CN103846907A - Double-parallel-connection-structure six-freedom high-speed mechanical hand - Google Patents

Double-parallel-connection-structure six-freedom high-speed mechanical hand Download PDF

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Publication number
CN103846907A
CN103846907A CN201410071969.8A CN201410071969A CN103846907A CN 103846907 A CN103846907 A CN 103846907A CN 201410071969 A CN201410071969 A CN 201410071969A CN 103846907 A CN103846907 A CN 103846907A
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China
Prior art keywords
platform
parallel
connecting axle
hack lever
side chain
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Pending
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CN201410071969.8A
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Chinese (zh)
Inventor
赵学满
王攀峰
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Tianjin University
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Tianjin University
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Priority to CN201410071969.8A priority Critical patent/CN103846907A/en
Publication of CN103846907A publication Critical patent/CN103846907A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051Programme-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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses a double-parallel-connection-structure six-freedom high-speed mechanical hand, which comprises a fixing frame, a movable platform and six branch chains, wherein the six branch chains are in uniform arrangement and are of the same structures, six driving devices are arranged on the fixing frame, each branch chain consists of a near frame rod, an upper connecting rod, two far frame rods and a lower connecting shaft, the two far frame rods are mutually parallel and have the same length, each driving device provides a rotating freedom for the fixedly connected near frame rod, the movable platform comprises an upper platform and a lower platform, and the upper platform and the lower platform are in horizontal arrangement, are mutually parallel and are connected with a rotating mechanism. The six branch chains are divided into two groups of branch chains according to the separated arrangement positions, three lower connecting shafts in one group of branch chains are respectively and fixedly bonded with the upper platform, and the three lower connecting shafts in the other group of branch chains are respectively and fixedly bonded with the lower platform. The relative movement of the upper platform and the lower platform is converted into three-dimensional rotation of a screw rod through a rotating mechanism and two hooke joints. The mechanical hand has the characteristics that the inertia is small, and the power density is high. The high-speed complicated grabbing action of materials can be met.

