.
Background technology
Patent documentation US 7090458B2 and ZL 01154160.2 disclose a kind of binary parallel institution in plane of realizing, comprise drive unit, frame, moving platform and two pairs of side chains.Two servomotors are installed on the frame, and moving platform is connected with frame by two side chains, form 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 this mechanism contains two groups of parallel-crank mechanisms, complex structure; All in same plane or be parallel to this plane, the rigidity on the plane normal direction is relatively poor for each moving link.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of high-speed parallel manipulator with two-dimensional translation and one-dimensional rotation free degree, have that structural rigidity is good, long service life and characteristics simple in structure.
In order to solve the problems of the technologies described above, the technical scheme that a kind of high-speed parallel manipulator with two-dimensional translation one-dimensional rotation free degree of the present invention is achieved is: comprise fixed mount, moving platform and be arranged symmetrically in described fixed mount movement branched chain a, movement branched chain b, movement branched chain c and the movement branched chain d identical with structure between the moving platform; Be connected with the first drive unit, the second drive unit and the 3rd drive unit on the described fixed mount; Each movement branched chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two respectively; Described moving platform comprises horizontally disposed a main platform and two auxiliary platforms, described two auxiliary platforms are rotationally connected by two parallel rods and described main platform separately, consist of two parallelogram sturcutres that are comprised of described auxiliary platform, described main platform and described parallel rod; Be rotationally connected an end effector at described main platform; Be connected with a pinion on the described end effector, being furnished with two on the main platform all fans with the tooth of described pinion, two teeth fan respectively with main platform on the affixed and rotating shaft of two parallel rods overlaps described two teeth fan and described pinion formation angular magnification organization; Be connected with first time connecting axle and second time connecting axle on the described main platform, be connected with respectively the 3rd time connecting axle and the 4th time connecting axle on two auxiliary platforms; One end and first drive unit of the nearly hack lever among the movement branched chain a are affixed, and are connected with the 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 in the described movement branched chain respectively with described upper connecting axle ball-joint, its other end respectively with described first time connecting axle ball-joint; Connecting axle, described first time connecting axle and be connected to the parallel and isometric hack lever far away of between the two two and form parallelogram on described first; Described drive unit provides one to rotate or one-movement-freedom-degree for the nearly hack lever affixed with it; One end of the nearly hack lever among the movement branched chain b is connected with the 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 described 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, described second time connecting axle and be connected to the parallel and isometric hack lever far away of between the two two and form parallelogram on described second; The pivot center of described the first rotating shaft and described the 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 described the first rotating shaft and the second rotating shaft is provided with intermeshing the first bevel gear and the second bevel gear, and the first bevel gear is identical with the second bevel gear structure, and the dead in line of the 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 described movement branched chain c respectively with the 3rd on the connecting axle ball-joint, respectively the 3rd time connecting axle ball-joint 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 described movement branched chain d respectively with the 4th on the connecting axle ball-joint, respectively the 4th time connecting axle ball-joint of its other end; Movement branched chain a and movement branched chain b realize that described 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 the first drive unit; Under the acting in conjunction of the first drive unit, the second drive unit and the 3rd drive unit, produce the parallel changing of the relative positions between main platform and two auxiliary platforms, driving parallel rod rotates with respect to main platform, two teeth are fanned simultaneously and pinion, are rotatablely moving of end effector with above-mentioned conversion of motion.
Compared with prior art, the invention has the beneficial effects as follows:
Article four, side chain is the space symmetr arrangement, has 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.Moving platform adopts the mode of major and minor platform to arrange, two auxiliary platforms when having guaranteed mechanism freedom, improve rigidity and the load capacity of mechanism by the effect of contraction of parallelogram sturcutre and angular magnification organization.Angular magnification organization is converted into rotatablely moving of end effector with the relative motion between the major and minor platform, and the rigidity of its structure is better with stability, and motion is flexibly, and is stressed even, long service life, and the needs that complicated pick-and-place operates are satisfied in easily at a high speed crawl of realization.
Description of drawings
Fig. 1 is a kind of structural representation with high-speed parallel manipulator of the two-dimensional translation one-dimensional rotation free degree of the present invention;
Fig. 2 is the top view of moving platform;
Fig. 3 is the elevational schematic view of the space structure of moving platform.
