CN103240730A - Translation parallel robot mechanism - Google Patents
Translation parallel robot mechanism Download PDFInfo
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- CN103240730A CN103240730A CN2013101870604A CN201310187060A CN103240730A CN 103240730 A CN103240730 A CN 103240730A CN 2013101870604 A CN2013101870604 A CN 2013101870604A CN 201310187060 A CN201310187060 A CN 201310187060A CN 103240730 A CN103240730 A CN 103240730A
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- connecting rod
- rod assembly
- connection rod
- parallel robot
- slide rail
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Abstract
The invention discloses a translation parallel robot mechanism which comprises a V-shaped sliding rail, two sliders, a movable platform, a left connection rod assembly and a right connection rod assembly. The V-shaped sliding rail is formed by splicing two linear sliding rails into a V shape, one slider is arranged on each linear sliding rail, the left slider and the right slider are respectively hinged to the left connection rod assembly and the right connection rod assembly, the lower ends of the left connection rod assembly and the right connection rod assembly are hinged to the movable platform, and the left connection rod assembly and the right connection rod assembly respectively form a parallelogram mechanism. The translation parallel robot mechanism adopts the V-shaped sliding rail, can effectively increase the working space of the movable platform, is high in device control accuracy, reduces the complexity of a parallel mechanism, reduces kinematic pair restrain of the parallel mechanism, is easy to install and debug, reduces electricity consumption and saves working cost, and a control algorithm is easier.
Description
Technical field
The present invention relates to programme controlled manipulator, specifically a kind of translating parallel robot mechanism.
Background technology
Parallel robot has: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, the speed height, and dynamic response is good; Compact conformation, the rigidity height, bearing capacity is big; The parallel institution of symmetry has isotropism preferably fully; Characteristics such as working space is less need not obtain extensive use in the field of very big working space in the high rigidity of needs, high accuracy or big load, and it appears at a plurality of fields such as industry, medical science, military affairs.
Parallel institution is subjected to factor affecting such as constraint of kinematic pair, side chain interference, unusual position shape, pose coupling.The delta parallel institution is the pure travel mechanism of a kind of three-dimensional, as a kind of typical 3-freedom parallel mechanism, has that working space is big, kinematics is contrary separates simple, accurate positioning degree advantages of higher, has critical role in application.
Existing parallel robot adopts three mostly to the six-freedom degree symmetrical structure, generally adopts ball pivot, Hooke hinge or moving sets to realize three spatial movements to six-freedom degree as kinematic pair.Usually link to each other with six branches between the mobile platform of above-mentioned parallel robot and the frame, each branch is provided with driver to change the length of each branch, position and the attitude of upper mounting plate are changed, its complex structure, the control algolithm complexity causes action response time longer, the manufacturing cost height, need motor to possess bigger power output, and difficult control.
In the automatic production line of industries such as light industry, food and electronics, need end effector can planar carry out the manipulator of high speed operation such as operations such as letter sorting, packing, encapsulation, yet, the multiple degrees of freedom spatial parallel device people of employing said structure complexity seems then and there is no need that perhaps manufacturing cost is too high.
Summary of the invention
The purpose of this invention is to provide a kind of translating parallel robot mechanism, reduced the complexity of parallel institution, reduced the parallel institution constraint of kinematic pair, make its installation, debugging simply.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
Translating parallel robot mechanism, comprise V-type slide rail, two slide blocks, moving platform and left and right connecting rod ASSYs, described V-type slide rail is to be spliced into V-type by two line slide rails, and a slide block is set respectively on each line slide rail, left and right slide block is hinged with left and right connecting rod ASSY respectively, and lower end and the moving platform of left and right connecting rod ASSY are hinged.
Described left connecting rod ASSY comprises back link, outside connecting rod and three connecting rods of front rod, wherein overlaps before and after back link and the front rod, and forms parallel-crank mechanism, right connecting rod assembly and left connecting rod ASSY symmetrical configuration with outside connecting rod, moving platform, left slider.
Slide block is by stepper motor or driven by servomotor.
Beneficial effect of the present invention is:
The present invention adopts the V-type slide rail, can effectively increase the working space of moving platform, and control algolithm is simpler, and the equipment control accuracy is higher, has reduced the complexity of parallel institution, has reduced the parallel institution constraint of kinematic pair, installs, debugs simple.Reduce power consumption, saved job costs.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is perspective view of the present invention.
Fig. 2 is front view of the present invention.
Fig. 3 is left view of the present invention.
Fig. 4 moves to the view in left side for moving platform of the present invention.
Fig. 5 moves to the view on right side for moving platform of the present invention.
Fig. 6 installs perspective view behind the lengthwise movement assembly additional for the present invention.
Among the figure: 1, V-type slide rail; 21, left slider; 22, right slide block; 3, moving platform; 4, left connecting rod ASSY; 41, back link; 42, outside connecting rod; 43, front rod; 5, right connecting rod assembly; 6, sliding shoe; 71, track; 72, track.
