CN105291096A - Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom - Google Patents

Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom Download PDF

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Publication number
CN105291096A
CN105291096A CN201510856198.8A CN201510856198A CN105291096A CN 105291096 A CN105291096 A CN 105291096A CN 201510856198 A CN201510856198 A CN 201510856198A CN 105291096 A CN105291096 A CN 105291096A
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China
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rocking bar
frame
branch
follower lever
moving platform
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CN201510856198.8A
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CN105291096B (en
Inventor
曹文熬
丁华锋
霍莉霞
王玉丹
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China University of Geosciences
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China University of Geosciences
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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

Abstract

The invention relates to a heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom, and belongs to the field of robot mechanisms. The mechanism comprises a rack, a mobile platform, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected between the rack and the mobile platform in parallel and are of the same structure. Each branch is sequentially connected with a driving rod, an auxiliary driving rod set, a double-arm rocker and a driven rod set. Three parallelogram mechanisms are constituted by the rack, the driving rods, the auxiliary driving rod sets, the double-arm rockers and revolute pairs for connecting the rack, the driving rods, the auxiliary driving rod sets and the double-arm rockers. A parallelogram mechanism is constituted by the double-arm rockers, the driven rod sets, the mobile platform and Hooke joints for connecting the double-arm rockers, the driven rod sets and the mobile platform. The parallel mechanism is low in weight, large in working space, suitable for high-speed and heavy-load occasions and good in application prospect.

