CN102975202B - Five-degree-of-freedom parallel manipulator capable of realizing high-velocity motion - Google Patents
Five-degree-of-freedom parallel manipulator capable of realizing high-velocity motion Download PDFInfo
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- CN102975202B CN102975202B CN201210514821.8A CN201210514821A CN102975202B CN 102975202 B CN102975202 B CN 102975202B CN 201210514821 A CN201210514821 A CN 201210514821A CN 102975202 B CN102975202 B CN 102975202B
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Abstract
The invention discloses a five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion. The five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion comprises a fixed mount, a movable platform and five branched chains with the same structure, wherein the branched chains are symmetrically arranged between the fixed mount and the movable platform; the fixed mount is fixedly connected with five driving devices; the movable platform comprises two ball arm seats, two mutually-parallel connecting rods with the equal length and a central plate; two groups of plane-surface parallelogram structures are respectively formed; a transmission mechanism is meshed by two groups of gears; the translational motion of the the two ball arm seats relative to the central plate or the rotation of the two groups of parallel connecting rods relative to the central plate is converted into two power inputs of a two-degree-of-freedom wrist; and under the action of the driving device, the three-dimensional translational motion of the movable platform and the two-dimensional rotation of the two-degree-of-freedom wrist are realized. The five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion, which is disclosed by the invention, has the advantages of symmetrical integral structure, even stressing of the movable platform, light motion part quality and big possibility of realizing high-velocity motion, and the complex fetching and releasing requirements can be satisfied.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with the three-dimensional translating two-dimensional rotary free degree of realizing high-speed motion.
Background technology
Current domestic five-freedom parallel structure is applied to the fields such as machining, measurement, spraying, assembling more, and still lacks and can realize high-speed motion parallel manipulator with five freedom degrees in high-speed material pick-and-place field.Majority adopts Serial manipulators or is connected in series two degrees of freedom rotary head taking three-translational parallel connection mechanism as body to realize the operation of material pick-and-place.Its limitation has been to increase quality and the inertia of mechanism kinematic parts, affects the dynamic property of mechanism, causes this mechanism to be difficult to realize high-speed motion.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of parallel manipulator with five freedom degrees of realizing high-speed motion, overall structure symmetry of the present invention, moving platform is stressed, and evenly heavy moving parts is light, easily realizes high-speed motion, can meet the requirement of complicated pick-and-place operation.
In order to solve the problems of the technologies described above, the present invention can realize the technical scheme that the parallel manipulator with five freedom degrees of high-speed motion is achieved: comprise fixed mount, moving platform and be arranged symmetrically in five side chains that structure is identical between described fixed mount and moving platform, be connected with five drive units on described fixed mount; Every side chain is parallel to each other by nearly hack lever, upper connecting axle, two and isometric hack lever far away and lower connecting axle forms; One end of the described nearly hack lever of every side chain is affixed with the output that is fixed on a drive unit on fixed mount respectively, and the upper connecting axle in the other end of described nearly hack lever and this side chain is affixed; One end of two hack levers far away is respectively by the upper connecting axle ball-joint in spherical hinge and this side chain, and the other end of two hack levers far away is respectively by the lower connecting axle ball-joint in spherical hinge and this side chain; Upper connecting axle in every side chain, two parallel hack levers far away and lower connecting axle form a parallelogram sturcutre; Described moving platform comprises two club seats, four connecting rods and a central plate; Two club seats are positioned at the both sides of described central plate, are connected with respectively two parallel connecting rods between the club seat of described central plate and both sides; Two club seats are also distinguished affixed two lower connecting axles, and under described central plate and another one, connecting axle is affixed; Every two parallel connecting rods and the club seat being attached thereto and central plate form two groups of plane parallel quadrilateral structures altogether; Between described club seat and two parallel connecting rods, be revolute pair between described central plate and two parallel connecting rods; The below of described central plate is provided with a two freedom-degree wrist, between two power shafts of described two freedom-degree wrist, arranges or for being arranged in parallel for coaxial, and meanwhile, the pivot center of two power shafts connecting rod parallel with two groups two on central plate is parallel; On a power shaft of described two freedom-degree wrist, be connected with two pinions, two pinion axes overlap; In two groups of plane parallel quadrilateral structures in moving platform (7), on the position of symmetry, be connected with respectively two gear wheels, two gear wheels engage with two pinions respectively; Under the effect of described drive unit, the lower connecting axle motion of side chain under every side chain drives, and then drive moving platform to produce three-dimensional translating motion; Described two groups of plane parallel quadrilateral structures make two club seats produce the parallel changing of the relative positions with respect to central plate, and two groups of parallel connecting rods rotate with respect to central plate simultaneously; Two groups of gear drives are all converted into club seat with respect to the rotation of central plate two power inputs of two freedom-degree wrist with respect to the changing of the relative positions of central plate or two groups of two parallel connecting rods, realize the two-dimensional rotary of two freedom-degree wrist.
