CN103895007A - Two-translational-motion parallel robot - Google Patents
Two-translational-motion parallel robot Download PDFInfo
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- CN103895007A CN103895007A CN201410155111.XA CN201410155111A CN103895007A CN 103895007 A CN103895007 A CN 103895007A CN 201410155111 A CN201410155111 A CN 201410155111A CN 103895007 A CN103895007 A CN 103895007A
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Abstract
The invention discloses a two-translational-motion parallel robot and belongs to the technical field of robots. The robot structure comprises a rack, a movable platform, a first support chain and a second support chain. The first support chain and the second support chain are together connected to the rack and the movable platform and respectively comprises a drive arm, a driven arm and a connecting rod, the two support chains are concentrically installed, and the first support chain and the second support chain are connected with drive devices fixed to the rack respectively through the drive arms. The first support chain and the second support chain are connected with the rack and the movable platform respectively. A parallelogram theorem and the parallel support chain structure are adopted for limiting the freedom degree of the movable platform, the problems that a parallel robot is heavy in structure and insufficient in structure stiffness and strength are effectively solved, and the two-translational-motion parallel robot is easy to manufacture, convenient to install and debug and low in cost for mechanism manufacturing.
Description
Technical field:
The invention belongs to Robotics field, be specifically related to a kind of two translation parallel machine people.
Background technology:
In the automatic production line of the industries such as light industry, medicine, food and electronics, often need end effector in space, to carry out the manipulator of high speed operation operations such as sorting, packaging, encapsulation, therefore adopt multiple degrees of freedom Spatial Parallel machinery hand seem need not, or manufacturing cost is too high.Patent CN1355087A discloses a kind of robot mechanism, and this mechanism comprises frame, moving platform and two side chains, and described moving platform is provided with actuator; Servomotor is installed respectively in the two ends of described frame and center; Described moving platform is connected with frame by Liang Ge branch, forms parallel closed loop structure; Described two side chains respectively contain two parallelogram sturcutres, respectively as group of drive rods and follower lever group, adopt turning joint to connect between each movement parts completely; Described actuator drives mobile or rotation by frame central servomotor by power transmission shaft.But, in translating parallel robot mechanism, the working space scope that the method that adopts the actuator on moving platform to be connected with the motor in frame by power transmission shaft has been dwindled mechanism, has limited the raising of end effector acceleration, makes position and attitude accuracy be difficult to ensure.Patent 201320366103.0 discloses a kind of principal and subordinate's separate type two translating parallel robot mechanisms, this robot mechanism comprises frame, moving platform, an active branched chain and a driven side chain, described active branched chain connects described frame and moving platform, and described driven side chain connects described frame and moving platform; Described active branched chain comprises master arm, secondary master arm, hook hinge, and driven side chain comprises the first follower link, the second follower link, the 3rd follower link, the 4th follower link, connecting rod rest; Described connecting rod rest comprises lining frame, rotary middle spindle, and described lining frame and rotary middle spindle are hinged; Described connecting rod rest connects described the first follower link, the second follower link, the 3rd follower link, the 4th follower link; Described follower link is connected with connecting rod rest by plane rotation is secondary, and the other end is connected with described frame by hinge; Described frame, the first follower link, the first follower link, connecting rod rest, by the connection of kinematic pair, form parallelogram sturcutre; Described connecting rod rest, the 3rd follower link, the 4th follower link, by the connection of kinematic pair, form another parallelogram sturcutre; Described active branched chain, driven side chain become 180 degree to arrange, active branched chain has the drive unit being fixed in described frame to be connected with master arm.But this robot architecture's movement velocity is slower, can not meet the requirement of industrial production high speed, heavy duty.
Summary of the invention:
Object of the present invention, just in order to overcome above-mentioned deficiency of the prior art, provides a kind of two translation parallel machine people, and this robot mechanism is a kind of parallel robot mechanism that plane two degrees of freedom moves of realizing.
