CN106346444B - A kind of four-freedom parallel connection robot mechanism of three translations, one rotation - Google Patents
A kind of four-freedom parallel connection robot mechanism of three translations, one rotation Download PDFInfo
- Publication number
- CN106346444B CN106346444B CN201610465389.6A CN201610465389A CN106346444B CN 106346444 B CN106346444 B CN 106346444B CN 201610465389 A CN201610465389 A CN 201610465389A CN 106346444 B CN106346444 B CN 106346444B
- Authority
- CN
- China
- Prior art keywords
- moving platform
- branch
- platform
- branches
- lower moving
- 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.)
- Active
Links
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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of four-freedom parallel connection robot mechanisms of three translations, one rotation, including have mutually isostructural four branches between fixed platform, moving platform and fixed platform and moving platform, and every branch is containing there are one active driving devices；The moving platform includes the bindiny mechanism between upper moving platform, lower moving platform and upper and lower moving platform；The lower moving platform is to be connected to form a parallelogram mechanism by revolute pair by four connecting rods；Fixed platform described in first and third chain link and upper moving platform in four branches, the fixed platform described in second, four chain link and lower moving platform；Four branches connect to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, and the three-dimensional translating of end effector and one-dimensional rotation in space, which may be implemented, by the movement of four branches moves.The moving platform light quality of the present invention, and the configuration of the present invention is simple is compact, has good dynamic response characteristic.
Description
Technical field
The invention belongs to industrial robot fields, more particularly to a kind of three translations, one rotation that can realize high-speed motion
Four-freedom parallel connection robot mechanism.
Background technology
Three one rotating parallel robot mechanisms of translation are extensive because having the advantage that does not have of serial machine robot mechanism
Automatic production line applied to fields such as food medicine, modern logistics, electronic information is carried and manufacture assembling work.
Disclosed in existing patent CN102689305A, CN103846909A, CN102922511A and CN103753521A
The parallel robot mechanism of three-dimensional translation and one-dimensional rotation, including fixed platform, moving platform and four branch for connecting two platforms can be achieved
Chain.It can be done in the design of moving platform around the rotational freedom of the axis perpendicular to moving platform in said mechanism to realize
Extensive work.Although the moving platform construction of mechanism is different in patent CN102689305A and patent CN103846909A, essence
On be all the rotational freedom that the relative movement of associated components in the moving platform is converted to end effector；Patent
Four revolute pairs or prismatic pair in CN102922511A between mechanism moving platform and four branches are parallel to each other and described dynamic
It is arranged in non-square on platform, effectively avoids the unusual of mechanism；Mechanism moving platform includes in patent CN103753521A
Two sub-platforms of the lower connection axis connection of branch adjacent with two groups and the guiding mechanism being equipped between two sub-platforms respectively
And angle converting mechanism, the angle converting mechanism are that rack translation is converted to the rotation of gear to realize that end is held
The rotational freedom of row device, the mechanism structure is relatively compact, transmission accuracy is higher.But the moving platform of these mechanisms is complicated
And size and weight are larger, are unfavorable for realizing high-speed motion.
Invention content
It is an object of the invention in view of the shortcomings of the prior art, propose a kind of three translations one that can realize high-speed motion
The moving platform of the four-freedom parallel connection robot mechanism of rotation, the mechanism is simple in structure and light quality, it is easier to realize high
Speed movement.
Realize that the technical solution of above-mentioned purpose is：A kind of four-freedom-degree parallel-connection robot that can realize three translations one rotation
Mechanism, including fixed platform, moving platform and four branches being connected between fixed platform and moving platform；The moving platform includes upper
Moving platform, lower moving platform and the bindiny mechanism between upper moving platform and lower moving platform；The lower moving platform includes by four
The parallelogram mechanism of a connecting rod composition, four connecting rods pass sequentially through four revolute pair connections；The upper moving platform with
It is connected by revolute pair between lower moving platform, and the axis of the upper moving platform is parallel with two connecting rods are put down in lower moving platform；Under
It is provided with end effector on the connecting rod intersected with the axis of upper moving platform in moving platform；Four branches include master
Dynamic driving device and quadrangular mechanism；Two connecting rods being oppositely arranged in the quadrangular mechanism are isometric, and four connecting rods lead to successively
Spherical pair connection is crossed, quadrangular mechanism is connect with main drive and moving platform respectively by two connecting rods being oppositely arranged；Institute
It states in four branches, fixed platform and upper moving platform described in the first branch and third branch chain link, the second branch and the 4th branch connect
Connect the fixed platform and lower moving platform.
A kind of embodiment, first branch are symmetrical arranged with before and after third branch, and the second branch and the 4th branch are left
The right side is symmetrical arranged.
Further, the active driving device includes motor and drive rod, the company in drive rod and the quadrangular mechanism
Bar connects.
Further, the active driving device includes sliding block and guide rail；The guide rail is each perpendicular to the setting of fixed platform plane.
Another embodiment, first branch, the second branch and third branch left and right settings, the second branch and first
Branch is disposed side by side on left side, and the setting of third branch is arranged in right side, the 4th branch in rear side.
Further, the active driving device includes motor and drive rod, the company in drive rod and the quadrangular mechanism
Bar connects.
