CN104552309A - Pseudo 4DOF (degree of freedom) parallel robot - Google Patents

Pseudo 4DOF (degree of freedom) parallel robot Download PDF

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Publication number
CN104552309A
CN104552309A CN201510022067.XA CN201510022067A CN104552309A CN 104552309 A CN104552309 A CN 104552309A CN 201510022067 A CN201510022067 A CN 201510022067A CN 104552309 A CN104552309 A CN 104552309A
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China
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drive mechanism
end
output shaft
motion
branched
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CN201510022067.XA
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Chinese (zh)
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颜文旭
宁金
张明文
于振中
赫英强
包哲人
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颜文旭
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Priority to CN201510022067.XA priority Critical patent/CN104552309A/en
Publication of CN104552309A publication Critical patent/CN104552309A/en

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Abstract

The invention discloses a pseudo 4DOF (degree of freedom) parallel robot. The pseudo 4DOF parallel robot comprises a static platform, a mobile platform, a rotation drive mechanism, a rotation support seat, a first motion branch chain, a second motion branch chain, an auxiliary motion branch chain, a first branch chain drive mechanism, a second branch chain drive mechanism and a suction nozzle, wherein the DOF number of each drive mechanism is three, each drive mechanism can achieve four DOF of motion, one DOF and related components are omitted, and manufacture cost is greatly reduced.

Description

一种伪四自由度并联机器人 Pseudo Parallel Manipulator

技术领域 FIELD

[0001] 本申请涉及工业机器人领域,特别涉及伪四自由度并联机器人。 [0001] The present application relates to the field of industrial robots, and more particularly to a pseudo-Parallel Manipulator.

背景技术 Background technique

[0002]目前,在轻工、食品、医药和电子等行业的自动化生产线中,诸如分拣、包装、封装、焊接等作业很多利用机器人执行。 [0002] Currently, in light industry, food, pharmaceutical and electronics industries such as automated production lines, such as sorting, packing, packaging, many welding operations performed by the robot. 而在众多的机器人中,常采用并联机器人实现多方位的快速运动。 In a large number of robots, often using parallel robot for fast multi-directional movement. 并联机器人与传统串联机器人相比,具有以下特点: Compared with the traditional serial robot manipulator, it has the following characteristics:

[0003] I)运动精度和重复精度高; [0003] I) a high movement accuracy and repeatability;

[0004] 2)运动速度快,动态响应好; [0004] 2) moving speed, good dynamic response;

[0005] 3)占地空间较小; [0005] 3) a smaller footprint;

[0006] 由于上述特点,并联机器人得以广泛应用。 [0006] Because of the above features, the parallel robot can be widely applied. 但同时,传统的机器人驱动电机数量和机器人自由度数量相等。 But at the same time, the drive motor conventional robot and the robot number equal number of degrees of freedom. 为实现所需要的自由度数量,要保证足够的驱动自由度数量,就需要足够的驱动部件,这大大增加了机器人的制造成本。 To achieve the required number of degrees of freedom, to ensure a sufficient number of degrees of freedom drive, it will require sufficient drive member, which greatly increases the manufacturing cost of the robot.

发明内容 SUMMARY

[0007] 本申请的目的在于提供一种伪四自由度并联机器人,其驱动机构的自由度(驱动电机)数量为三,可实现的运动自由度数量为四,减少了一个自由度及相关部件,使得制造成本大大减少。 [0007] The object of the present application is to provide a pseudo-Parallel Manipulator, the number of degrees of freedom drive mechanism (drive motor) is three, the number of freedom of movement may be implemented is four, reduces the degree of freedom and a related member , so that the manufacturing costs are significantly reduced.

[0008] 根据本申请的一个方面,提供 [0008] In accordance with one aspect of the present disclosure, there is provided

[0009] 一种伪四自由度并联机器人,包括静平台、动平台、旋转驱动机构、旋转支撑座、第一运动支链、第二运动支链、辅助运动支链、第一支链驱动机构、第二支链驱动机构和吸嘴,其中, [0009] Pseudo Parallel Manipulator, including static platform, the movable platform, rotary driving means, the rotating support base, branched first motion, the second motion branched chain, branched supplementary motor, a first drive mechanism branched The second branched chain drive mechanism and the suction nozzle, wherein

[0010] 所述旋转支撑座包括水平板以及连接并垂直于该水平板的竖直板; [0010] The rotation support base comprises a horizontal plate and a connecting plate perpendicular to the vertical and the horizontal plate;

[0011] 所述旋转驱动机构固定于所述静平台,其输出轴竖直向下地连接所述旋转支撑座的水平板; [0011] The rotation driving mechanism is fixed to the stationary platform, an output shaft connected to the horizontal plate vertically downward rotation of the supporting base;

