CN103846911A - High-speed parallel manipulator with six degrees of freedom - Google Patents
High-speed parallel manipulator with six degrees of freedom Download PDFInfo
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- CN103846911A CN103846911A CN201410073122.3A CN201410073122A CN103846911A CN 103846911 A CN103846911 A CN 103846911A CN 201410073122 A CN201410073122 A CN 201410073122A CN 103846911 A CN103846911 A CN 103846911A
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- platform
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- connecting axle
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- 230000003321 amplification Effects 0.000 abstract 1
- 238000003199 nucleic acid amplification method Methods 0.000 abstract 1
- 210000000707 wrist Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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 six degrees of freedom. The high-speed parallel manipulator comprises a fixed rack, a movable platform and six branch chains with the same structures, wherein the fixed rack is provided with six driving devices; each branch chain consists of a near rack rod, an upper connecting shaft, two mutually-parallel far rack rods with equal length and a lower connecting shaft; the output ends of all the driving devices in the branch chains are respectively and fixedly connected with one end of one near rack rod and used for providing one degree of freedom for the corresponding near rack rod; the movable platform comprises an upper platform and a lower platform which are horizontally arranged and are mutually parallel; the upper platform and the lower platform are connected by virtue of a rotating mechanism with a screw rod; the six branch chains are classified into two groups of branch chains at sequential intervals, and the two groups of branch chains are used for respectively driving the upper platform and the lower platform; upper three-dimensional relative movement and lower three-dimensional relative movement are converted into three rotation movements of the screw rod by virtue of the rotating mechanism. The high-speed parallel manipulator is compact in structure, can be used for omitting an amplification mechanism, reducing the complexity of the mechanism, meanwhile reducing the quality of moving parts and improving the movement precision, and is easy for realization of complex picking and placing operations.
Description
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 is the high speed six-degree-of-freedom parallel tool hand that solves the technical problem existing in known technology and propose a kind of light inertia, high power density.
The technical scheme of a kind of high speed six-degree-of-freedom parallel of the present invention tool 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 isometric hack lever far away, the other end 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 forms a parallelogram sturcutre, and described parallelogram sturcutre provides three-dimensional translating for described lower connecting axle; The meaning of this parallelogram sturcutre is to ensure that described lower connecting axle is parallel to all the time fixed mount in robot movement process.
Described moving platform in manipulator of the present invention 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 the nut being rotationally connected with described upper mounting plate and the screw rod being connected with described nut, on described lower platform, bearing is installed, described screw rod is by described bearings; Between described upper mounting plate and described screw rod, adopt respectively Hooke's hinge to be rotationally connected between described lower platform and described screw rod; Wherein, Hooke's hinge between described upper mounting plate and described screw rod is made up of a Hooke outer ring and described nut, Hooke's hinge between described lower platform and described screw rod is made up of a Hooke outer ring and described bearing, 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 manipulator of the present invention has adopted horizontally disposed upper mounting plate and lower platform, and between upper and lower platform, adopt rotating mechanism to connect, therefore its compact conformation, avoid enlarger, when having reduced mechanism complexity, reduce heavy moving parts, improve kinematic accuracy, easily realized at a high speed and capturing, and met the requirement of complicated pick-and-place operation.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of manipulator of the present invention;
Fig. 2 is the structural representation of moving platform shown in Fig. 1;
Fig. 3 is the structural representation of the Hooke's hinge on moving platform shown in Fig. 2.
Description of reference numerals: 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, 10-nut, 11a, 11b-Hooke outer ring, 12-bearing, 13-screw rod.
Detailed description of the invention
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 high speed six-degree-of-freedom parallel of the present invention tool 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 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 the nut 10 being rotationally connected with described upper mounting plate 8 and the screw rod 13 being connected with described nut 10, on described lower platform 9, bearing 12 is installed, described screw rod 13 is supported by described bearing 12; Between described upper mounting plate 8 and described screw rod 13, adopt respectively Hooke's hinge to be rotationally connected between described lower platform 9 and described screw rod 13; Wherein, Hooke's hinge between described upper mounting plate 8 and described screw rod 13 is made up of a Hooke outer ring 11a and described nut 10, Hooke's hinge between described lower platform 9 and described screw rod 13 is made up of a Hooke outer ring 11b and described bearing 12, 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 13.