Further, the present invention can realize the parallel manipulator with five freedom degrees of high-speed motion, two gear wheels are affixed with two club seats respectively, and the gear wheel axis in every group of gear drive and the common vertical line section of the pinion axes connecting rod parallel with in the plane parallel quadrilateral structure of place two is parallel and isometric; Two groups of gear drives are converted into club seat the power input of two freedom-degree wrist with respect to the translation of central plate.
Can realize the parallel manipulator with five freedom degrees of high-speed motion, two gear wheels respectively affixed the and each gear wheel of a connecting rod in the connecting rod parallel with two groups pivot center and with it the affixed connecting rod pivot center on central plate overlap; Two groups of gear drives are converted into two groups of two parallel connecting rods the power input of two freedom-degree wrist with respect to the rotation of central plate.
Compared with prior art, the invention has the beneficial effects as follows:
In moving platform structure, adopted two plane parallel quadrilateral structures, driven five chain movements by drive unit, thereby driven two club seats and central plate to produce three-dimensional translating motion, and club seat and connecting rod are with respect to the motion of central plate; By two groups of gear mechanisms, club seat is converted into the rotation of two power shafts of two freedom-degree wrist with respect to changing of the relative positions campaign or the connecting rod of central plate with respect to the rotational motion of central plate, realizes two-dimensional space rotation thereby realize two freedom-degree wrist.Mechanism's overall structure symmetry, moving platform is stressed, and evenly heavy moving parts is light, easily realizes high-speed motion, can meet the requirement of complicated pick-and-place operation.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of parallel manipulator with five freedom degrees of the present invention;
Fig. 2 is the structural representation of moving platform in the present invention;
Fig. 3 is a kind of typical power input structure schematic diagram of two freedom-degree wrist in the present invention;
Fig. 4 is the another kind of typical power input structure schematic diagram of two freedom-degree wrist in the present invention.
In figure:
The nearly hack lever of 1-drive unit 2-fixed mount 3-
Connecting axle under the upper connecting axle 5a of 4-, 5b-hack lever 6-far away
7-moving platform 8a～8b-club seat 9-central plate
11a～11d-connecting rod 12a, 12c-gear wheel 12b, 12d-pinion
13-two freedom-degree wrist
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, a kind of parallel manipulator with five freedom degrees of realizing high-speed motion of the present invention, comprise fixed mount 2, moving platform 7 and be arranged symmetrically in five side chains that structure is identical between described fixed mount 2 and moving platform 7, on described fixed mount 2, be connected with five drive units 1.
Every side chain by nearly hack lever 3, upper connecting axle 4, two be parallel to each other and isometric hack lever far away and lower connecting axle 6 forms; One end of the described near hack lever 3 of every side chain is affixed with the output that is fixed on a drive unit 1 on fixed mount 2 respectively, and the upper connecting axle 4 in the other end of described nearly hack lever 3 and this side chain is affixed; One end of two hack levers far away is respectively by upper connecting axle 4 ball-joints in spherical hinge and this side chain, and the other end of two hack levers far away is respectively by lower connecting axle 6 ball-joints in spherical hinge and this side chain; Upper connecting axle in every side chain 4, two parallel hack levers far away and lower connecting axle 6 form a parallelogram sturcutre.
As shown in Figure 2, moving platform 7 described in the present invention comprises two club seat 8a and 8b, four connecting rod 11a～11d and a central plate 9; Two club seat 8a and 8b are positioned at the both sides of described central plate 9, are connected with respectively two parallel connecting rods between the club seat 8a of described central plate 9 and both sides and 8b; Two club seats are also distinguished affixed two lower connecting axles 6, and under described central plate and another one, connecting axle 6 is affixed; Every two parallel connecting rods and the club seat being attached thereto and central plate form two groups of plane parallel quadrilateral structures altogether, and one is to be made up of club seat 8a, two connecting rod 11a and 11b and central plate 9; Another is to be made up of club seat 8b, two connecting rod 11c and 11d and 9 central plates; Between described club seat and two parallel connecting rods, be revolute pair between described central plate 9 and two parallel connecting rods; Under the effect of drive unit, five side chains drive two club seats and central plate to produce three-dimensional translating motion by lower connecting axle respectively, and two club seats are with respect to two self-movements of central plate.