Reference numeral:
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 bevel gear 8-moving platform of first, second rotating shaft of 6a, 6b-7a, 7b-
First, second, third, fourth time connecting axle of 9a～9d-
10-master's platform 11a～11d-connecting rod 12,13-auxiliary platform
14,15-tooth fan 16-pinion 17-end effector
The specific embodiment
Below in conjunction with the specific embodiment the present invention is described in further detail.
As shown in Figure 1, a kind of high-speed parallel manipulator with two-dimensional translation one-dimensional rotation free degree of the present invention comprises fixed mount 2, moving platform 8 and is arranged symmetrically in described fixed mount 2 movement branched chain a, movement branched chain b, movement branched chain c and the movement branched chain d identical with structure between the moving platform 8; Be connected with the first drive unit 1a, the second drive unit 1c and the 3rd drive unit 1d on the described fixed mount 2; Each movement branched chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two respectively.As shown in Figure 2, be connected with first time connecting axle 9a and second time connecting axle 9b on the described main platform 10, be connected with respectively the 3rd time connecting axle 9c and the 4th time connecting axle 9d on two auxiliary platforms 12.
As depicted in figs. 1 and 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 6a, and the other end of this nearly hack lever 3a is connected with connecting axle 4a on first; The same end of two parallel and isometric hack levers far away among the described movement branched chain a is respectively by spherical hinge and described upper connecting axle 4a ball-joint, and its other end is respectively by spherical hinge and described first time connecting axle 9a ball-joint; Connecting axle 4a, the described first time connecting axle 9a far away hack lever parallel and isometric with being connected between the two two forms parallelogram on described first; Described drive unit 1a provides one to rotate or one-movement-freedom-degree for the nearly hack lever 3a affixed with it.The end of nearly hack lever 3b among the movement branched chain b is connected with the second rotating shaft 6b, 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 levers far away among the described movement branched chain b is respectively by connecting axle 4b ball-joint on spherical hinge and second, and its other end is respectively by spherical hinge and second time connecting axle 9b ball-joint; Connecting axle 4b, the described second time connecting axle 9b far away hack lever parallel and isometric with being connected between the two two forms parallelogram on described second.The pivot center of described the first rotating shaft 6a and described the second rotating shaft 6b with separately under the pivot center of nearly hack lever in the side chain overlap, and intersect at a bit; The end of described the first rotating shaft 6a and the second rotating shaft 6b is provided with intermeshing the first bevel gear 7a and the second bevel gear 7b, and the first bevel gear 7a is identical with the second bevel gear 7b structure, the dead in line of the rotation of each bevel gear and place rotating shaft; Described movement branched chain a and described movement branched chain b be by the engaged transmission effect of described bevel-gear sett 7a, 7b, so that described drive unit 1a is when actuation movement side chain a, movement branched chain b such as will produce at the greatly in the same way motion; Jointly described main platform 10 is produced effect of contraction by two groups of parallelogram sturcutres, limited described main platform 10 and only in the plane of symmetry of movement branched chain a and movement branched chain b, made two-dimensional translation.
As depicted in figs. 1 and 2, 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 levers far away among the described movement branched chain c is respectively by connecting axle 4c ball-joint on spherical hinge and the 3rd, and its other end is respectively by spherical hinge and the 3rd time connecting axle 9c ball-joint.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 levers far away among the described movement branched chain d is respectively by connecting axle 4d ball-joint on spherical hinge and the 4th, and its other end is respectively by spherical hinge and the 4th time connecting axle 9d ball-joint.