Description

A kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism
Technical field
The invention belongs to robot mechanism field, particularly a kind of heavily loaded translation carrying robot mechanism with Three Degree Of Freedom.
Background technology
The robot for space with three translation freedoms is industrially widely used, in the field, Sweden scholar Clavel (R.Clavel.Delta, afastrobotwithparallelgeometry.In:Proc.of18thInternation alSymposiumIndustrialRobots, Lausanne, Switzerland, 1988, pp:91-100) a kind of Delta parallel mechanism of the realized three-dimensional translating be made up of three symmetrical side chains is proposed, being promoted by ABB AB afterwards and being applied in the production lines such as packaging for foodstuff replaces the rapid sorting manually completing food etc. to operate.This Delta robot architecture characteristic is that three branches are symmetric, by a revolute pair, its each branch adds that 4 ball pairs (or universal pair) type parallel-crank mechanism is formed.Document (Tsai, LW.Kinematicsofa3-DOFPlatformwithThreeExtensibleLimbs.Re centAdvanceinRobotKinematics, LenarcicJ, Parenti-CastelliVH.Boston:KluwerAcademicPublishers, Proc.5thInternationalSymposiumonAdvanceinRobotKinematics, 1996, pp:401-410) propose a kind of Delta parallel mechanism of improvement, by two revolute pairs, its each branch adds that one 4 rotation paratype parallel-crank mechanism is formed.Document (PierrotF; NabatV; CompanyO; KrutS; PoignetP.Optimaldesignofa4-DOFparallelmanipulator:Fromac ademiatoindustry.IEEETransactionsonRobotics, 2009,25 (2) pp:213-224) in propose and a kind ofly contain the four-degree-of-freedom robot that three of four branches move a rotation, the single branch of this robot and the single branch of Delta mechanism similar.A kind of branch moves rotation four-freedom-degree parallel-connection robot containing three of closed loop is proposed in patent (CN201210433892.5).Propose a kind of two-degree-of-freedom plane parallel robot mechanism in patent (CN02822735.2), its each branch is equivalent to the branch rotating paratype parallel-crank mechanism form by two 4.But these translation robots existing concentrate on underloading pick-and-place operating mode, and there is not been reported for the translation transfer robot of severe duty.
Summary of the invention
The present invention relates to a kind of Three Degree Of Freedom heavy duty translation transfer robot, the branch of this robot both rotated paratype parallel-crank mechanism containing 4, also containing 4 universal paratype parallel-crank mechanisms, was different from the branched structure of existing any one robot.
Realizing the technical scheme that above-mentioned purpose of the present invention adopts is:
A kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism that the present invention proposes, comprises frame, moving platform and is connected in parallel and have mutually isostructural first, second, third branch between frame with moving platform; From frame to moving platform, be connected with drive rod and additional drive rods group, both arms rocking bar, follower lever group in turn; In described first, second, third branch, one end of drive rod is connected with frame by rotating drive pair, and the other end is connected with both arms rocking bar by revolute pair; Additional drive rods group is made up of additional drive rods one and additional drive rods two, one end of additional drive rods one is connected with frame by revolute pair, the other end is connected with both arms rocking bar by revolute pair, one end of additional drive rods two is connected with frame by revolute pair, and the other end is connected with both arms rocking bar by revolute pair; Follower lever group is made up of follower lever one and follower lever two, one end of follower lever one is connected with both arms rocking bar by Hooke's hinge, the other end is connected with moving platform by Hooke's hinge, and one end of follower lever two is connected with both arms rocking bar by Hooke's hinge, and the other end is connected with moving platform by Hooke's hinge; Described frame, drive rod, additional drive rods one, both arms rocking bar and the revolute pair connecting them form a parallel-crank mechanism; Described frame, drive rod, additional drive rods two, both arms rocking bar and the revolute pair connecting them form a parallel-crank mechanism; Described frame, additional drive rods one, additional drive rods two, both arms rocking bar and the revolute pair connecting them form a parallel-crank mechanism; Described both arms rocking bar, follower lever one, follower lever two, moving platform and the Hooke's hinge connecting them form a parallel-crank mechanism.
A kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism that the present invention also proposes, comprises frame, moving platform and is connected in parallel and have mutually isostructural first, second, third branch between frame with moving platform; From frame to moving platform, be connected with drive rod and additional drive rods, both arms rocking bar, follower lever group in turn; In described first, second, third branch, one end of drive rod is connected with frame by rotating drive pair, and the other end is connected with both arms rocking bar by revolute pair; One end of additional drive rods is connected with frame by revolute pair, and the other end is connected with both arms rocking bar by revolute pair; Follower lever group is made up of follower lever one and follower lever two, one end of follower lever one is connected with both arms rocking bar by Hooke's hinge, the other end is connected with moving platform by Hooke's hinge, and one end of follower lever two is connected with both arms rocking bar by Hooke's hinge, and the other end is connected with moving platform by Hooke's hinge; Described frame, drive rod, additional drive rods and both arms rocking bar and the revolute pair being connected them form a parallel-crank mechanism; Described both arms rocking bar, follower lever one, follower lever two and moving platform and the Hooke's hinge being connected them form a parallel-crank mechanism.
The present invention compared with prior art has outstanding feature: the three-dimensional translating motion in this mechanism's energy implementation space, its driver is arranged in frame, there is the advantages such as lightweight, working space is large, be applicable to high speed, heavily loaded occasion, have a good application prospect.
Accompanying drawing explanation
Fig. 1 is the structural scheme of mechanism of the embodiment of the present invention 1.
Fig. 2 is both arms rocking bar connecting portion partial enlarged drawing in embodiment 1.
Fig. 3 is the structural scheme of mechanism of the embodiment of the present invention 2.
