CN106272348B - The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three - Google Patents
The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three Download PDFInfo
- Publication number
- CN106272348B CN106272348B CN201610795070.XA CN201610795070A CN106272348B CN 106272348 B CN106272348 B CN 106272348B CN 201610795070 A CN201610795070 A CN 201610795070A CN 106272348 B CN106272348 B CN 106272348B
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- CN
- China
- Prior art keywords
- branched chain
- movement branched
- moving platform
- silent flatform
- connection mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
A kind of mixed connection mechanism for sorting moving two turns of five degree of freedom with three, it include: moving platform, silent flatform and both ends respectively with it is dynamic, five connected movement branched chains of silent flatform, one end of first to fourth movement branched chain is connected with silent flatform by revolute pair, the other end of first movement branched chain is connected by two ball pairs with moving platform, second and the other end of third movement branched chain pass through revolute pair and be connected with moving platform, the other end of 4th movement branched chain is connected by revolute pair with moving platform, the both ends of 5th movement branched chain pass through prismatic pair respectively and ball pair is connected with silent flatform and moving platform.The present invention can be realized the three-dimensional movement of terminal link, around the two-dimensional rotary of trunnion axis and vertical axis.The present apparatus has the characteristics that speed is fast, motor is all mounted at silent flatform, end rotary inertia is small, installation is easy, and can be used for the occasions such as spot welding, spraying and sorting.
Description
Technical field
It is specifically a kind of that there is two turn five of three shifting certainly the present invention relates to a kind of technology of Robot Design manufacturing field
By the mixed connection mechanism for sorting spent.
Background technique
Parallel institution is usually coupled by moving platform and fixed platform by branch of doing more physical exercises, and compared with serial mechanism, is had
The advantages that compact-sized, rigidity, bearing capacity are strong, accumulated error is small, therefore obtain in extensive practical implementation；Serial mechanism
Have many advantages, such as that working space is big；Hybrid mechanism then have both simultaneously, serial mechanism the advantages of, therefore be widely used in engineering in practice.
And three move two turns of five degree of freedom hybrid mechanisms, therefore end tool can be used for a little there are three moving characteristic and two rotation features
The occasions such as weldering, spraying and sorting.
Delta robot can realize three movements and rotation about the z axis, generally by silent flatform, moving platform, silent flatform, three
Movement branched chain and an intermediate transmission branch composition, the operations such as achievable high speed sorting, inserting, encapsulation, packaging.But it cannot be around
Horizontal axis rotation, so being difficult to meet more complex task, limits its application to a certain extent.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of mixed connection point that two turns of five degree of freedom are moved with three
Mechanism is picked, has the characteristics that speed is fast, motor is all mounted at silent flatform, end rotary inertia is small, installation is easy.
The present invention is achieved by the following technical solutions:
The present invention includes: five movement branched chains that moving platform, silent flatform and both ends are connected with dynamic and static platform respectively,
In: one end of first to fourth movement branched chain is connected with silent flatform by revolute pair, and the other end of the first movement branched chain passes through two
A ball pair is connected with moving platform, second and the other end of third movement branched chain pass through revolute pair and be connected with moving platform, the 4th fortune
The other end of dynamic branch is connected by revolute pair with moving platform, the both ends of the 5th movement branched chain pass through respectively prismatic pair and ball pair and
Silent flatform is connected with moving platform.
First movement branched chain a, comprising: revolute pair and four sides being made of four ball pairs interconnections
Shape mechanism.
Second movement branched chain is identical with third movement branched chain, comprising: two revolute pairs and one are by four ball pairs
Interconnect the quadrangular mechanism constituted.
4th movement branched chain, comprising: two revolute pairs and two universal hinges pairs and a prismatic pair.
5th movement branched chain a, comprising: prismatic pair and two ball pairs.
Three revolute pairs that described first to third movement branched chain is connected with silent flatform are circumferentially uniformly distributed, i.e., this three rotations
Angle is 60 ° to secondary and silent flatform center line two-by-two.
The axis for two revolute pairs being connected in second and the third movement branched chain with moving platform and the first movement branch
Chain is parallel with the line of centres of two ball pairs that moving platform is connected.
The driving of the movement branched chain is all set at silent flatform, one end of first to fourth movement branched chain with it is quiet
The connected revolute pair of platform is to drive pair.
Technical effect
Compared with prior art, the configuration of the present invention is simple is compact, and assembly is easy, and mechanism kinematic is flexible, and speed is fast, can apply
In occasions such as spot welding, spraying and sortings.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the first movement branched chain L1Structural schematic diagram；
Fig. 3 is Article 2 or third movement branched chain L2、L3Structural schematic diagram；
Fig. 4 is the 5th movement branched chain L5Structural schematic diagram；
Fig. 5 is the 4th movement branched chain L4Structural schematic diagram；
Fig. 6 is the structural schematic diagram of silent flatform；
Fig. 7 is the structural schematic diagram of moving platform；
In figure: silent flatform 1, the 2, first to the 5th movement branched chain L of moving platform1、L2、L3、L4、L5。
Specific embodiment
Embodiment 1
As shown in Figure 1, the present embodiment includes: 2, five silent flatform 1, moving platform movement branched chain L1、L2、L3、L4、L5。
As shown in Fig. 2, the first movement branched chain L1It include: a revolute pair R11Mutually it is connected with one by four balls are secondary
The quadrangular mechanism of composition is connect, one end of the movement branched chain passes through revolute pair R11It is connected with silent flatform, the other end and moving platform are logical
Cross two ball secondary S13、S14It is connected.