A kind of two translation parallel machine Ren Gai robots provided by the present invention comprise frame 2, connecting rod rest 12, the first side chain, the second side chain, moving platform 8, the first drive unit 3 and the second drive unit 4; Described frame 2 comprises locating hole and locating surface that described the first drive unit 3, the second drive unit 4 are installed, and described connecting rod rest 12 comprises right angle lining frame and rotary middle spindle, and described lining frame and rotary middle spindle are hinged; Described the first side chain is identical with the second branched structure, described the first side chain and the second side chain arranged concentric, and described the first side chain comprises the first master arm 5, the first master arm connecting rod 1, the first slave arm 6 and the first slave arm connecting rod 7; The second side chain comprises the second master arm 11, the second master arm connecting rod 13, the second slave arm 10 and the second slave arm connecting rod 9; Described moving platform 8 comprises the support that connects described the first side chain, the second side chain and locating hole and the locating surface that executive component is installed, and described the first side chain and described the second side chain are connected with described frame 2 and described moving platform 8 respectively; Described the first master arm 5 and described the first master arm connecting rod 1 are connected with described frame 2 and described connecting rod rest 12 by plane rotation is secondary, the two ends of described the first master arm 5 are connected with described frame 2 and described connecting rod rest 12 by plane rotation is secondary respectively, the two ends of described the first master arm connecting rod 1 are connected with described frame 2 and described connecting rod rest 12 by plane rotation is secondary respectively, and the two ends of described the first slave arm 6 and described the first slave arm connecting rod 7 are connected with described connecting rod rest 12 and described moving platform 8 by plane rotation is secondary respectively; Described frame 2, the first master arm 5, the first master arm connecting rod 1, connecting rod rest 12 are connected to form parallelogram sturcutre by kinematic pair; Described connecting rod rest 12, the first slave arm 5, the first slave arm connecting rod 7, moving platform 8 are connected to form parallelogram sturcutre by kinematic pair; The two ends of described the second master arm 11 and the second master arm connecting rod 13 are connected with described frame 2 and described connecting rod rest 12 by plane rotation is secondary respectively, and the two ends of described the second slave arm 10 and described the second slave arm connecting rod 9 are connected with described connecting rod rest 12 and described moving platform 8 by plane rotation is secondary respectively; Described frame 2, the second master arm 11, the second master arm connecting rod 13, connecting rod rest 12 are connected to form parallelogram sturcutre by kinematic pair; Described connecting rod rest 12, the second slave arm 10, the second slave arm connecting rod 9, moving platform 8 are connected to form parallelogram sturcutre by kinematic pair; Described the first drive unit 3, the second drive unit 4 are arranged in described frame 2, and the first master arm 5 and second master arm 11 of described the second side chain of described the first side chain are driven by described the first drive unit 3 and described the second drive unit 4 respectively.
Described drive unit adopts servomotor-reducer structure.
The present invention drives moving platform 8 jointly by the first side chain and the second side chain, the first side chain and the second side chain are by the rotational freedom of four groups of parallelogram sturcutre constraint moving platforms, the movement locus of restriction moving platform, ensures that end effector has clear and definite moving line and positional precision; Make the relative frame of moving platform only there are two translational degree of freedom, ensured robot mechanism attitude stabilization.Two groups of motion drivings that drive unit provides, make this two translational freedom robot mechanism have definite motion, have ensured that this mechanism position is accurate.
The present invention has following characteristics:
(1) the two-freedom translation of end effector of the present invention is by different driven by servomotor;
(2) the present invention is transported to two power sources on actuator by a transmission branch chain.
(3) end effector of the present invention is driven jointly by the first side chain, the second side chain, the first side chain and the second side chain retrain the rotational freedom of moving platform by parallelogram sturcutre, the movement locus of restriction moving platform, ensures that end effector has clear and definite moving line and positional precision; And make that the present invention is simple in structure, inertia is little.
Robot mechanism provided by the present invention, has effectively improved the flexibility of mechanism, has simplified parallel robot mechanism, has kept preferably the inertia of mechanism little simultaneously, high-speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
The invention has the beneficial effects as follows: coaxially arranged two servomotors, improved the stressing conditions of structure.End effector is driven jointly by the first side chain, the second side chain, the first side chain and the second side chain are by three rotational freedoms and a translational degree of freedom of four groups of parallelogram sturcutre constraint moving platforms, the movement locus of restriction moving platform, ensures that end effector has clear and definite moving line and positional precision
Brief description of the drawings:
The structural representation of Tu1Shi robot of the present invention;
The left TV structure schematic diagram of Tu2Shi robot of the present invention;
The parallelogram sturcutre schematic diagram of the first side chain in Tu3Shi robot of the present invention;
The parallelogram sturcutre schematic diagram of the second side chain in Tu4Shi robot of the present invention.