[0012] 所述第一支链驱动机构和所述第二支链驱动机构分别固定于所述旋转支撑座的竖直板,各自输出轴均水平; [0012] The first branched chain drive mechanism and the second branched chain drive mechanism are fixed to the vertical plate of the rotating supporting base, the respective average levels of the output shaft;

[0013] 所述第一运动支链一端固定连接所述第一支链驱动机构的输出轴,另一端转动连接所述动平台; [0013] The first motion is fixedly connected to the branched end of the first branched output shaft of the drive mechanism, and the other end rotatably connected to said movable platform;

[0014] 所述第二运动支链一端固定连接所述第二支链驱动机构的输出轴,另一端转动连接所述动平台; [0014] The second motion branched fixedly connected at one end of the second branched output shaft driving mechanism, and the other end rotatably connected to said movable platform;

[0015] 所述吸嘴竖直固定于所述动平台; [0015] The vertical nozzle fixed to said movable platform;

[0016] 所述第一运动支链和第二运动支链处于同一平面,且该平面平行于所述旋转驱动机构的输出轴和所述吸嘴的中心轴构成的平面; [0016] The first motion and the second motion branched-chain branched in the same plane, and the plane parallel to the plane of the central axis of the nozzle constituting the output shaft of the rotary driving mechanism and;

[0017] 所述辅助运动支链与所述第一运动支链并联,对所述动平台(2)限位。 [0017] The auxiliary movement branched and branched in parallel to the first motion, (2) limit the movement of the platform.

[0018] 根据上述方案,能够抓取物体做三自由度的平移和一个自由度的旋转。 [0018] According to the above-described embodiment, three degrees of freedom is possible to grip an object to do a translation and rotation degree of freedom. 并且驱动机构的自由度数量小于其真实的运动自由度数量,结构简单,减少了一个自由度及相关部件,使得制造成本大大减少。 And the number of degrees of freedom drive mechanism is smaller than the number of real freedom of movement of its simple structure, a reduced degree of freedom and related components, greatly reducing the manufacturing costs.

[0019] 在一些实施例中,所述第一运动支链和第二运动支链结构相同且沿一对称面相互对称设置,该对称面垂直于所述旋转支撑座的竖直板且经过所述旋转驱动机构的输出轴。 [0019] In some embodiments, the same as the first motion and the second motion branched chain branched structure and are symmetrically arranged along a plane of symmetry perpendicular to the plane of symmetry of the rotation support base and passing through the vertical plate an output shaft of said rotary drive mechanism. 对称时,保证了旋转驱动机构的输出轴与吸嘴的中心轴在同一直线上,从而实现旋转自由度。 Symmetrical, to ensure that the output shaft of the rotary drive mechanism and the center axis of the nozzle on the same line, in order to achieve rotational freedom.

[0020] 在一些实施例中,所述第一运动支链包括:第一主动杆和第一从动杆组, [0020] In some embodiments, the first branched motion comprising: a first active lever and the first driven rod set,

[0021] 所述第一主动杆的一端连接所述第一支链驱动机构的输出轴,另一端通过第一转动副连接所述第一从动杆组; [0021] The first end of the active lever is connected to the output shaft of the first branched chain drive mechanism, the other end is connected to the first sub-set of a first rotatable driven shaft;

[0022] 所述第一从动杆组通过第二转动副连接所述动平台。 [0022] The first set of driven lever is connected by a second sub-rotation of the movable platform.

[0023] 在一些实施例中,所述第一从动杆组包括四个从动杆,该四个从动杆依次通过第三转动副首尾相连并构成平行四边形;所述平行四边形一对边的一个从动杆通过所述第一转动副连接所述第一主动杆,该对边的另一个从动杆通过所述第二转动副连接所述动平台;所述平行四边形另一对边的两个从动杆通过固定件连接。 [0023] In some embodiments, the first group includes four driven lever driven lever, which lever in turn is connected to and driven four parallelogram constituted by a third turning pair end to end; a pair of sides of said parallelogram a follower lever connected to the first sub-active lever through the first rotation, on the other side of the driven lever by rotation of the second sub-connector of the movable platform; the other pair of sides of said parallelogram two connecting rods driven by the fixing member. 从而获得更合理的传动以及运动精度,并且加强并联机构的刚度。 Thereby obtaining a more reasonable accuracy and a motion transmission and to strengthen the rigidity of the parallel mechanism.

