CN105291096B - 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
CN105291096B
CN105291096B CN201510856198.8A CN201510856198A CN105291096B CN 105291096 B CN105291096 B CN 105291096B CN 201510856198 A CN201510856198 A CN 201510856198A CN 105291096 B CN105291096 B CN 105291096B
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China
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frame
rocking bar
follower lever
moving platform
hooke
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CN201510856198.8A
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CN105291096A (en
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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 to a kind of heavily loaded translation conveying robot with Three Degree Of Freedom Robot mechanism.
Background technology
The robot for space with three translation freedoms is industrially widely used, and in the field, Sweden is learned Person clavel (r.clavel.delta, a fast robot with parallel geometry.in:proc.of 18th international symposium industrial robots,lausanne,switzerland,1988,pp:91- 100) propose a kind of delta parallel institution of the achievable three-dimensional translating being made up of three symmetrical side chains, after pushed away by abb company Wide and be applied to replace in the production lines such as packaging for foodstuff being accomplished manually the rapid sorting operation of food etc..This delta robot is tied Structure characteristic is symmetric for three branches, and each of which branch is rotated secondary secondary or universal paratype is parallel plus 4 ball by one Quadrangular mechanism is constituted.Document (tsai, l w.kinematics of a 3-dof platform with three extensible limbs.recent advance in robot kinematics,lenarcic j,parenti- castelli v h.boston:kluwer academic publishers,proc.5th international Symposium on advance in robot kinematics, 1996, pp:401-410) propose a kind of improved Delta parallel institution, each of which branch rotates pair by two and constitutes plus one 4 rotation paratype parallel-crank mechanism.Document (pierrot f;nabat v;company o;krut s;poignet p.optimal design of a 4-dof parallel manipulator:from academia to industry.ieee transactions on robotics, 2009,25 (2) pp:213-224) in propose a kind of four-degree-of-freedom robots of three mobile rotations containing four branches, this The single branch planting robot is similar with the single branch of delta mechanism.One is proposed in patent (cn201210433892.5) Plant the four-freedom-degree parallel-connection robot that branch contains three mobile rotations of closed loop.One kind is proposed in patent (cn02822735.2) Two-degree-of-freedom plane parallel robot mechanism, each of which branch is equivalent to and is made up of two 4 rotation paratype parallel-crank mechanisms Branch.However, these translation robots existing concentrate on underloading pick-and-place operating mode, the translation transfer robot of severe duty is still Have no report.
Content of the invention
The present invention relates to a kind of Three Degree Of Freedom heavy duty translation transfer robot, 4 rotation pairs both contain in the branch of this robot Type parallel-crank mechanism, also contains 4 universal paratype parallel-crank mechanisms, different from dividing of existing any one robot Prop up structure.
Realizing the technical scheme that above-mentioned purpose of the present invention adopted is:
A kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism proposed by the present invention, including frame, moving platform and simultaneously Connection is connected to has mutually isostructural first, second, third branch between frame and moving platform;From frame to moving platform, according to Secondary it is connected with drive rod and additional drive rods group, both arms rocking bar, follower lever group;In described first, second, third branch, drive One end of bar drives pair to be connected with frame by rotating, and the other end is passed through rotation pair and is connected with both arms rocking bar;Additional drive rods group It is made up of additional drive rods one and additional drive rods two, one end of additional drive rods one is passed through rotation pair and is connected with frame, another End is connected with both arms rocking bar by rotating pair, and one end of additional drive rods two is connected with frame by rotating pair, and the other end passes through Rotate pair to be connected with both arms rocking bar;Follower lever group is made up of follower lever one and follower lever two, and Hooke is passed through in one end of follower lever one Hinge is connected with both arms rocking bar, and the other end is connected with moving platform by Hooke's hinge, and Hooke's hinge and both arms are passed through in one end of follower lever two Rocking bar connects, 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 Connect their rotation one parallel-crank mechanism of secondary composition;Described frame, drive rod, additional drive rods two, both arms rocking bar And connect their rotation one parallel-crank mechanism of secondary composition;Described frame, additional drive rods one, additional drive rods two, Both arms rocking bar and rotation pair one parallel-crank mechanism of composition connecting them;Described both arms rocking bar, follower lever one, follower lever 2nd, moving platform and Hooke's hinge one parallel-crank mechanism of composition connecting them.
A kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism of the present invention also proposition, including frame, moving platform and It is connected in parallel, between frame and moving platform, there is mutually isostructural first, second, third branch;From frame to moving platform, It is connected with drive rod and additional drive rods, both arms rocking bar, follower lever group in turn;In described first, second, third branch, drive One end of bar drives pair to be connected with frame by rotating, and the other end is passed through rotation pair and is connected with both arms rocking bar;Additional drive rods One end is passed through rotation pair and is connected with frame, and the other end is passed through rotation pair and is connected with both arms rocking bar;Follower lever group is by follower lever one He Follower lever two forms, and one end of follower lever one is connected with both arms rocking bar by Hooke's hinge, and the other end passes through Hooke's hinge and moving platform Connect, 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 rotation pair one parallel-crank mechanism of composition connecting them;Described Both arms rocking bar, follower lever one, follower lever two and moving platform and Hooke's hinge one parallel-crank mechanism of composition connecting them.
The present invention compared with prior art has the characteristics that prominent: this mechanism enables the three-dimensional translating motion in space, Its driver is arranged in frame, have the advantages that lightweight, work space big it is adaptable at a high speed, heavily loaded occasion, have good Application prospect.
Brief description
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.
Specific embodiment
With reference to specific embodiment, detailed specific description is done to the present invention, but protection scope of the present invention not office It is limited to following examples.
Embodiment 1
A kind of structure of Three Degree Of Freedom heavy duty translation carrying robot mechanism of the present embodiment is as shown in figure 1, include frame (1), moving platform (8) and be connected in parallel and have mutually isostructural first, second, between frame (1) and moving platform (8) Three branches (,);From frame (1) to moving platform (8), it is connected with drive rod (2) and additional drive rods group, both arms shake in turn Bar (5), follower lever group;Taking first branch's () as a example, one end of drive rod (2) is passed through to rotate driving secondary (r1) with frame (1) even Connect, the other end is passed through rotation secondary (r4) and is connected with both arms rocking bar (5);Additional drive rods group is by additional drive rods one (3) and auxiliary Drive rod two (4) forms, and one end of additional drive rods one (3) is passed through rotation secondary (r2) and is connected with frame (1), and the other end passes through to turn Dynamic pair (r5) is connected with both arms rocking bar (5), and one end of additional drive rods two (4) is passed through rotation secondary (r3) and is connected with frame (1), separately One end is passed through rotation secondary (r6) and is connected with both arms rocking bar (5);Follower lever group is made up of follower lever one (6) and follower lever two (7), from One end of lever one (6) is connected with both arms rocking bar (5) by Hooke's hinge (u1), and the other end passes through Hooke's hinge (u3) and moving platform (8) connect, one end of follower lever two (7) is connected with both arms rocking bar (5) by Hooke's hinge (u2), the other end passes through Hooke's hinge (u4) It is connected with moving platform (8);Described frame (1), drive rod (2), additional drive rods one (3) and both arms rocking bar (5) and connect them Rotation secondary constitute a parallel-crank mechanism;Described frame (1), drive rod (2), additional drive rods two (4) and both arms shake Bar (5) and rotation pair one parallel-crank mechanism of composition connecting them;Described frame (1), additional drive rods one (3), auxiliary Help drive rod two (4) and both arms rocking bar (5) and connect their rotation one parallel-crank mechanism of secondary composition;Described both arms shake Bar (5), follower lever one (6), follower lever two (7) and moving platform (8) and Hooke's hinge one parallelogram of composition connecting them Mechanism.
Fig. 2 is both arms rocking bar (5) connecting portion partial enlarged drawing.
Embodiment 2
A kind of structure of Three Degree Of Freedom heavy duty translation carrying robot mechanism of the present embodiment is as shown in figure 3, include frame (1), moving platform (7) and be connected in parallel and have mutually isostructural first, second, between frame (1) and moving platform (7) Three branches (,);From frame (1) to moving platform (7), it is connected with drive rod (2) and additional drive rods (3), both arms in turn Rocking bar (4), follower lever group;Taking first branch's () as a example, one end of drive rod (2) is passed through to rotate driving secondary (r1) and frame (1) Connect, the other end is passed through rotation secondary (r3) and is connected with both arms rocking bar (4);One end of additional drive rods (3) is passed through to rotate secondary (r2) It is connected with frame (1), the other end is passed through rotation secondary (r4) and is connected with both arms rocking bar (4);Follower lever group by follower lever one (5) and from Lever two (6) forms, and one end of follower lever one (5) is connected with both arms rocking bar (4) by Hooke's hinge (u1), and the other end passes through Hooke Hinge (u3) is connected with moving platform (7), and one end of follower lever two (6) is connected with both arms rocking bar (4) by Hooke's hinge (u2), the other end It 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 And connect that their rotation is secondary to constitute a parallel-crank mechanism (4);Described both arms rocking bar (4), follower lever one (5), driven Bar two (6) and moving platform (7) and Hooke's hinge one parallel-crank mechanism of composition connecting them.
Fig. 4 is both arms rocking bar (4) connecting portion partial enlarged drawing.