In figure: 1: the first master arm connecting rod, 2: frame, 3: the first drive units, 4: the second drive units, 5: the first master arms, 6: the first slave arms, 7: the first slave arm connecting rods, 8: moving platform, 9: the second slave arm connecting rods, 10: the second slave arms, 11: the second master arms, 12: connecting rod rest, 13: the second master arm connecting rods.
Detailed description of the invention:
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, shown in, a kind of two-degrees-of-freedom translation parallel device people, is made up of frame 2, drive unit, movement branched chain and moving platform 8.Described moving platform 8 forms closed loop parallel-connection structure by described movement branched chain and frame 2; Described movement branched chain comprises the first side chain and the second side chain; Described the first side chain, the second side chain connect moving platform 8 by turning joint respectively; Described the first side chain, the second side chain drive moving platform translation jointly, three rotational freedoms and a translational degree of freedom of described the first side chain and the second side chain constraint moving platform 8.
See Fig. 2, Fig. 3, Fig. 4, shown in, described the first side chain is made up of the first master arm connecting rod 1, the first master arm 5, the first slave arm 6 and the first slave arm connecting rod; The bar long (seeing the straightway B in Fig. 3) of described the first master arm connecting rod 1 equals the bar long (seeing the straightway D in Fig. 3) of the first master arm 5; The bar long (seeing the straightway E in Fig. 3) of described the first slave arm connecting rod 7 equals the bar long (seeing the straightway G in Fig. 3) of the first slave arm 6; Described frame 2, the first master arm connecting rod 1, the first master arm 5 and connecting rod rest 12 form parallelogram sturcutre; Described connecting rod rest 12, the first slave arm connecting rod 7, the first slave arm 6 and moving platform 8 form parallelogram sturcutre; Described the second side chain is made up of the second master arm connecting rod 13, the second drive unit 4, the second master arm 11, the second slave arm 10 and the second slave arm connecting rod 9; The bar long (seeing the straightway K in Fig. 4) of described the second master arm connecting rod 13 equals the bar long (seeing the straightway M in Fig. 4) of the second master arm 11; The bar long (seeing the straightway P in Fig. 4) of described the second slave arm connecting rod 9 equals the bar long (seeing the straightway R in Fig. 4) of the second slave arm 10; Described frame 2, the second master arm connecting rod 13, the second master arm 11 and connecting rod rest 12 form parallelogram sturcutre; Described connecting rod rest 12, the second slave arm connecting rod 9, the second slave arm 10 and moving platform 8 form parallelogram sturcutre;
Described frame 2 is provided with the first drive unit 3 and the second drive unit 4; The first master arm 5 of described the first side chain drives rotation by the first drive unit 1; The second master arm 11 of described the second side chain drives rotation by the second drive unit 4; Thereby realize the two-degree of freedom translation of moving platform 8; Described the first side chain and the second side chain are connected to frame 2 and form parallel closed loop with moving platform 8 and be connected; Three rotational freedoms and a translational degree of freedom of described the first side chain and the second side chain restriction moving platform; Described drive unit has adopted the version of servomotor-decelerator, for connected master arm provides a rotational freedom, in order to reach same object, can also adopt torque motor to drive, for connected master arm provides a rotational freedom.Certainly, in the specific implementation, adopt other any one can realize same movement function version be all fine as type of drive.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that not departing from the invention aim, without the creationary frame mode similar to this technical scheme and the embodiment designed, all should belong to protection scope of the present invention.