As shown in figure 3, the second movement branched chain L2With third movement branched chain L3It is identical, comprising: two revolute pair R21、
R22The quadrangular mechanism constituted is interconnected by four ball pairs with one, the both ends of the movement branched chain pass through revolute pair R respectively21
(R31) be connected with silent flatform, the other end passes through revolute pair R22(R32) connect with moving platform.
As shown in figure 5, the 4th movement branched chain L4It include: two revolute pair R41、R42With two universal hinge secondary U41、
U42, the both ends of the movement branched chain pass through revolute pair R respectively41It is connected with silent flatform, the other end passes through revolute pair R42With moving platform phase
It connects.
As shown in figure 4, the 5th movement branched chain L5It include: a prismatic pair P51With two ball secondary S51、S52, the fortune
The both ends of dynamic branch pass through prismatic pair P respectively51It is connected with silent flatform, the other end passes through ball secondary S52It is connect with moving platform.
As shown in fig. 6, described first to third movement branched chain L1、L2、L3In the revolute pair axis being connected with silent flatform
Angle is 60 ° two-by-two.
As shown in fig. 7, the second and third movement branched chain L2、L3In the revolute pair R that is connected with moving platform22、R32Axis
Line and the first movement branched chain L1In two ball secondary S13、S14The line of centres is parallel.
The driving of first to the 5th movement branched chain is all set at silent flatform, and driving pair is the movement branched chain
The revolute pair being connected with silent flatform, i.e. R11、R21、R31、R41、P51。
The present apparatus can realize the three-dimensional movement of terminal link based on above structure, turn around the two dimension of trunnion axis and vertical axis
It is dynamic.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (8)
1. it is a kind of with three move two turns of five degree of freedom mixed connection mechanism for sorting characterized by comprising moving platform, silent flatform with
And five movement branched chains that both ends are connected with dynamic and static platform respectively, in which: one end of first to fourth movement branched chain and silent flatform
Be connected by revolute pair, the other end of the first movement branched chain is connected by two ball pairs with moving platform, second and third move and prop up
The other end of chain passes through revolute pair and is connected with moving platform, and the other end of the 4th movement branched chain passes through revolute pair and moving platform phase
Even, the both ends of the 5th movement branched chain pass through prismatic pair respectively and ball pair is connected with silent flatform and moving platform.
2. mixed connection mechanism for sorting according to claim 1, characterized in that first movement branched chain, comprising: one turns
A dynamic secondary and quadrangular mechanism being made of four ball pairs interconnections.
3. mixed connection mechanism for sorting according to claim 1, characterized in that second movement branched chain and third movement branch
Chain is identical, comprising: two revolute pairs and a quadrangular mechanism being made of four ball pairs interconnections.
4. mixed connection mechanism for sorting according to claim 1, characterized in that the 4th movement branched chain, comprising: two turn
Dynamic secondary and two universal hinges are secondary.
5. mixed connection mechanism for sorting according to claim 1, characterized in that the 5th movement branched chain, comprising: a shifting
Dynamic secondary and two ball pairs.
6. mixed connection mechanism for sorting according to claim 1, characterized in that described first to third movement branched chain is put down with quiet
Three connected revolute pairs of platform are circumferentially uniformly distributed, i.e., angle is 60 ° to the line of three revolute pairs and silent flatform center two-by-two.
7. mixed connection mechanism for sorting according to claim 1, characterized in that in second and the third movement branched chain and dynamic
The axis of two connected revolute pairs of platform and the line of centres for two ball pairs that the first movement branched chain is connected with moving platform are equal
Row.
8. mixed connection mechanism for sorting according to claim 1, characterized in that the driving of the movement branched chain is all set in quiet
At platform, the revolute pair that one end of first to fourth movement branched chain is connected with silent flatform is to drive pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795070.XA CN106272348B (en) | 2016-08-31 | 2016-08-31 | The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795070.XA CN106272348B (en) | 2016-08-31 | 2016-08-31 | The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three |
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| Publication Number | Publication Date |
|---|---|
| CN106272348A CN106272348A (en) | 2017-01-04 |
| CN106272348B true CN106272348B (en) | 2019-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610795070.XA Expired - Fee Related CN106272348B (en) | 2016-08-31 | 2016-08-31 | The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942891B (en) * | 2018-08-31 | 2023-09-15 | 昆明理工大学 | Parallel mechanism with five-dimensional motion |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249654A (en) * | 2008-03-28 | 2008-08-27 | 北京工业大学 | FOUR mechanism |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN103052475A (en) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | Parallel mechanism |
| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4850863B2 (en) * | 2008-04-10 | 2012-01-11 | 村田機械株式会社 | Parallel mechanism |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
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2016
- 2016-08-31 CN CN201610795070.XA patent/CN106272348B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249654A (en) * | 2008-03-28 | 2008-08-27 | 北京工业大学 | FOUR mechanism |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN103052475A (en) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | Parallel mechanism |
| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
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| CN106272348A (en) | 2017-01-04 |
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Granted publication date: 20190528 Termination date: 20210831 |