As shown in Figures 2 and 3, described moving platform 8 comprises a horizontally disposed main platform 10 and two auxiliary platforms 12 and 13, described two auxiliary platforms 12 and 13 are rotationally connected by two parallel rods and described main platform 10 separately, consist of two parallelogram sturcutres that formed by described auxiliary platform 12 and 13, described main platform 10 and described parallel rod, be that described auxiliary platform 12 and 13 is rotationally connected by two parallel rod 11a and 11b and described main platform 10, described auxiliary platform 12, described main platform 10 and described parallel rod 11a and 11b form parallelogram sturcutre.Described auxiliary platform 13 is rotationally connected by two parallel rod 11c and 11d and described main platform 10, described auxiliary platform 13, and described main platform 10 and described parallel rod 11c and 11d form parallelogram sturcutre.As shown in Figure 3, be rotationally connected an end effector 17 at described main platform 10; Be connected with a pinion 16 on the described end effector 17, arrange two identical tooth fans 14 and 15 in pinion 16 both sides, described tooth fan 14,15 is installed with described pinion 16 engagements respectively.Described two teeth fan 14 and 15 is affixed with two parallel rod 11a, 11d respectively, and rotation overlaps with connecting rod rotation axis.Described two teeth fan 14 and 15 with described pinion 16 formation angular magnification organizations, under the acting in conjunction of the first drive unit 1a, the second drive unit 1b and the 3rd drive unit 1c, when the parallel changing of the relative positions occurs between main platform 10 and two auxiliary platforms 12 and 13, driving parallel rod rotates with respect to main platform 10, two tooth fans 14 and 15 mesh with pinion 16 simultaneously, are rotatablely moving of end effector 17 with above-mentioned conversion of motion.
The present invention compared with prior art, its difference is:
(1) is arranged symmetrically with four side chains between fixed mount and moving platform, wherein the nearly hack lever axis of two side chains intersects at a bit, the fixed a pair of gear that is meshed on the nearly hack lever pivot center, engaged transmission effect by two gears, make the greatly in the same way motions such as generation of two nearly hack levers in the side chain, thereby the constraint moving platform only produces two-dimensional translation in a plane, and makes this mechanism rigidity on perpendicular to the direction of the plane of movement of moving platform higher.
(2) moving platform comprises a main platform and two auxiliary platforms, two groups of parallel long connecting rods that wait are rotationally connected respectively two auxiliary platforms and main platform, form two groups of parallelogram sturcutres, affixed two teeth of the main platform end of two connecting rods are fanned therein, the rotating shaft of tooth fan overlaps with the connecting rod rotating shaft, two teeth fan is installed with the pinion that is fixed on the end effector, and end effector and main platform are rotationally connected, and two teeth fan consists of angular magnification organization with pinion.When main platform and auxiliary platform generation relative motion, be rotatablely moving of end effector by angular magnification organization with this conversion of motion.
Reasonable in design of the present invention, compactness, rigidity and stability are fine; Each side chain is arranged symmetrically with, and stressed evenly motion is light and handy, easily realizes at a high speed crawl, and service life is higher.
Although top description and accompanying drawing are described the preferred embodiments of the present invention; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away from 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 (2)
1. high-speed parallel manipulator with two-dimensional translation one-dimensional rotation free degree comprises fixed mount (2), moving platform (8) and is arranged symmetrically in described fixed mount (2) movement branched chain a, movement branched chain b, movement branched chain c and the movement branched chain d identical with structure between the moving platform (8);
Be connected with the first drive unit (1a), the second drive unit (1c) and the 3rd drive unit (1d) on the described fixed mount (2); Each movement branched chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two respectively;
Described moving platform (8) comprises a horizontally disposed main platform (10) and two auxiliary platforms (12,13), described two auxiliary platforms (12,13) are rotationally connected with described main platform (10) by two parallel rods (11a, 11b) and (11c, 11d) separately, consist of two parallelogram sturcutres that are comprised of described auxiliary platform (12), described main platform (10) and described parallel rod; Be rotationally connected an end effector (17) at described main platform (10); Be connected with a pinion (16) on the described end effector (17), be furnished with two on the main platform (10) and all fan (14,15) with the tooth of described pinion (16) engagement, the rotating shaft of two tooth fans (14,15) overlaps with the turning cylinder of upper two parallel rods of main platform (10) respectively, and described two teeth fans (14,15) and described pinion (16) consist of angular magnification organization;
Be connected with first time connecting axle (9a) and second time connecting axle (9b) on the described moving platform (10), be connected with respectively the 3rd time connecting axle (9c) and the 4th time connecting axle (9d) on two auxiliary platforms (12,13);
It is characterized in that,