Description

Two-in-parallel structure six degree of freedom high speed machine hand
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with space six degree of freedom of robot.
Background technology
The at present domestic mechanism that the research of space six-degree-of-freedom parallel connection mechanism is still concentrated on machining or measures purposes, and study less for the space six-degree-of-freedom parallel connection mechanism of the high-speed motion realized that is applied to material pick-and-place.
There is in the world minority to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place.Patent documentation US20110097184A1 discloses a kind of parallel institution of realizing three-dimensional translating Three dimensional rotation, comprises fixed mount, moving platform, Three Degree Of Freedom wrist and is arranged symmetrically in three side chains that structure is identical between described fixed mount and moving platform; On described fixed mount, be connected with drive unit; Described moving platform is connected with lower connecting axle; Every side chain comprises hack lever far away that nearly hack lever is parallel with two and drive end, connecting axle, and on described nearly hack lever one end and described fixed mount, drive end is affixed, and the other end is connected with connecting axle; Described two parallel hack lever far away one end respectively with the two ends ball-joint of described upper connecting axle, the other end respectively with described lower connecting axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; Between described two parallel hack levers far away, be connected with drive end; Between described connecting axle one end and described hack lever far away, drive end is affixed, and the other end and described Three Degree Of Freedom wrist input are affixed.The limitation of said mechanism is: the drive end of Three Degree Of Freedom wrist is fixed between two hack levers far away, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, causes this mechanism to be difficult to realize high-speed motion.
Summary of the invention
The present invention solves the technical problem existing in known technology to propose a kind of two-in-parallel structure six degree of freedom high speed machine hand, and this manipulator has the feature of light inertia, high power density.
The technical scheme of a kind of two-in-parallel structure of the present invention six degree of freedom high speed machine hand is, this manipulator comprises fixed mount, moving platform and is arranged in six side chains that structure is identical between described fixed mount and moving platform, six drive units are installed on described fixed mount, and 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; Article six, in side chain, one end of all nearly hack levers is affixed with the output that is arranged on six drive units on fixed mount one to one respectively, and each drive unit provides a rotational freedom for the nearly hack lever affixed with it; In every side chain, the other end of described nearly hack lever and the above connecting axle are affixed, two be parallel to each other and one end of isometric hack lever far away respectively by spherical hinge and described upper connecting axle ball-joint, two be parallel to each other and the other end of isometric hack lever far away respectively by spherical hinge and described lower connecting axle ball-joint; Described lower connecting axle on every side chain, described upper connecting axle and two are parallel to each other and isometric hack lever far away, form a parallelogram sturcutre, and described parallelogram sturcutre provides three-dimensional translating for described lower connecting axle.
In the present invention, described moving platform comprises upper mounting plate horizontally disposed and that be parallel to each other and lower platform, described upper mounting plate is connected by a rotating mechanism with lower platform, described rotating mechanism comprises a screw rod, on described screw rod, comprise two sections of thread segments that rotation direction is contrary, on this two thread segment, be respectively equipped with the first nut and the second nut; Described upper mounting plate includes the first Hooke outer ring being rotationally connected with it, described lower platform includes the second Hooke outer ring being rotationally connected with it, described the first Hooke outer ring is connected with the first nut rotation, described the second Hooke outer ring is connected with the second nut rotation, thereby forms two Hooke's hinges; By above-mentioned rotating mechanism and two Hooke's hinges, relatively moving of upper mounting plate and lower platform is converted into three rotations of described screw rod; Article six, side chain is divided into two groups of side chains according to spaced position, and wherein three lower connecting axles in one group of side chain are all fixed with described upper mounting plate, and three lower connecting axles in other one group of side chain are all fixed with described lower platform.
Compared with prior art, the invention has the beneficial effects as follows:
Because the moving platform in the present invention has adopted horizontally disposed upper mounting plate and lower platform, and upper and lower platform adopts rotating mechanism to connect, screw rod in rotating mechanism is connected with the nut in two Hooke's hinges by screw pair, can improve precision and rigidity around self axis rotation.Compact conformation of the present invention, has avoided enlarger, has reduced moving-mass when having reduced mechanism complexity, has improved kinematic accuracy, easily realizes at a high speed and capturing, and meet the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram of manipulator of the present invention;
Fig. 2 is the structural representation of moving platform in the present invention;
Fig. 3 is the structural representation of Hooke Hooke's hinge on moving platform in the present invention.
Reference numeral: 1-drive unit, 2-fixed mount, the nearly hack lever of 3-, the upper connecting axle of 4-, 5a, 5b-hack lever far away, connecting axle under 6-, 7-moving platform, 8-upper mounting plate, 9-lower platform, 10a-the first nut, 10b-the second nut, 11a-the first Hooke outer ring, 11b-the second Hooke outer ring, 12-screw rod.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in further detail.
As shown in Figure 1, a kind of two-in-parallel structure of the present invention six degree of freedom high speed machine hand, comprise fixed mount 2, moving platform 7 and be arranged in six side chains that structure is identical between described fixed mount 2 and moving platform 7, six drive units 1 are installed on described fixed mount 2, every side chain by nearly hack lever 3, upper connecting axle 4, two be parallel to each other and isometric hack lever 5a far away, 5b and lower connecting axle 6 forms; Article six, in side chain, one end of all nearly hack levers 3 is affixed with the output that is arranged on six drive units 1 on fixed mount 2 one to one respectively, and each drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it; In every side chain, the other end of described nearly hack lever 3 and the above connecting axle 4 are affixed, two be parallel to each other and one end of isometric hack lever 5a far away, 5b respectively by spherical hinge and described upper connecting axle 4 ball-joints, two be parallel to each other and the other end of isometric hack lever 5a far away, 5b respectively by spherical hinge and described lower connecting axle 6 ball-joints; Described lower connecting axle 6 on every side chain, described upper connecting axle 4 and two are parallel to each other and isometric hack lever 5a far away, 5b forms a parallelogram sturcutre, and described parallelogram sturcutre provides three-dimensional translating for described lower connecting axle 6.
As shown in Figure 2, described moving platform 7 in the present invention comprises upper mounting plate 8 horizontally disposed and that be parallel to each other and lower platform 9, described upper mounting plate 8 is connected by a rotating mechanism with lower platform 9, described rotating mechanism comprises a screw rod 12, described screw rod 12 is connected with described upper mounting plate 8 and lower platform 9 by revolute pair, on described screw rod 11, comprise two sections of thread segments that rotation direction is contrary, on this two thread segment, be respectively equipped with the first nut 10a and the second nut 10b; Described upper mounting plate 8 includes the first Hooke outer ring 11a being rotationally connected with it, as shown in Figure 3; Described lower platform 9 includes the second Hooke outer ring 11b being rotationally connected with it, described the first Hooke outer ring 11a and the first nut 10a are rotationally connected, described the second Hooke outer ring 11b and the second nut 10b are rotationally connected, thereby form two Hooke's hinges, by above-mentioned rotating mechanism and two Hooke's hinges, relatively moving of upper mounting plate 8 and lower platform 9 is converted into three rotations of described screw rod 12.
As depicted in figs. 1 and 2, article six, side chain is divided into two groups of side chains according to spaced position, wherein three lower connecting axles 6 in one group of side chain are all fixed with described upper mounting plate 8, three lower connecting axles 6 in other one group of side chain are all fixed with described lower platform 9, and three lower linking axess 6 in same group are tangent and be circumferentially and uniformly-spaced arrange with the circle on horizontal plane.
Compared with prior art, its difference is in the present invention:
By upper and lower platform, six side chains are divided into two groups, lower connecting axle in every group drives the relative motion of upper and lower platform can be converted into by rotating mechanism the Three dimensional rotation of screw rod 12, thereby make moving platform both can have the translational degree of freedom of three directions, there are again three partial rotational frees degree simultaneously.
In the present invention, upper mounting plate is connected by a rotating mechanism with lower platform, and the screw rod in rotating mechanism is connected by screw pair with the nut in Hooke's hinge, can improve precision and rigidity around the rotation of manipulator self axis.
In the present invention, moving platform 7 has adopted horizontally disposed upper mounting plate and lower platform, and upper lower platform adopts rotating mechanism to connect, Gu its compact conformation, avoid enlarger, when having reduced mechanism complexity, reduce moving-mass, improve kinematic accuracy, easily realized at a high speed and capturing, and met the requirement of complicated pick-and-place operation.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, within these all belong to protection scope of the present invention.