[0024] 在一些实施例中,所述第一主动杆连接所述第一支链驱动机构的输出轴的一端安装有可调整配重块。 [0024] In some embodiments, the active lever first end connected to the first branched chain drive mechanism is attached to an output shaft of the adjustable weights. 通过合理地调整可调整配重块的质量,使得第一主动杆的转动惯量最小,从而实现较快的运动。 By properly adjusting the adjustable mass of the counterweight block, so that the moment of inertia of the first minimum of the active lever in order to achieve a faster movement.

[0025] 在一些实施例中,所述辅助运动支链包括辅助短杆、L型连接件和辅助长杆, [0025] In some embodiments, the auxiliary branch including an auxiliary motion studs, L-type connector and an auxiliary pole,

[0026] 所述辅助短杆的第一端连接在所述旋转支撑座上构成转动副,该转动副的轴线与所述第一支链驱动机构的输出轴平行,该平行线所构成的平面竖直;所述辅助短杆的第二端连接所述L型连接件的第一延伸端并构成转动副; The output shaft axis of the first branch of the chain drive mechanism [0026] The first end of the auxiliary connecting rod is short in the rotation of the rotation support base constituting the sub, the sub-rotation parallel to the plane of parallel lines vertically; a first auxiliary extending the short bar connecting a second end of said L-shaped end of the connecting member and the sub-rotated configuration;

[0027] 所述L型连接件的拐角端同轴地固定于所述第一转动副; [0027] The L-shaped corner connecting member fixed to the end of the coaxial first sub rotatable;

[0028] 所述L型连接件的第一延伸端和拐角端之间的连线竖直,该连线长度等于所述辅助短杆的第一端同所述第一支链驱动机构的输出轴之间的高度; [0028] The connection between the first vertically extending L-shaped terminal end and corner connecting member, the wiring length is equal to the auxiliary output of the first branch with a first end of the chain drive mechanism of the short rod height between the axes;

[0029] 所述辅助长杆一端连接所述L型连接件的第二延伸端并构成转动副,另一端连接所述动平台的水平延伸端构成转动副; The second extension [0029] The auxiliary mast connected to one end of said L-shaped end of the connecting member and the sub-rotated configuration, and the other end connected to the movable horizontal platform extending end constituting the sub-rotated;

[0030] 所述L型连接件的第二延伸端和拐角端之间的连线水平,该连线长度等于所述动平台的水平延伸端距离所述第二转动副的轴线的长度。 [0030] The connection between the horizontal corner end and a second end extending L-shaped connecting member, the wiring length is equal to the length of the movable horizontal platform axis of rotation of the second pair extending from the end. 有效防止动平台晃动,保证了吸嘴的中心轴始终垂直于地面。 Effectively prevent rattling moving platform, to ensure that the central axis of the nozzle is always perpendicular to the ground.

[0031] 在一些实施例中,所述旋转驱动机构包括相接的第一电机和第一减速机,所述第一减速机的输出轴为所述旋转驱动机构的输出轴; [0031] In some embodiments, the rotation driving mechanism comprises a first motor and a first gear engaged, the first reduction gear output shaft is an output shaft of the rotary drive mechanism;

[0032] 所述第一支链驱动机构包括相接的第二电机和第二减速机,所述第二减速机的输出轴为所述第一支链驱动机构的输出轴; [0032] The first branched chain drive mechanism includes a second motor and a second gear engaged, the output shaft of the second reduction gear to the output shaft of the first branched chain drive mechanism;

[0033] 所述第二支链驱动机构包括相接的第三电机和第三减速机,所述第三减速机的输出轴为所述第二支链驱动机构的输出轴。 [0033] The second branch includes a contact drive mechanism a third motor and a third gear, the second branch of the chain drive mechanism output shaft of the output shaft of the third reduction gear.

附图说明 BRIEF DESCRIPTION

[0034]图1是本发明一实施例的伪四自由度并联机器人的立体结构图; [0034] FIG. 1 is a perspective configuration diagram of a pseudo-parallel robot with four degrees of freedom to an embodiment of the present invention;

[0035] 图2是图1所示伪四自由度并联机器人另一视角的立体结构图; [0035] FIG. 2 is another perspective Parallel Manipulator pseudo three-dimensional structure shown in Figure 1;

[0036] 图3是图1所示伪四自由度并联机器人的轴线示意图; [0036] FIG. 3 is a schematic view of a pseudo axis parallel robot with four degrees of freedom shown in Figure 1;

[0037] 图4是图1所示伪四自由度并联机器人抓取物体的运动示意图。 [0037] FIG. 4 is a schematic diagram of a motion shown in the pseudo-Parallel Manipulator grasping the object.

具体实施方式 Detailed ways

[0038] 下面结合附图,对本发明的实施方式作详细说明。 [0038] DRAWINGS, embodiments of the present invention will be described in detail.