Fig. 4 is both arms rocking bar connecting portion partial enlarged drawing in embodiment 2.
Fig. 5 is the structural scheme of mechanism of the embodiment of the present invention 3.
Fig. 6 is the structural scheme of mechanism of the embodiment of the present invention 4.
Detailed description of the invention
Below in conjunction with specific embodiment, detailed specific description is done to the present invention, but protection scope of the present invention is not limited to following examples.
Embodiment 1
The structure of a kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism of the present embodiment as shown in Figure 1, comprises frame (1), moving platform (8) and is connected in parallel and have mutually isostructural first, second, third branch (I, II, III) between frame (1) with moving platform (8); From frame (1) to moving platform (8), be connected with drive rod (2) and additional drive rods group, both arms rocking bar (5), follower lever group in turn; For the first branch (I), one end of drive rod (2) is connected with frame (1) by rotating drive pair (R1), and the other end is connected with both arms rocking bar (5) by revolute pair (R4); Additional drive rods group is made up of additional drive rods one (3) and additional drive rods two (4), one end of additional drive rods one (3) is connected with frame (1) by revolute pair (R2), the other end is connected with both arms rocking bar (5) by revolute pair (R5), one end of additional drive rods two (4) is connected with frame (1) by revolute pair (R3), and the other end is connected with both arms rocking bar (5) by revolute pair (R6); Follower lever group is made up of follower lever one (6) and follower lever two (7), one end of follower lever one (6) is connected with both arms rocking bar (5) by Hooke's hinge (U1), the other end is connected with moving platform (8) by Hooke's hinge (U3), one end of follower lever two (7) is connected with both arms rocking bar (5) by Hooke's hinge (U2), and the other end is connected with moving platform (8) by Hooke's hinge (U4); Described frame (1), drive rod (2), additional drive rods one (3) and both arms rocking bar (5) and the revolute pair being connected them form a parallel-crank mechanism; Described frame (1), drive rod (2), additional drive rods two (4) and both arms rocking bar (5) and the revolute pair being connected them form a parallel-crank mechanism; Described frame (1), additional drive rods one (3), additional drive rods two (4) and both arms rocking bar (5) and the revolute pair being connected them form a parallel-crank mechanism; Described both arms rocking bar (5), follower lever one (6), follower lever two (7) and moving platform (8) and the Hooke's hinge being connected them form a parallel-crank mechanism.
Fig. 2 is both arms rocking bar (5) connecting portion partial enlarged drawing.
Embodiment 2
The structure of a kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism of the present embodiment as shown in Figure 3, comprises frame (1), moving platform (7) and is connected in parallel and have mutually isostructural first, second, third branch (I, II, III) between frame (1) with moving platform (7); From frame (1) to moving platform (7), be connected with drive rod (2) and additional drive rods (3), both arms rocking bar (4), follower lever group in turn; For the first branch (I), one end of drive rod (2) is connected with frame (1) by rotating drive pair (R1), and the other end is connected with both arms rocking bar (4) by revolute pair (R3); One end of additional drive rods (3) is connected with frame (1) by revolute pair (R2), and the other end is connected with both arms rocking bar (4) by revolute pair (R4); Follower lever group is made up of follower lever one (5) and follower lever two (6), one end of follower lever one (5) is connected with both arms rocking bar (4) by Hooke's hinge (U1), the other end is connected with moving platform (7) by Hooke's hinge (U3), one end of follower lever two (6) is connected with both arms rocking bar (4) by Hooke's hinge (U2), and the other end is connected with moving platform (7) by Hooke's hinge (U4); Described frame (1), drive rod (2), additional drive rods (3) and both arms rocking bar (4) and the revolute pair being connected them form a parallel-crank mechanism; Described both arms rocking bar (4), follower lever one (5), follower lever two (6) and moving platform (7) and the Hooke's hinge being connected them form a parallel-crank mechanism.
Fig. 4 is both arms rocking bar (4) connecting portion partial enlarged drawing.
Embodiment 3
The present embodiment structure is as shown in Figure 5, similar to Example 1, is connected with identical first, second, third branch of structure (I, II, III) equally between frame with moving platform.The present embodiment is as different from Example 1: this embodiment adds a RUPUR between frame and moving platform, and (R is revolute pair, U is Hooke's hinge, P is moving sets) branch, i.e. the 4th branch (IV), this branch into end effector (12) provide a moving platform method to rotation, make the practical ranges of this mechanism more extensive.Described 4th branch (IV) concrete structure is: from frame (1) to moving platform (8), one end of final drive shaft (9) is connected with frame (1) by rotating drive pair (R7), and the other end is connected with intermediate propeller shaft one (10) by Hooke's hinge (U5); One end of intermediate propeller shaft two (11) is connected with intermediate propeller shaft one (10) by moving sets (P1), the other end is connected with one end of clamper (12) by Hooke's hinge (U6), the other end of clamper (12), through moving platform (8), is connected with moving platform (8) by revolute pair (R8).
Embodiment 4
The present embodiment structure is as shown in Figure 6, similar to Example 2, is connected with identical first, second, third branch of structure (I, II, III) equally between frame with moving platform.The present embodiment is as different from Example 2: this embodiment adds a RUPUR branch between frame and moving platform, i.e. the 4th branch (IV), this branch into end effector (11) provide a moving platform method to rotation, make the practical ranges of this mechanism more extensive.Described 4th branch (IV) concrete structure is: from frame (1) to moving platform (7), one end of final drive shaft (8) is connected with frame (1) by rotating drive pair (R5), and the other end is connected with intermediate propeller shaft one (9) by Hooke's hinge (U5); One end of intermediate propeller shaft two (10) is connected with intermediate propeller shaft one (9) by moving sets (P1), the other end is connected with one end of clamper (11) by Hooke's hinge (U6), the other end of clamper (11), through moving platform, is connected with moving platform (7) by revolute pair (R6).