The specific embodiment
As shown in Figures 1 to 3, translating parallel robot mechanism, comprise V-type slide rail 1, left slider 21, right slide block 22, moving platform 3, left connecting rod ASSY 4 and right connecting rod assembly 5, described V-type slide rail 1 is to be spliced into V-type by two line slide rails, and a slide block is set respectively on each line slide rail, left and right slide block is hinged with left and right connecting rod ASSY respectively, and lower end and the moving platform of left and right connecting rod ASSY are hinged.
Described left connecting rod ASSY 4 comprises back link 41, outside connecting rod 42 and 43 3 connecting rods of front rod, wherein back link 41 and front rod 43 front and back overlap, and form parallel-crank mechanisms, right connecting rod assembly 5 and left connecting rod ASSY 4 symmetrical configuration with outside connecting rod 42, moving platform 3, left slider 21.
Slide block is by stepper motor or driven by servomotor.
Operation principle is as follows, and shown in Fig. 4 to 5, left and right slide block is free to slide at the driving lower edge of stepper motor or servomotor guide rail; Drive parallel-crank mechanism, moving platform can translation in the plane at V-type slide rail place.The set-up mode of the V-type of slide rail has increased the working space of moving platform.
As shown in Figure 6, as preferably, described V-type slide rail is fixed on the sliding shoe 6, sliding shoe 6 can slide along the track of setting 71,72, and described track 71,72 direction are vertical with plane, V-type slide rail place.After the expansion, this mechanism has three degree of freedom, can better meet practical application.
When the slide rail of this parallel institution is selected three for use, this parallel institution is 3-freedom parallel mechanism, from kinematics just, contrary solution aspect, compare with traditional Delta parallel institution, the present invention has reduced its complexity, original angle calculation has been become the calculating of displacement, simplified the just contrary computing formula of separating, made that calculating is faster in actual applications, control is more prone to, improve the corresponding speed of equipment, improved the operating efficiency of equipment.When needs are walked the complex space curve, can carry out more intensive interpolation arithmetic, make curve more level and smooth.
More than disclosed be the specific embodiment of this patent only, but this patent is not limited thereto, for the person of ordinary skill of the art, under the prerequisite that does not break away from the principle of the invention, the distortion of making should be considered as belonging to protection domain of the present invention.
Claims (4)
1. translating parallel robot mechanism, it is characterized in that: comprise V-type slide rail, two slide blocks, moving platform and left and right connecting rod ASSYs, described V-type slide rail is to be spliced into V-type by two line slide rails, and a slide block is set respectively on each line slide rail, left and right slide block is hinged with left and right connecting rod ASSY respectively, and lower end and the moving platform of left and right connecting rod ASSY are hinged.
2. translating parallel robot mechanism according to claim 1, it is characterized in that: described left connecting rod ASSY comprises back link, outside connecting rod and three connecting rods of front rod, wherein overlap before and after back link and the front rod, and form parallel-crank mechanism, right connecting rod assembly and left connecting rod ASSY symmetrical configuration with outside connecting rod, moving platform, left slider.
3. translating parallel robot mechanism according to claim 1, it is characterized in that: slide block is by stepper motor or driven by servomotor.
4. translating parallel robot mechanism according to claim 1, it is characterized in that: described V-type slide rail is fixed on the sliding shoe, and sliding shoe can slide along the track of setting, and the direction of described track is vertical with plane, V-type slide rail place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101870604A CN103240730A (en) | 2013-05-20 | 2013-05-20 | Translation parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101870604A CN103240730A (en) | 2013-05-20 | 2013-05-20 | Translation parallel robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103240730A true CN103240730A (en) | 2013-08-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101870604A Pending CN103240730A (en) | 2013-05-20 | 2013-05-20 | Translation parallel robot mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033980A (en) * | 2015-08-21 | 2015-11-11 | 江苏大学 | Automatic lineation machine based on parallel-connection mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| DE102008025845A1 (en) * | 2008-05-29 | 2009-12-03 | Festo Ag & Co. Kg | Drive system, has coupling struts clamped together by spring in transverse direction for retaining components in opposite intervention, and detection unit producing output of electrical warning signal when components reach intervention |
| JP2012024859A (en) * | 2010-07-20 | 2012-02-09 | Yaskawa Electric Corp | Moving body with multi-degree of freedom |
| CN102699910A (en) * | 2012-06-26 | 2012-10-03 | 东莞理工学院 | Manipulator device |
-
2013
- 2013-05-20 CN CN2013101870604A patent/CN103240730A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN1589191A (en) * | 2001-12-31 | 2005-03-02 | 天津大学 | Planar parallel robot mechanism with two translational degrees of freedom |
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| DE102008025845A1 (en) * | 2008-05-29 | 2009-12-03 | Festo Ag & Co. Kg | Drive system, has coupling struts clamped together by spring in transverse direction for retaining components in opposite intervention, and detection unit producing output of electrical warning signal when components reach intervention |
| JP2012024859A (en) * | 2010-07-20 | 2012-02-09 | Yaskawa Electric Corp | Moving body with multi-degree of freedom |
| CN102699910A (en) * | 2012-06-26 | 2012-10-03 | 东莞理工学院 | Manipulator device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033980A (en) * | 2015-08-21 | 2015-11-11 | 江苏大学 | Automatic lineation machine based on parallel-connection mechanism |
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Application publication date: 20130814 |