[0039] 请参阅图1、图2和图3,根据本发明的一实施例,伪四自由度并联机器人,包括静平台1、动平台2、旋转驱动机构8、旋转支撑座3、第一运动支链4、第二运动支链5、辅助运动支链6、第一支链驱动机构91、第二支链驱动机构92和吸嘴7。 [0039] Please refer to FIGS. 1, 2 and 3, according to an embodiment of the present invention, the pseudo-Parallel Manipulator embodiment, includes a fixed platform 1, moving the platform 2, the rotary drive mechanism 8, the rotating support base 3, the first movement branched 4, 5 second motion branched chain, branched supplementary motor 6, a first branched chain drive mechanism 91, the second branch 92 and the suction nozzle driving mechanism 7.

[0040] 静平台I固定位置。 [0040] I static platform fixed position. 旋转支撑座3为折弯90度的板块,包括水平板和竖直板。 3 is a rotating support base plate bent by 90 degrees, comprises a horizontal plate and a vertical plate.

[0041] 旋转驱动机构8固定在静平台I上,包括第一电机81和第一减速机82。 [0041] The rotation driving mechanism 8 is fixed on the static platform I, comprising a first motor 81 and the first reduction gear 82. 第一减速机82为弯头减速机,接受第一电机81驱动,第一减速机82的输出轴作为旋转驱动机构8的输出轴Al,该输出轴Al竖直向下地连接旋转支撑座3的水平板,以驱动旋转支撑座3水平360度旋转。 A first gear reducer 82 is elbow, receives the first driving motor 81, a first gear output shaft 82 as a rotation driving mechanism of the Al 8 output shaft, the output shaft connected to Al vertically downward of the rotation support base 3 horizontal plate to drive the rotation of the support base 3 horizontally 360 degree rotation.

[0042] 第一支链驱动机构91和所述第二支链驱动机构92分别固定在旋转支撑座3的竖直板上,各自的输出轴A5、A2水平。 [0042] The first branched chain drive mechanism 91 and the second branched chain driving mechanism 92 are fixed to the rotating support base of the vertical plate 3, the respective output shafts A5, A2 levels. 本实施例中,第一支链驱动机构91包括相接的第二电机和第二减速机,第二减速机的输出轴为第一支链驱动机构91的输出轴A5。 Embodiment, the first branched chain drive mechanism 91 includes a second contact and a second motor reducer of the present embodiment, the output shaft of the second reduction gear output shaft A5 is first branched chain drive mechanism 91. 第二支链驱动机构92包括相接的第三电机和第三减速机,第三减速机的输出轴为第二支链驱动机构92的输出轴A2。 The second branch comprises a third motor drive mechanism 92 and a third gear engaged, the output shaft of the third reduction gear output shaft A2 of the second drive mechanism 92 is branched.

[0043] 第一运动支链4 一端固定连接第一支链驱动机构91的输出轴A5,接受第一支链驱动机构91驱动进行转动,另一端转动连接动平台2。 [0043] The first motion is fixedly connected to a first branched branched chain drive mechanism 91 at one end of the output shaft of the A5 4, receives the first branched chain drive mechanism 91 driven for rotation, and the other end rotatably connected to the movable platform 2. 第二运动支链5 —端固定连接第二支链驱动机构92的输出轴A2,接受第二支链驱动机构92驱动进行转动,另一端转动连接动平台2。 Second motion branched 5 - end fixedly connected to the second output shaft A2 branched chain driving mechanism 92 receives driving the second drive mechanism 92 branched rotated, and the other end rotatably connected to the movable platform 2. 第一运动支链4和第二运动支链5结构相同且沿一对称面相互对称设置,该对称面垂直于旋转支撑座3的竖直板且经过旋转驱动机构8的输出轴Al。 4 branched same first motion and the second motion branched configuration and 5 are symmetrically disposed along a plane of symmetry, the symmetry plane is perpendicular to the vertical rotation support base plate 3 through the output shaft and the rotational drive mechanism 8 Al.

[0044] 吸嘴7竖直固定于动平台2,即吸嘴7的中心轴All竖直,即:中心轴All与水平面垂直。 [0044] The nozzle 7 is fixed to the vertically movable platform 2, i.e. the center axis of the nozzle 7 All the vertical, i.e.: All perpendicular to the horizontal center axis.

[0045] 辅助运动支链6并联于第一运动支链5,用于限位动平台2,防止动平台2晃动,以保证吸嘴7的中心轴All始终竖直。 [0045] supplementary motor 6 in parallel with the first branch of kinematic chain 5, to stop moving platform 2, to prevent rattling of the moving platform 2, to ensure the central axis of the nozzle 7. All remain upright.