The below of described central plate 9 is provided with a two freedom-degree wrist 13, between two power shafts of described two freedom-degree wrist 13, arranges or for being arranged in parallel for coaxial, and meanwhile, the pivot center of two power shafts connecting rod parallel with two groups two on central plate 9 is parallel; On a power shaft of described two freedom-degree wrist 13, dead in line is connected with two pinion 12b, 12d; On the position of two groups of plane parallel quadrilateral structure symmetries, be connected with respectively two gear wheel 12a, 12c, two gear wheel 12a, 12c engage with two pinion 12b, 12d respectively.According to the power input mode difference of two of two freedom-degree wrist 13 power shafts, there is the embodiment of two quasi-representatives.
As shown in Figure 3, two gear wheel 12a, 12c respectively affixed the and each gear wheel of connecting rod 11a, a 11c in the connecting rod parallel with two groups pivot center and with it the affixed connecting rod pivot center on central plate overlap; Pinion 12b, 12d are affixed with a power shaft of two freedom-degree wrist 13 respectively, and the pivot center of pinion overlaps with affixed input shaft axis, gear wheel 12a, 12c and pinion 12b, 12d form two groups of gear drives (a group is that gear wheel 12a and another group of pinion 12b are gear wheel 12c and pinion 12d), by two groups of gear drives, two groups of two parallel connecting rods are converted into the power input of two freedom-degree wrist 13 with respect to the rotation of central plate 9.
As shown in Figure 4, two gear wheel 12a and 12c are affixed with two club seat 8a and 8b respectively, pinion 12b, 12d, affixed with a power shaft of two freedom-degree wrist 13 respectively, and pinion rotation axis overlaps with the input shaft axis of affixed two freedom-degree wrist 13; Gear wheel 12a, 12c and pinion 12b, 12d form two groups of gear mechanisms (a group is that gear wheel 12a and another group of pinion 12b are gear wheel 12c and pinion 12d), and the gear wheel axis being meshed in every group of gear drive and the common vertical line section of the pinion axes connecting rod parallel with in the plane parallel quadrilateral structure of place two is parallel and isometric; By two groups of gear drives, club seat is converted into the power input of two freedom-degree wrist 13 with respect to the translation of central plate 9.
Under the effect of described drive unit 1, under every side chain drives, the lower connecting axle 6 of side chain moves, and then drives moving platform 7 to produce three-dimensional translating motion; Described two groups of plane parallel quadrilateral structures make two club seats produce the parallel changing of the relative positions with respect to central plate 9, and two groups of two parallel connecting rods are rotated with respect to central plate 9; Two groups of gear drives are all converted into club seat with respect to the rotation of central plate 9 two power inputs of two freedom-degree wrist 13 with respect to the parallel changing of the relative positions of central plate 9 or two groups of two parallel connecting rods, realize the controlled motion of the two-dimensional rotary of two freedom-degree wrist 13.
Compared with prior art, its difference is in the present invention:
In moving platform structure, adopted two plane parallel quadrilateral structures, driven five chain movements by drive unit, thereby driven two club seats and central plate to produce three-dimensional translating motion, and club seat and connecting rod are with respect to the motion of central plate; By two groups of gear mechanisms, club seat is converted into the rotation of two power shafts of two freedom-degree wrist with respect to changing of the relative positions campaign or the connecting rod of central plate with respect to the rotational motion of central plate, thereby realizes the two-dimensional space rotation of two freedom-degree wrist.
The good rigidly of this invention structure, flexibly, stressed evenly precision is higher in motion, and long service life easily realizes high-speed motion, and meets the requirement of complicated pick-and-place operation.And the mounting means of multiple two freedom-degree wrist provides multiple choices for practical application.
Although in conjunction with figure, invention has been described 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; instead of restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that not departing from aim of the present invention, can also make a lot of distortion, within these all belong to protection of the present invention.