As shown in Figure 1, six side chains are divided into two groups of side chains according to spaced position.As shown in Figure 2, wherein three lower connecting axles 6 in one group of side chain are all fixed with described upper mounting plate 8, and three lower connecting axles 6 in other one group of side chain are all fixed with described lower platform 9.Fig. 3 shows the position relationship of three lower connecting axles 6 in upper mounting plate 8 and one group of side chain wherein.
Compared with prior art, its difference is manipulator of 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 13, 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, 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 above-mentioned detailed description of the invention; above-mentioned detailed description of the invention 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 high speed six-degree-of-freedom parallel tool 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 the nut (10) being rotationally connected with described upper mounting plate (8) and the screw rod (13) being connected with described nut (10), bearing (12) is installed on described lower platform (9), and described screw rod (13) is supported by described bearing (12); Between described upper mounting plate (8) and described screw rod (13), adopt respectively Hooke's hinge to be rotationally connected between described lower platform (9) and described screw rod (13); Wherein, Hooke's hinge between described upper mounting plate (8) and described screw rod (13) is made up of a Hooke outer ring (11a) and described nut (10), Hooke's hinge between described lower platform (9) and described screw rod (13) is made up of a Hooke outer ring (11b) and described bearing (12), 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 (13);
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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073122.3A CN103846911B (en) | 2014-02-28 | 2014-02-28 | A kind of high speed six-degree of freedom parallel manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073122.3A CN103846911B (en) | 2014-02-28 | 2014-02-28 | A kind of high speed six-degree of freedom parallel manipulator |
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| Publication Number | Publication Date |
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| CN103846911A true CN103846911A (en) | 2014-06-11 |
| CN103846911B CN103846911B (en) | 2016-06-08 |
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| CN201410073122.3A Expired - Fee Related CN103846911B (en) | 2014-02-28 | 2014-02-28 | A kind of high speed six-degree of freedom parallel manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171717A (en) * | 2015-08-03 | 2015-12-23 | 电子科技大学 | Foldable six-freedom-degree parallel motion platform |
| CN107081760A (en) * | 2017-06-21 | 2017-08-22 | 东莞爱创机器人科技有限公司 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
| CN107107333A (en) * | 2014-11-17 | 2017-08-29 | 克朗斯股份公司 | For to apparatus and method that such as commodity such as package bundle thing, bulk cargo are operated |
| 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 |
| CN112197128A (en) * | 2020-10-30 | 2021-01-08 | 常州固立高端装备创新中心有限公司 | Flexible six-degree-of-freedom platform |
| US11364626B2 (en) * | 2019-09-09 | 2022-06-21 | Hrg International Institute For Research & Innovation | 6-dof parallel robot with a double-gyroscopic component |
| US20230390011A1 (en) * | 2020-12-30 | 2023-12-07 | Point Robotics (Singapore) Pte. Ltd. | Medical device for manipulating surgical tool |
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2014
- 2014-02-28 CN CN201410073122.3A patent/CN103846911B/en not_active Expired - Fee Related
Patent Citations (7)
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| JPH0760678A (en) * | 1993-08-20 | 1995-03-07 | Nippon Steel Corp | Parallel link manipulator |
| EP1293691A1 (en) * | 2001-09-17 | 2003-03-19 | SIG Pack Systems AG | Telescopic device for transmitting a torque |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107107333A (en) * | 2014-11-17 | 2017-08-29 | 克朗斯股份公司 | For to apparatus and method that such as commodity such as package bundle thing, bulk cargo are operated |
| CN107107333B (en) * | 2014-11-17 | 2019-08-30 | 克朗斯股份公司 | Device and method for being operated to the commodity such as such as packet bundle object, bulk cargo |
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| CN107081760A (en) * | 2017-06-21 | 2017-08-22 | 东莞爱创机器人科技有限公司 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
| 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 |
| US11364626B2 (en) * | 2019-09-09 | 2022-06-21 | Hrg International Institute For Research & Innovation | 6-dof parallel robot with a double-gyroscopic component |
| CN112197128A (en) * | 2020-10-30 | 2021-01-08 | 常州固立高端装备创新中心有限公司 | Flexible six-degree-of-freedom platform |
| CN112197128B (en) * | 2020-10-30 | 2023-08-29 | 常州固立高端装备创新中心有限公司 | Flexible six-degree-of-freedom platform |
| US20230390011A1 (en) * | 2020-12-30 | 2023-12-07 | Point Robotics (Singapore) Pte. Ltd. | Medical device for manipulating surgical tool |
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| CN103846911B (en) | 2016-06-08 |
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