[0046] 第一运动支链4和第二运动支链5处于同一平面,且该平面平行于旋转驱动机构8的输出轴和吸嘴7的中心轴构成的平面。 [0046] The first motion and the second motion branched 4 5 branched in the same plane, and the plane constituting the plane parallel to the output shaft 8 of the driving mechanism 7 and the central axis of the nozzle.

[0047] 综上,抓取物体做三自由度的平移和一个自由度的旋转,这样四自由度的运动得以实现。 [0047] In summary, three degrees of freedom gripping objects do a translation and rotation degree of freedom, so that four degrees of freedom of movement is achieved.

[0048] 因第一运动支链4和第二运动支链5结构相同,以第一运动支链4为例,具体描述其结构。 [0048] and a second motion by a branched structure identical to the first 5 branch 4 motion, motion in a first branch 4, the detailed description of its structure. 第一运动支链4包括:第一主动杆41、第一从动杆组和调整配重块42。 First motion branched 4 comprising: a first active lever 41, a first group of follower lever 42 and adjusting the weights.

[0049] 第一主动杆41的一端固定连接第一支链驱动机构91的输出轴A5,该端安装调整配重块42,通过合理的调整可调整配重块42的质量,使得第一主动杆41的转动惯量最小,从而实现较快的运动。 [0049] The first end of the active lever 41 is fixedly connected to a first branched chain drive mechanism output shaft A5 91, and the mounting end 42 to adjust the weights by adjusting the adjustable reasonable mass of the counterweight block 42, such that the first active the minimum moment of inertia of the rod 41, in order to achieve a faster movement. 第一主动杆41的另一端通过第一转动副411连接第一从动杆组,第一转动副411的轴线A6。 A first active lever 41 is connected to the other end of a first driven lever is rotated by the first sub-group 411, a first axis of rotation 411 of the sub-A6. 第一从动杆组通过第二转动副412连接动平台2,第二转动副412的轴线A4。 A first movable platform follower axis bar group A4 2, second sub 412 is rotated by rotation of the second sub-412.

[0050] 第一从动杆组包括一对从动杆431以及另一对从动杆432,该四个从动杆依次通过第三转动副433首尾相连并构成平行四边形。 [0050] The first group includes a pair of driven shaft follower pin 431 and the other the driven shaft 432, the rotation of the third four sub-follower lever 433 are sequentially connected end to end and by the shape of a parallelogram. 作为平行四边形一对边的一对从动杆431,一个从动杆431通过第一转动副411连接第一主动杆41,另一个从动杆431通过第二转动副412连接动平台2。 As a pair of sides of the parallelogram pair of driven lever 431, a driven lever 431 connected by a first swivel joint 411 of the first active lever 41, the other driven lever 431 is connected via a second swivel joint 412 movable platform 2. 此对边优先选择短边。 This preference for the side of the short side. 由于是转动副连接,实现平行四边形所在平面绕第一主动杆41转动。 Because it is connected to the swivel joint, to achieve a plane parallelogram where the active lever 41 is rotated about the first. 作为平行四边形另一对边的一对从动杆432之间通过固定件连接,保证了第一从动杆组的稳定性。 As a further parallelogram rods of a pair of driven side fixed member 432 is connected, to ensure the stability of the first group of follower rod.

[0051] 具体地,辅助运动支链6包括辅助短杆61、L型连接件62和辅助长杆63。 [0051] In particular, the supplementary motor 6 comprises a branched short auxiliary lever 61, L-type connecting member 62 and the auxiliary mast 63.

[0052] 辅助短杆61的第一端连接在旋转支撑座3上构成转动副,该转动副的轴线A7与第一支链驱动机构91的输出轴A5平行,该平行线构成的平面竖直(即与水平面垂直)。 [0052] The auxiliary short bar 61 is connected a first end rotatably supported on a base 3 composed of the sub-rotated, the rotation of the output shaft parallel with the axis A5 and A7 of the first sub-branch of the chain drive mechanism 91, a vertical plane parallel to the line formed (i.e., perpendicular to the horizontal plane). 辅助短杆61的第二端连接L型连接件62的第一延伸端621并构成转动副,该转动副的轴线AS。 AS short axis of the auxiliary connecting rod extending in a first end 621 L-type connecting member 62 is rotated and constituting a pair, the rotation of the second end 61 of the sub. L型连接件62的拐角端623同轴地固定于第一转动副411,即:拐角端623的中心轴与第一转动副411的轴线A6同一直线。 L-shaped corner member 62 connected coaxially fixed end 623 to the first turning pair 411, namely: the corner of the end of the central axis 623 of the rotation axis of the first sub-411 A6 same line. L型连接件62的第一延伸端621和拐角端623之间的连线竖直,该连线长度等于辅助短杆61的第一端(辅助短杆61和旋转支撑座3的相接端)同第一支链驱动机构91的输出轴A5之间的竖直高度。 A first L-shaped connecting member extending between the vertical end 62 of the connecting end 621 and corner 623, the connection length equal to the additional contact of the first end of the short rod 61 (the short bar 61 and the auxiliary rotary support base 3 ) between the output shaft with a first A5 branched chain driving mechanism 91 of vertical height. 如此,辅助短杆61、旋转支撑座 Thus, the auxiliary lever 61 is short, the rotating support base