Claims (1)

1. a two-in-parallel structure six degree of freedom high speed machine hand, comprise fixed mount (2), moving platform (7) and be arranged in described fixed mount (2) and moving platform (7) between six side chains that structure is identical, six drive units (1) are installed on described fixed mount (2), and every side chain is parallel to each other by nearly hack lever (3), upper connecting axle (4), two and isometric hack lever far away (5a, 5b) and lower connecting axle (6) forms;
Article six, in side chain, one end of all nearly hack levers (3) is affixed with the output that is arranged on six drive units (1) on fixed mount (2) one to one respectively, and each drive unit (1) provides a rotational freedom for the nearly hack lever (3) affixed with it; In every side chain, the other end of described nearly hack lever (3) and the above connecting axle (4) are affixed, two be parallel to each other and one end of isometric hack lever far away (5a, 5b) respectively by spherical hinge and described upper connecting axle (4) ball-joint, two be parallel to each other and the other end of isometric hack lever far away (5a, 5b) respectively by spherical hinge and described lower connecting axle (6) ball-joint; Described lower connecting axle (6) on every side chain, described upper connecting axle (4) and two are parallel to each other and isometric hack lever far away (5a, 5b) forms a parallelogram sturcutre, and described parallelogram sturcutre is that described lower connecting axle (6) provides three-dimensional translating;
It is characterized in that:
Described moving platform (7) comprises upper mounting plate horizontally disposed and that be parallel to each other (8) and lower platform (9), described upper mounting plate (8) is connected by a rotating mechanism with lower platform (9), described rotating mechanism comprises a screw rod (12), on described screw rod (12), comprise two sections of thread segments that rotation direction is contrary, on this two thread segment, be respectively equipped with the first nut (10a) and the second nut (10b); Described upper mounting plate (8) includes the first Hooke outer ring (11a) being rotationally connected with it, described lower platform (9) includes the second Hooke outer ring (11b) being rotationally connected with it, described the first Hooke outer ring (11a) is rotationally connected with the first nut (10a), described the second Hooke outer ring (11b) is rotationally connected with the second nut (10b), thereby forms two Hooke's hinges; By above-mentioned rotating mechanism and two Hooke's hinges, relatively moving of upper mounting plate (8) and lower platform (9) is converted into three rotations of described screw rod (12);
Article six, side chain is divided into two groups of side chains according to spaced position, and wherein three the lower connecting axles (6) in one group of side chain are all fixed with described upper mounting plate (8), and three the lower connecting axles (6) in other one group of side chain are all fixed with described lower platform (9).
CN201410071969.8A 2014-02-28 2014-02-28 Double-parallel-connection-structure six-freedom high-speed mechanical hand Pending CN103846907A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107571249A (en) * 2017-10-30 2018-01-12 江苏哈工海渡工业机器人有限公司 3-dof parallel robot
CN107932483A (en) * 2017-12-15 2018-04-20 浙江理工大学 A kind of three movements one with complete cycle cornering rate rotate sorting machine people in parallel
CN110293247A (en) * 2019-07-02 2019-10-01 电子科技大学 The rigidity enhancement device and its control method of parallel connection type drilling machine
CN112621730A (en) * 2021-01-10 2021-04-09 于江涛 Three-degree-of-freedom decoupling parallel translation mechanism
US11364626B2 (en) * 2019-09-09 2022-06-21 Hrg International Institute For Research & Innovation 6-dof parallel robot with a double-gyroscopic component
CN115722894A (en) * 2023-01-02 2023-03-03 江西合力照明电器有限公司 Chip clamping and taking platform mechanism