Claims (2)

1. a Three Degree Of Freedom heavy duty translation carrying robot mechanism, comprises frame, moving platform and is connected in parallel and have mutually isostructural first, second, third branch between frame with moving platform; It is characterized in that from frame to moving platform, be connected with drive rod and additional drive rods group, both arms rocking bar, follower lever group in turn; In described first, second, third branch, one end of drive rod is connected with frame by rotating drive pair, and the other end is connected with both arms rocking bar by revolute pair; Additional drive rods group is made up of additional drive rods one and additional drive rods two, one end of additional drive rods one is connected with frame by revolute pair, the other end is connected with both arms rocking bar by revolute pair, one end of additional drive rods two is connected with frame by revolute pair, and the other end is connected with both arms rocking bar by revolute pair; Follower lever group is made up of follower lever one and follower lever two, one end of follower lever one is connected with both arms rocking bar by Hooke's hinge, the other end is connected with moving platform by Hooke's hinge, and one end of follower lever two is connected with both arms rocking bar by Hooke's hinge, and the other end is connected with moving platform by Hooke's hinge; Described frame, drive rod, additional drive rods one, both arms rocking bar and the revolute pair connecting them form a parallel-crank mechanism; Described frame, drive rod, additional drive rods two, both arms rocking bar and the revolute pair connecting them form a parallel-crank mechanism; Described frame, additional drive rods one, additional drive rods two, both arms rocking bar and the revolute pair connecting them form a parallel-crank mechanism; Described both arms rocking bar, follower lever one, follower lever two, moving platform and the Hooke's hinge connecting them form a parallel-crank mechanism.
2. a Three Degree Of Freedom heavy duty translation carrying robot mechanism, comprises frame, moving platform and is connected in parallel and have mutually isostructural first, second, third branch between frame with moving platform; It is characterized in that from frame to moving platform, be connected with drive rod and additional drive rods, both arms rocking bar, follower lever group in turn; In described first, second, third branch, one end of drive rod is connected with frame by rotating drive pair, and the other end is connected with both arms rocking bar by revolute pair; One end of additional drive rods is connected with frame by revolute pair, and the other end is connected with both arms rocking bar by revolute pair; Follower lever group is made up of follower lever one and follower lever two, one end of follower lever one is connected with both arms rocking bar by Hooke's hinge, the other end is connected with moving platform by Hooke's hinge, and one end of follower lever two is connected with both arms rocking bar by Hooke's hinge, and the other end is connected with moving platform by Hooke's hinge; Described frame, drive rod, additional drive rods and both arms rocking bar and the revolute pair being connected them form a parallel-crank mechanism; Described both arms rocking bar, follower lever one, follower lever two and moving platform and the Hooke's hinge being connected them form a parallel-crank mechanism.
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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN105887777A (en) * 2016-05-24 2016-08-24 陈薇 Full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine
CN106272361A (en) * 2016-10-07 2017-01-04 南京理工大学 A kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn
CN106313006A (en) * 2016-10-07 2017-01-11 南京理工大学 Three-branched-chain four-freedom-degree robot mechanism achieving three-dimensional translation and one-dimensional rotation
CN108393871A (en) * 2018-04-09 2018-08-14 清华大学 High speed high load parallel robot
CN109531547A (en) * 2018-12-26 2019-03-29 清华大学 3-dof parallel robot with two close cycles branched structure
CN110815182A (en) * 2019-11-13 2020-02-21 南京理工大学 Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains
CN110815185A (en) * 2019-11-13 2020-02-21 南京理工大学 Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain

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CN108127645B (en) * 2016-06-23 2020-07-24 海门茂发美术图案设计有限公司 Manipulator and working method thereof

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DE102004058450A1 (en) * 2004-12-03 2006-06-08 Hartmut Friedrich Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements
US20090019960A1 (en) * 2005-02-17 2009-01-22 Vincent Nabat High-speed parallel robot with four degrees of freedom
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Publication number Priority date Publication date Assignee Title
CN105887777A (en) * 2016-05-24 2016-08-24 陈薇 Full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine
CN106272361A (en) * 2016-10-07 2017-01-04 南京理工大学 A kind of realize the two Three Degree Of Freedom robot mechanisms of flat a turn
CN106313006A (en) * 2016-10-07 2017-01-11 南京理工大学 Three-branched-chain four-freedom-degree robot mechanism achieving three-dimensional translation and one-dimensional rotation
CN108393871A (en) * 2018-04-09 2018-08-14 清华大学 High speed high load parallel robot
CN109531547A (en) * 2018-12-26 2019-03-29 清华大学 3-dof parallel robot with two close cycles branched structure
CN110815182A (en) * 2019-11-13 2020-02-21 南京理工大学 Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains
CN110815185A (en) * 2019-11-13 2020-02-21 南京理工大学 Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain
CN110815182B (en) * 2019-11-13 2021-09-03 南京理工大学 Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains

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