3、第一主动杆41和L型连接件62首尾相连,在同一平面内构成一个平行四边形机构。 3, the active lever 41 and is connected to a first end-L-shaped connecting member 62, constituting a parallelogram mechanism in the same plane. 辅助长杆63 —端连接L型连接件62的第二延伸端622并构成转动副,该转动副的轴线A9。 Auxiliary pole 63 - terminal connected to the second L-shaped connecting member 62 extending ends 622 and the sub-rotated configuration, the rotational axis of the sub-A9. 辅助长杆63另一端连接动平台2的水平延伸端21构成转动副,该转动副的轴线A10。 The other horizontal end of the auxiliary mast 63 is connected to the movable platform 2 rotatably extending end 21 constituting the sub, the rotational axis of the sub A10. L型连接件62的第二延伸端622和拐角端623之间的连线水平,该连线长度等于动平台2的水平延伸端21与第二转动副412的轴线A4之间的水平距离。 L-shaped connecting member connecting a second end 62 extending horizontally between end corners 623 and 622, equal to the connection length of the movable horizontal platform 2 horizontal distance between the axis and the second rotation A4 21 412 sub-extending end. 辅助长杆63、L型连接件62、从动杆432和动平台2首尾相连,在同一平面内构成另一个平行四边形机构。 Auxiliary pole 63, L-type connecting member 62, and a follower lever connected to the movable platform 432 2 inclusive, constitute another parallelogram mechanism in the same plane. L型连接件62连接了上述两组平行四边形机构,该两组平行四边形机构是联动机构,由于轴A5与轴A7所处的平面始终是竖直面,这样就保证了吸嘴7的中心轴All始终垂直于地面。 L-shaped connecting member 62 is connected to the above-described two parallelogram mechanism, the two mechanisms are parallelogram linkage mechanism, since the plane in which the axis A5 and A7 axis is always vertical plane, thus ensuring the central axis of the nozzle 7 All is always perpendicular to the ground.

[0053] 根据图4所述,阐述四自由度运动步骤。 [0053] According to the figure 4, steps illustrated four degrees of freedom. 如下: as follows:

[0054] 步骤一:将第一运动支链和第二运动支链所在的平面旋转至与平面PA_PB_PC_PD平行,将物体从抓取点PA经过点PB和点PC搬运至点ro ; [0054] Step a: the motion plane of the first and second branches branched motion to the plane of rotation located parallel PA_PB_PC_PD the object carrying the grasping point PA and point PB passes point PC to point RO;

[0055] 步骤二:将第一运动支链和第二运动支链所在的平面旋转一定角度,这个角度就是物体的抓取点PA和放置点PI的夹角; [0055] Step two: the motion plane of the first and second branches branched motion where the rotation angle, this angle is the angle between the gripping point of the object points PA and PI in place;

[0056] 步骤三:将物体从点PE放下置于点PF,再将第一运动支链和第二运动支链所在的平面旋转至平面PE_PG_PH_P I平行,再从点PF抓取物体提升至点PE ; [0056] Step 3: PE disposed object points down from point PF, then the first plane of motion and the second motion branched chain branched rotated to a plane located parallel PE_PG_PH_P I, then grasping the object from the point-to-point lifting PF PE;

[0057] 步骤四:机器人将物体从点PE经过点PG和点PH搬运至放置点PI,至此,物体就从抓取点PA搬运至放置点PI,即实现了四自由度的运动。 [0057] Step Four: the robot carrying the object point passes from the point PE and PG placement point PI to point PH, so far, to place the point on the object from the gripping point PA PI handling, i.e., four degrees of freedom of motion realized.

[0058] 以上所述仅是本发明的一种实施方式,应当指出,对于本领域普通技术人员来说,在不脱离本发明创造构思的前提下,还可以做出若干相似的变形和改进,这些也应视为本发明的保护范围之内。 [0058] The above embodiment is merely one embodiment of the present invention, it should be noted that those of ordinary skill in the art, without departing from the concept of the present invention to create a premise, can make various modifications and improvements similar, these should be considered within the scope of the present invention.