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US20100101359A1 (en) * 2007-01-29 2010-04-29 Robert Bosch Gmbh Device for displacing and positioning an object in space
CN101973030A (en) * 2010-09-25 2011-02-16 天津大学 High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation
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CN201907121U (en) * 2010-12-29 2011-07-27 天津大学 Three-dimensional translational and one-dimensional rotational parallel mechanism
CN103350418A (en) * 2013-07-25 2013-10-16 天津大学 High-speed five-freedom-degree parallel mechanical arm
CN103386681A (en) * 2013-07-25 2013-11-13 天津大学 Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation
CN103395062A (en) * 2013-07-25 2013-11-20 天津大学 High-speed six-degree-of-freedom parallel manipulator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100101359A1 (en) * 2007-01-29 2010-04-29 Robert Bosch Gmbh Device for displacing and positioning an object in space
CN102049776A (en) * 2009-10-26 2011-05-11 发那科株式会社 Parallel link robot
US20110113914A1 (en) * 2009-11-19 2011-05-19 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Parallel robot
CN101973030A (en) * 2010-09-25 2011-02-16 天津大学 High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation
CN201907121U (en) * 2010-12-29 2011-07-27 天津大学 Three-dimensional translational and one-dimensional rotational parallel mechanism
CN103350418A (en) * 2013-07-25 2013-10-16 天津大学 High-speed five-freedom-degree parallel mechanical arm
CN103386681A (en) * 2013-07-25 2013-11-13 天津大学 Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation
CN103395062A (en) * 2013-07-25 2013-11-20 天津大学 High-speed six-degree-of-freedom parallel manipulator

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107571249A (en) * 2017-10-30 2018-01-12 江苏哈工海渡工业机器人有限公司 3-dof parallel robot
CN107932483A (en) * 2017-12-15 2018-04-20 浙江理工大学 A kind of three movements one with complete cycle cornering rate rotate sorting machine people in parallel
CN110293247A (en) * 2019-07-02 2019-10-01 电子科技大学 The rigidity enhancement device and its control method of parallel connection type drilling machine
CN110293247B (en) * 2019-07-02 2020-05-22 电子科技大学 Rigidity enhancing device of parallel drilling machine and control method thereof
US11364626B2 (en) * 2019-09-09 2022-06-21 Hrg International Institute For Research & Innovation 6-dof parallel robot with a double-gyroscopic component
CN112621730A (en) * 2021-01-10 2021-04-09 于江涛 Three-degree-of-freedom decoupling parallel translation mechanism
CN115722894A (en) * 2023-01-02 2023-03-03 江西合力照明电器有限公司 Chip clamping and taking platform mechanism

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Application publication date: 20140611