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 the first rotating shaft (6a), 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 described movement branched chain a respectively with described upper connecting axle (4a) ball-joint, its other end respectively with described first time connecting axle (9a) ball-joint; Connecting axle on described first (4a), described first time connecting axle (9a) and be connected to the parallel and isometric hack lever far away of between the two two and form parallelogram; Described drive unit (1a) provides one to rotate or one-movement-freedom-degree for the nearly hack lever (3a) affixed with it;
One end of the nearly hack lever (3b) among the movement branched chain b is connected with the second rotating shaft (6b), 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 described movement branched chain b respectively with second on connecting axle (4b) ball-joint, its other end respectively with second time connecting axle (9b) ball-joint; Connecting axle on described second (4b), described second time connecting axle (9b) and be connected to the parallel and isometric hack lever far away of between the two two and form parallelogram;
The pivot center of described the first rotating shaft (6a) and described the second rotating shaft (6b) with separately under the pivot center of nearly hack lever in the side chain overlap, and intersect at a bit; The end of described the first rotating shaft (6a) and the second rotating shaft (6b) is provided with intermeshing the first bevel gear (7a) and the second bevel gear (7b), the first bevel gear (7a) is identical with the second bevel gear (7b) structure, and the dead in line of the rotation of each bevel gear and place rotating shaft also intersects at a bit;
One end and second drive unit (1c) of the nearly hack lever (3c) among the movement branched chain c 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 described movement branched chain c respectively with the 3rd on connecting axle (4c) ball-joint, its other end is the 3rd time connecting axle (9c) ball-joint respectively;
One end and the 3rd drive unit (1d) of the nearly hack lever (3d) among the movement branched chain d 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 described movement branched chain d respectively with the 4th on connecting axle (4d) ball-joint, its other end is the 4th time connecting axle (9d) ball-joint respectively;
Movement branched chain a and movement branched chain b realize that described main platform (10) makes two-dimensional translation in the plane of symmetry of movement branched chain a and movement branched chain b under the driving of the first drive unit (1a);
Under the acting in conjunction of the first drive unit (1a), the second drive unit (1b) and the 3rd drive unit (1c), the parallel changing of the relative positions occurs between main platform (10) and two auxiliary platforms (12), driving parallel rod (11a, 11b, 11c, 11d) rotates with respect to main platform (10), two tooth fans (14,15) mesh with pinion (16) simultaneously, are rotatablely moving of end effector (17) with above-mentioned conversion of motion.
2. the high-speed parallel manipulator with two-dimensional translation one-dimensional rotation free degree according to claim 1, it is characterized in that, each auxiliary platform is rotationally connected by two parallel rods and described main platform respectively, and each auxiliary platform, described main platform and two parallel rods form parallelogram sturcutre.
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| CN2012101067584A CN102848385A (en) | 2012-04-12 | 2012-04-12 | High-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees |
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| CN2012101067584A CN102848385A (en) | 2012-04-12 | 2012-04-12 | High-speed parallel manipulator with two-dimensional translation and one-dimensional rotation freedom degrees |
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Cited By (9)
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| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105234926A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation |
| CN105798888A (en) * | 2016-05-24 | 2016-07-27 | 天津大学 | Novel space translation parallel mechanism |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN106313006A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Three-branched-chain four-freedom-degree robot mechanism achieving three-dimensional translation and one-dimensional rotation |
| CN106313004A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN106584427A (en) * | 2016-10-07 | 2017-04-26 | 南京理工大学 | Parallel robot mechanism capable of achieving SCARA motion |
| CN107225348A (en) * | 2017-04-28 | 2017-10-03 | 青岛高智高新科技有限公司 | A kind of welding robot full angle full wind-up |
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| CN101977737A (en) * | 2008-01-18 | 2011-02-16 | 法特罗尼克基金会 | Two degree-of-freedom parallel manipulator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105234926A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation |
| CN105798888A (en) * | 2016-05-24 | 2016-07-27 | 天津大学 | Novel space translation parallel mechanism |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN105881508B (en) * | 2016-05-24 | 2019-03-19 | 天津大学 | A kind of novel Three Degree Of Freedom translational parallel connection mechanism |
| CN106313006A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Three-branched-chain four-freedom-degree robot mechanism achieving three-dimensional translation and one-dimensional rotation |
| CN106313004A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism |
| CN106584427A (en) * | 2016-10-07 | 2017-04-26 | 南京理工大学 | Parallel robot mechanism capable of achieving SCARA motion |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN107225348A (en) * | 2017-04-28 | 2017-10-03 | 青岛高智高新科技有限公司 | A kind of welding robot full angle full wind-up |
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Application publication date: 20130102 |