Claims (7)

1.一种伪四自由度并联机器人,其特征在于,包括静平台(I)、动平台(2)、旋转驱动机构(8)、旋转支撑座(3)、第一运动支链(4)、第二运动支链(5)、辅助运动支链(6)、第一支链驱动机构(91)、第二支链驱动机构(92)和吸嘴(7),其中, 所述旋转支撑座(3)包括水平板以及连接并垂直于该水平板的竖直板; 所述旋转驱动机构(8)固定于所述静平台(I),其输出轴竖直向下地连接所述旋转支撑座(3)的水平板; 所述第一支链驱动机构(91)和所述第二支链驱动机构(92)分别固定于所述旋转支撑座⑶的竖直板,各自输出轴均水平; 所述第一运动支链(4) 一端固定连接所述第一支链驱动机构(91)的输出轴,另一端转动连接所述动平台(2); 所述第二运动支链(5) —端固定连接所述第二支链驱动机构(92)的输出轴,另一端转动连接所述动平台(2); 所述吸嘴(7)竖直固定于所述动平台(2); 所述 A pseudo four degrees of freedom parallel robot comprising static platform (the I), the movable platform (2), a rotary drive mechanism (8), the rotating support base (3), the first motion branched (4) second motion branched (5), auxiliary motion branched chain (6), a first branched chain drive mechanism (91), a second branched chain drive mechanism (92) and the suction nozzle (7), wherein said rotary support seat (3) comprises a horizontal plate and a connecting plate perpendicular to the vertical and the horizontal plate; the rotary drive mechanism (8) is fixed to the stationary platform (I), an output shaft connected to the vertically downward rotation support Block (3) of the horizontal plate; the first branched chain drive mechanism (91) and said second branched chain drive mechanism (92) are fixed to the vertical rotary support ⑶ base plate, each of the output shafts are horizontal ; the first motion branch (4) is fixedly connected to the branched end of the first drive mechanism (91) of the output shaft, and the other end rotatably connected to the movable platform (2); the second motion branched (5 ) - is fixedly connected to the second end of the branched chain drive mechanism (92) of the output shaft, and the other end rotatably connected to the movable platform (2); the nozzle (7) fixed to said vertically movable platform (2) ; a 一运动支链(4)和第二运动支链(5)处于同一平面,且该平面平行于所述旋转驱动机构(8)的输出轴和所述吸嘴(7)的中心轴构成的平面; 所述辅助运动支链(6)与所述第一运动支链(5)并联,对所述动平台(2)限位。 A branched motion plane (4) and a second motion branched (5) in the same plane, and the plane parallel to the rotational drive mechanism (8) and the output shaft of the nozzle (7) constituting a central axis of ; moving said auxiliary branch (6) and the first branched motion (5) in parallel, (2) limit the movement of the platform.
2.根据权利要求1所述的伪四自由度并联机器人,其特征在于,所述第一运动支链(4)和第二运动支链(5)结构相同且沿一对称面相互对称设置,该对称面垂直于所述旋转支撑座(3)的竖直板且经过所述旋转驱动机构(8)的输出轴。 Dummy according to claim Parallel Manipulator claim 1, wherein the first motion branch (4) and a second motion branched (5) the same configuration and are symmetrically disposed along a plane of symmetry, the plane of symmetry perpendicular to the rotation support base (3) of the vertical plate and passing through the rotary drive mechanism (8) of the output shaft.
3.根据权利要求2所述的伪四自由度并联机器人,其特征在于,所述第一运动支链(4)包括:第一主动杆(41)和第一从动杆组, 所述第一主动杆(41)的一端连接所述第一支链驱动机构(91)的输出轴,另一端通过第一转动副(411)连接所述第一从动杆组; 所述第一从动杆组通过第二转动副(412)连接所述动平台(2)。 According to claim Pseudo Parallel Manipulator of claim 2, wherein the first motion branch (4) comprising: a first active lever (41) and a first set of driven shaft, said first one end of an output shaft of the active lever (41) is connected to the first branched chain drive mechanism (91), the other end of the rod driven by a first set of a first turning pair (411); the first follower bar group of the movable platform (2) by a second turning pair (412).
4.根据权利要求3所述的伪四自由度并联机器人,其特征在于,所述第一从动杆组包括四个从动杆,该四个从动杆依次通过第三转动副(433)首尾相连并构成平行四边形;所述平行四边形一对边的一个从动杆(431)通过所述第一转动副(411)连接所述第一主动杆(41),该对边的另一个从动杆(431)通过所述第二转动副(412)连接所述动平台(2);所述平行四边形另一对边的两个从动杆(432)通过固定件连接。 According to claim Pseudo Parallel Manipulator of claim 3, wherein said first set of driven lever comprises a driven four rods, the rods are sequentially driven by four third turning pair (433) end to end and constituting a parallelogram; a pair of sides of the parallelogram is a follower lever (431) connected to said first active lever (41) by rotation of said first pair (411), the other from opposite sides lever (431) connected to said movable platform (2) by rotation of said second pair (412); said further parallelogram two sides of the follower lever (432) connected by a fixing member.