Embodiment 3
The present embodiment structure as shown in figure 5, similar to Example 1, is equally connected with structure complete between frame and moving platform Exactly the same first, second, third branch (,).The present embodiment is as different from Example 1: this embodiment is in frame A rupur (r is to rotate pair, and u is Hooke's hinge, and p is moving sets) branch, i.e. the 4th branch is increased and moving platform between (), this branches into end effector (12) and provides the rotating so that the practical application of this mechanism of a moving platform normal direction Scope is more extensive.Described 4th branch's () concrete structure is: from frame (1) to moving platform (8), the one of final drive shaft (9) End drives secondary (r7) to be connected with frame (1) by rotating, 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), and the other end passes through Hooke's hinge (u6) it is connected with one end of clamper (12), the other end of clamper (12) passes through moving platform (8), by rotating secondary (r8) and moving Platform (8) connects.
Embodiment 4
The present embodiment structure as shown in fig. 6, similar to Example 2, is equally connected with structure complete between frame and moving platform Exactly the same first, second, third branch (,).The present embodiment is as different from Example 2: this embodiment is in frame Increased a rupur branch, i.e. the 4th branch's () and moving platform between, this branches into end effector (11) and provides one The rotation of individual moving platform normal direction is so that the practical ranges of this mechanism are more extensive.Described 4th branch's () is concrete to tie Structure is: from frame (1) to moving platform (7), one end of final drive shaft (8) is passed through rotation and drives secondary (r5) to be connected with frame (1), separately One end is connected with intermediate propeller shaft one (9) by Hooke's hinge (u5);Moving sets (p1) are passed through in one end of intermediate propeller shaft two (10) It is connected with intermediate propeller shaft one (9), the other end is connected with one end of clamper (11) by Hooke's hinge (u6), clamper (11) The other end passes through moving platform, is connected with moving platform (7) by rotating secondary (r6).

Claims (2)

1. a kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism, include frame, moving platform and be connected in parallel frame and Between moving platform, there is mutually isostructural first, second, third branch;It is characterized in that from frame to moving platform, connecting successively It is connected to drive rod and additional drive rods group, both arms rocking bar, follower lever group;In described first, second, third branch, drive rod One end drives pair to be connected with frame by rotating, and the other end is passed through rotation pair and is connected with both arms rocking bar;Additional drive rods group is by auxiliary Help drive rod one and additional drive rods two composition, one end of additional drive rods one is passed through rotation pair and is connected with frame, and the other end leads to Cross rotation pair to be connected with both arms rocking bar, one end of additional drive rods two is passed through rotation pair and is connected with frame, and the other end passes through to rotate Pair is connected with both arms rocking bar;Follower lever group is made up of follower lever one and follower lever two, one end of follower lever one pass through Hooke's hinge with Both arms rocking bar connects, and the other end is connected with moving platform by Hooke's hinge, and Hooke's hinge and both arms rocking bar are passed through in one end of follower lever two Connect, 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 connection Their rotation is secondary to constitute a parallel-crank mechanism;Described frame, drive rod, additional drive rods two, both arms rocking bar and company Connect their rotation one parallel-crank mechanism of secondary composition;Described frame, additional drive rods one, additional drive rods two, both arms Rocking bar and rotation pair one parallel-crank mechanism of composition connecting them;Described both arms rocking bar, follower lever one, follower lever two, Moving platform and Hooke's hinge one parallel-crank mechanism of composition connecting them.
2. a kind of Three Degree Of Freedom heavy duty translation carrying robot mechanism, include frame, moving platform and be connected in parallel frame and Between moving platform, there is mutually isostructural first, second, third branch;It is characterized in that from frame to moving platform, connecting successively It is connected to drive rod and additional drive rods, both arms rocking bar, follower lever group;In described first, second, third branch, the one of drive rod Hold and be connected with frame by rotating driving pair, the other end is connected with both arms rocking bar by rotating pair;One end of additional drive rods leads to Cross rotation pair to be connected with frame, the other end is passed through rotation pair and is connected with both arms rocking bar;Follower lever group is by follower lever one and follower lever Two compositions, one end of follower lever one is connected with both arms rocking bar by Hooke's hinge, and the other end is connected with moving platform by Hooke's hinge, from One end of 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 Lever, additional drive rods and both arms rocking bar and rotation pair one parallel-crank mechanism of composition connecting them;Described both arms shake Bar, follower lever one, follower lever two and moving platform and Hooke's hinge one parallel-crank mechanism of composition connecting them.
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CN106272361B (en) * 2016-10-07 2018-11-13 南京理工大学 It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved
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CN108393871B (en) * 2018-04-09 2019-09-17 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

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