Claims (2)
1. two translation parallel machine people, is characterized in that this robot comprises frame (2), connecting rod rest (12), the first side chain, the second side chain, moving platform (8), the first drive unit (3) and the second drive unit (4), described frame (2) comprises locating hole and locating surface that described the first drive unit (3), the second drive unit (4) are installed, and described connecting rod rest (12) comprises right angle lining frame and rotary middle spindle, and described lining frame and rotary middle spindle are hinged, described the first side chain is identical with the second branched structure, described the first side chain and the second side chain arranged concentric, and described the first side chain comprises the first master arm (5), the first master arm connecting rod (1), the first slave arm (6) and the first slave arm connecting rod (7), the second side chain comprises the second master arm (11), the second master arm connecting rod (13), the second slave arm (10) and the second slave arm connecting rod (9), described moving platform (8) comprises the support that connects described the first side chain, the second side chain and locating hole and the locating surface that executive component is installed, and described the first side chain and described the second side chain are connected with described frame (2) and described moving platform (8) respectively, described the first master arm (5) and described the first master arm connecting rod (1) are connected with described frame (2) and described connecting rod rest (12) by plane rotation is secondary, the two ends of described the first master arm (5) are connected with described frame (2) and described connecting rod rest (12) by plane rotation is secondary respectively, the two ends of described the first master arm connecting rod (1) are connected with described frame (2) and described connecting rod rest (12) by plane rotation is secondary respectively, the two ends of described the first slave arm (6) and described the first slave arm connecting rod (7) are connected with described connecting rod rest (12) and described moving platform (8) by plane rotation is secondary respectively, described frame (2), the first master arm (5), the first master arm connecting rod (1), connecting rod rest (12) are connected to form parallelogram sturcutre by kinematic pair, described connecting rod rest (12), the first slave arm (5), the first slave arm connecting rod (7), moving platform (8) are connected to form parallelogram sturcutre by kinematic pair, the two ends of described the second master arm (11) and the second master arm connecting rod (13) are connected with described frame (2) and described connecting rod rest (12) by plane rotation is secondary respectively, and the two ends of described the second slave arm (10) and described the second slave arm connecting rod (9) are connected with described connecting rod rest (12) and described moving platform (8) by plane rotation is secondary respectively, described frame (2), the second master arm (11), the second master arm connecting rod (13), connecting rod rest (12) are connected to form parallelogram sturcutre by kinematic pair, described connecting rod rest (12), the second slave arm (10), the second slave arm connecting rod (9), moving platform (8) are connected to form parallelogram sturcutre by kinematic pair, it is upper that described the first drive unit (3), the second drive unit (4) are arranged on described frame (2), and first master arm (5) of described the first side chain is driven by described the first drive unit (3) and described the second drive unit (4) respectively with second master arm (11) of described the second side chain.
2. a kind of two translation parallel machine people according to claim 1, is characterized in that described the first drive unit (3) and described the second drive unit (4) adopt servomotor-reducer structure.
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| CN201410155111.XA CN103895007A (en) | 2014-04-17 | 2014-04-17 | Two-translational-motion parallel robot |
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| CN201410155111.XA CN103895007A (en) | 2014-04-17 | 2014-04-17 | Two-translational-motion parallel robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626114A (en) * | 2015-01-21 | 2015-05-20 | 安徽工业大学 | Multi-freedom-degree detachable light sorting robot |
| CN104708619A (en) * | 2015-03-23 | 2015-06-17 | 安徽工业大学 | Three-degree-of-freedom transfer robot with movable support |
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN107243885A (en) * | 2017-05-11 | 2017-10-13 | 上海松川远亿机械设备有限公司 | A kind of portable parallel robot |
| CN107327551A (en) * | 2017-07-13 | 2017-11-07 | 四川昆仑石油设备制造有限公司 | A kind of clutch and transfer device based on parallelogram principle |
| CN112659156A (en) * | 2021-01-22 | 2021-04-16 | 德世聚诚（宁波）电子科技有限公司 | High-speed parallel manipulator device for gluing easy-open end |
| CN107327551B (en) * | 2017-07-13 | 2024-04-30 | 四川昆仑石油设备制造有限公司 | Linkage device and transfer device based on parallelogram principle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626114A (en) * | 2015-01-21 | 2015-05-20 | 安徽工业大学 | Multi-freedom-degree detachable light sorting robot |
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| CN104708619A (en) * | 2015-03-23 | 2015-06-17 | 安徽工业大学 | Three-degree-of-freedom transfer robot with movable support |
| CN104708619B (en) * | 2015-03-23 | 2016-07-06 | 福建省华隆机械有限公司 | A kind of dynamic support Three Degree Of Freedom transfer robot |
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN107243885A (en) * | 2017-05-11 | 2017-10-13 | 上海松川远亿机械设备有限公司 | A kind of portable parallel robot |
| CN107327551A (en) * | 2017-07-13 | 2017-11-07 | 四川昆仑石油设备制造有限公司 | A kind of clutch and transfer device based on parallelogram principle |
| CN107327551B (en) * | 2017-07-13 | 2024-04-30 | 四川昆仑石油设备制造有限公司 | Linkage device and transfer device based on parallelogram principle |
| CN112659156A (en) * | 2021-01-22 | 2021-04-16 | 德世聚诚（宁波）电子科技有限公司 | High-speed parallel manipulator device for gluing easy-open end |
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