5.根据权利要求3所述的伪四自由度并联机器人,其特征在于,所述第一主动杆(41)连接所述第一支链驱动机构(91)的输出轴的一端安装有可调整配重块(42)。 According to claim Pseudo Parallel Manipulator of claim 3, wherein the first end of the active lever (41) connected to the first branched chain drive mechanism (91) is attached to an output shaft of the adjustable the counterweight (42).
6.根据权利要求3所述的伪四自由度并联机器人,其特征在于,所述辅助运动支链(6)包括辅助短杆(61)、L型连接件¢2)和辅助长杆(63), 所述辅助短杆¢1)的第一端连接在所述旋转支撑座(3)上构成转动副,该转动副的轴线与所述第一支链驱动机构(91)的输出轴平行,该平行线所构成的平面竖直;所述辅助短杆(61)的第二端连接所述L型连接件(62)的第一延伸端(621)并构成转动副; 所述L型连接件(62)的拐角端(623)同轴地固定于所述第一转动副(411); 所述L型连接件(62)的第一延伸端(621)和拐角端(623)之间的连线竖直,该连线长度等于所述辅助短杆(61)的第一端同所述第一支链驱动机构(91)的输出轴之间的高度; 所述辅助长杆(63) —端连接所述L型连接件(62)的第二延伸端(622)并构成转动副,另一端连接所述动平台(2)的水平延伸端(21)构成转动副; 所述L型连接件(62)的第二延伸端 According to claim Pseudo Parallel Manipulator of claim 3, wherein said motion auxiliary branch (6) comprises an auxiliary studs (61), L-type connection ¢ 2) and an auxiliary pole (63 ), said auxiliary lever ¢ short. 1) is connected to a first end of the rotary support is rotated the sub-base configuration (3), parallel to the rotation axis of the first pair branched chain drive mechanism (91) of the output shaft the parallel lines in the vertical plane; a second end of the secondary studs (61) is connected to the first L-shaped connecting member extending end (62) (621) and constitute a turning pair; the L-shaped connecting member (62) end of the corner (623) coaxially fixed to said first turning pair (411); and the L-shaped connecting member (62) extending in a first end (621) and corner end (623) of the connection between the vertical, equal to the connection length between the short height of the auxiliary lever (61) with a first end of the first branched chain drive mechanism (91) of the output shaft; said auxiliary mast ( 63) - a second terminal connected to the extending end of the L-shaped connecting member (62) (622) and form turning pair, and the other end connected to the horizontal platform (2) extending the movable end (21) constituting the sub-rotated; the a second end extending L-shaped connecting member (62) (622)和拐角端(623)之间的连线水平,该连线长度等于所述动平台(2)的水平延伸端(21)距离所述第二转动副(412)的轴线的长度。 The connection between the level (622) and corner side (623), the link length is equal to the horizontal platform (2) moving the longitudinal axis from the second turning pair (412) extending end (21).
7.根据权利要求1所述的伪四自由度并联机器人,其特征在于, 所述旋转驱动机构(8)包括相接的第一电机(81)和第一减速机(82),所述第一减速机(82)的输出轴为所述旋转驱动机构(8)的输出轴; 所述第一支链驱动机构(91)包括相接的第二电机和第二减速机,所述第二减速机的输出轴为所述第一支链驱动机构(91)的输出轴; 所述第二支链驱动机构(92)包括相接的第三电机和第三减速机,所述第三减速机的输出轴为所述第二支链驱动机构(92)的输出轴。 The Pseudo Parallel Manipulator according to claim 1, wherein said rotary drive mechanism (8) comprises a first motor (81) and a first reduction gear contact (82), said first an output shaft of a reducer (82) to the output shaft of the rotary drive mechanism (8); the first branched chain drive mechanism (91) comprises a second motor and a second gear in contact with the second the output shaft of the speed reducer to the chain drive mechanism the first branch (91) of the output shaft; the second branched chain drive mechanism (92) comprises a third motor and a third gear engaged, the third reduction the output shaft to the output shaft of the second supporting link drive mechanism (92) of the machine.
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