Claims (3)
1. can realize the parallel manipulator with five freedom degrees of high-speed motion for one kind, comprise fixed mount (2), moving platform (7) and be arranged symmetrically in described fixed mount (2) and moving platform (7) between five side chains that structure is identical, on described fixed mount (2), be connected with five drive units (1);
Every side chain is parallel to each other by nearly hack lever (3), upper connecting axle (4), two and isometric hack lever far away and lower connecting axle (6) forms; One end of the described near hack lever (3) of every side chain is affixed with the output that is fixed on the drive unit (1) on fixed mount (2) respectively, and the upper connecting axle (4) in the other end and this side chain of described nearly hack lever (3) is affixed; One end of two hack levers far away is respectively by upper connecting axle (4) ball-joint in spherical hinge and this side chain, and the other end of two hack levers far away is respectively by lower connecting axle (6) ball-joint in spherical hinge and this side chain; Upper connecting axle (4) in every side chain, two parallel hack levers far away and lower connecting axle (6) form a parallelogram sturcutre;
It is characterized in that:
Described moving platform (7) comprises two club seats, four connecting rods and a central plate; Two club seats are positioned at the both sides of described central plate (9), are connected with respectively two parallel connecting rods between the club seat of described central plate (9) and both sides; Two club seats are also distinguished affixed two lower connecting axles (6), and connecting axle under described central plate and another one (6) is affixed; Every two parallel connecting rods and the club seat being attached thereto and central plate form two groups of plane parallel quadrilateral structures altogether; Between described club seat and two parallel connecting rods, be revolute pair between described central plate (9) and two parallel connecting rods;
The below of described central plate (9) is provided with a two freedom-degree wrist (13), between two power shafts of described two freedom-degree wrist (13), arrange or for being arranged in parallel for coaxial, meanwhile, the pivot center of two power shafts connecting rod parallel with two groups two on central plate (9) is parallel; On a power shaft of described two freedom-degree wrist (13), be connected with two pinions, two pinion axes overlap; In two groups of plane parallel quadrilateral structures in moving platform (7), on the position of symmetry, be connected with respectively two gear wheels, two gear wheels engage with two pinions respectively;
Under the effect of described drive unit (1), lower connecting axle (6) motion of side chain under every side chain drives, and then drive moving platform (7) to produce three-dimensional translating motion; Described two groups of plane parallel quadrilateral structures make two club seats produce the parallel changing of the relative positions with respect to central plate (9), thereby two groups of parallel connecting rods are rotated with respect to central plate (9); Two groups of gear drives are all converted into club seat with respect to the rotation of central plate (9) two freedom-degree wrist (13) two power inputs with respect to the changing of the relative positions of central plate (9) or two groups of two parallel connecting rods, realize the two-dimensional rotary of two freedom-degree wrist (13).
2. can realize according to claim 1 the parallel manipulator with five freedom degrees of high-speed motion, it is characterized in that: two gear wheels are affixed with two club seats respectively, the gear wheel axis in every group of gear drive and the common vertical line section of the pinion axes connecting rod parallel with in the plane parallel quadrilateral structure of place two is parallel and isometric; Two groups of gear drives are converted into club seat the power input of two freedom-degree wrist (13) with respect to the translation of central plate (9).
3. the parallel manipulator with five freedom degrees that can realize according to claim 1 high-speed motion, is characterized in that: two gear wheels respectively affixed the and each gear wheel of a connecting rod in the connecting rod parallel with two groups pivot center and with it the affixed connecting rod pivot center on central plate overlap; Two groups of gear drives are converted into two groups of two parallel connecting rods the power input of two freedom-degree wrist (13) with respect to the rotation of central plate (9).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210514821.8A CN102975202B (en) | 2012-12-04 | 2012-12-04 | Five-degree-of-freedom parallel manipulator capable of realizing high-velocity motion |
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| CN201210514821.8A CN102975202B (en) | 2012-12-04 | 2012-12-04 | Five-degree-of-freedom parallel manipulator capable of realizing high-velocity motion |
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| CN102975202B true CN102975202B (en) | 2014-11-05 |
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| CN110328077A (en) * | 2019-07-15 | 2019-10-15 | 合肥工业大学 | A kind of integrated mixed connection spray robot with moving lifting holder |
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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. |
| CN101863024B (en) * | 2010-06-29 | 2011-11-09 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN102513996A (en) * | 2011-12-19 | 2012-06-27 | 天津大学 | Double-parallelism type parallel mechanism with three-dimensional translation and one-dimensional rotation functions |
| CN102632502B (en) * | 2012-04-12 | 2014-05-07 | 天津大学 | High-speed six-degree of freedom parallel manipulator |
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Effective date of registration: 20210406 Address after: No. 11-17-30, Zhongchuang space, 11th floor, citizen's home, 3rd Street, New District, Kaifeng City, Henan Province, 475000 Patentee after: Tianjin University Zhongyuan advanced technology research institute (Kaifeng) Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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