Further, the active driving device includes sliding block and guide rail；The guide rail is each perpendicular to the setting of fixed platform plane
Compared with prior art, the present invention its remarkable advantage is：Using branch between moving platform and in moving platform
The restriction relation in portion realizes three one rotational motions of translation of parallel institution.The height of above-mentioned quadrangular mechanism is utilized in the mechanism
The characteristics such as rigidity, effectively increase the stability of entire parallel institution, between upper and lower moving platform and it is internal be only to rotate
The deficiencies of pair connection, does not use prismatic pair, avoids discontinuity, and frictional force is big, and the light weight of moving platform entirety
Just, while the configuration of the present invention is simple is compact, it is easier to realize high-speed motion.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the structural schematic diagram of the embodiment of the present invention 2.
Fig. 3 is the structural schematic diagram of the embodiment of the present invention 3.
Fig. 4 is the structural schematic diagram of the embodiment of the present invention 4.
Fig. 5 is the moving platform structural schematic diagram of Fig. 1 and Fig. 3.
Fig. 6 is the moving platform structural schematic diagram of Fig. 2 and Fig. 4.
Specific implementation mode
In order to further appreciate that present disclosure and feature, the present invention is made in conjunction with attached drawing and preferred embodiment detailed
Illustrate, be not to be construed as the whole of the present invention here or be considered as the limitation or restriction to technical solution of the present invention.
The four-freedom parallel connection robot mechanism of the present invention that can realize three translations one rotation, including it is fixed platform, dynamic
There is mutually isostructural four branches between platform and fixed platform and moving platform；The moving platform include upper moving platform,
Lower moving platform and kinematic pair bindiny mechanism；The lower moving platform includes front and back two isometric short connecting rods and left and right two etc.
Long long connecting rod, four connecting rods connect to form parallelogram mechanism by revolute pair, and wherein end effector is consolidated in flat
Have on left connecting rod or the right connecting rod of rotary motion relative to upper moving platform in row quadrangular mechanism, and by the connecting rod
Rotation provides rotational freedom of the end effector around the axis perpendicular to upper moving platform；The kinematic pair bindiny mechanism includes
Two revolute pairs connection inside lower moving platform between the parallelogram mechanism and upper and lower moving platform of four revolute pair connections
Mechanism；If only in order to realize the movement of one rotation of the translation of parallel institution three, it is arbitrary in above-mentioned six revolute pair bindiny mechanisms
Five can meet the requirements, i.e., only need five revolute pair bindiny mechanisms that can realize parallel machine inside the moving platform
The movement of one rotation of the translation of structure three, another revolute pair bindiny mechanism is existed to improve the mechanical property of moving platform
's；Fixed platform described in first and third chain link and upper moving platform in four branches, described in second, four chain link
Fixed platform and lower moving platform；Four branches can be arranged symmetrically or a variety of arrangements such as asymmetric arrangement；
Four branches include：Active driving device, quadrangular mechanism and kinematic pair；The active driving device can be with
It is connecting rod or sliding block；The quadrangular mechanism includes upper and lower two isometric short connecting rods and the isometric long company in left and right two
Closing ring mechanism is connected by spherical pair between bar, wherein short connecting rod and long connecting rod；Four branches respectively with allocate
Platform and moving platform connect to form a Spatial Parallel close loop mechanism, and end in space may be implemented by the movement of four branches
The three-dimensional translating and one-dimensional rotation of actuator move.
The present invention, which using lower moving platform is parallelogram mechanism and second, four branches, can only constrain and fall down moving platform
The characteristics of one rotational freedom, remains the rotational freedom around the axis perpendicular to lower moving platform；Utilize upper and lower moving platform
Parallel arrangement and revolute pair connection relation, realize two long connecting rod of left and right in lower moving platform around upper moving platform rotation from
It is exported by spending, and as the rotation of end effector.
The present invention can improve the angle range of end effector by changing the arrangement of branch.
Two root long connecting rod of left and right inside lower moving platform can be made the form of master connecting-rod and auxiliary connecting rod by the present invention, main
Connecting rod is primarily subjected to the effect of power and provides the rotational freedom of end effector, and auxiliary connecting rod mainly assists master connecting-rod to meet
Movement needs.
The present invention can also translate a rotational motions by changing the three of the active drive mode implementation mechanism of each branch.
Embodiment 1
As shown in Figure 1, be a kind of four-freedom parallel connection robot mechanisms of three translations, one rotation, including it is fixed platform 1, dynamic flat
Platform 7, the first branch I, the second branch II, third branch III and the 4th branch IV, described four branches are connected to and allocate
Between platform 1 and moving platform 7, and structure having the same；The moving platform 7 include upper moving platform 8, lower moving platform 12 and on
Bindiny mechanism between moving platform 8 and lower moving platform 12, structural schematic diagram are as shown in Figure 5；The lower moving platform 12 is one
Parallelogram mechanism, wherein first connecting rod 4b4 are parallel and isometric with second connecting rod 4b2, third connecting rod 11b and fourth link
11a is parallel and isometric, passes through revolute pair 10c and revolute pair between first connecting rod 4b4 and third connecting rod 11b and fourth link 11a
10f connections are connected between second connecting rod 4b2 and third connecting rod 11b and fourth link 11a by revolute pair 10a and revolute pair 10d
It connects, four connecting rods form parallelogram mechanism.End effector 9 is consolidated in parallelogram mechanism relative to upper moving platform
On the 8 fourth link 11a with rotary motion, and end effector 9 is provided around perpendicular to upper by the rotation of fourth link 11a
The rotational freedom of the axis of moving platform 8；Pass through revolute pair 10b and revolute pair between the upper moving platform 8 and lower moving platform 12
10e connections, and the axis of upper moving platform is parallel to the axis of first connecting rod 4b4；First branch I and in four articles of branches
Three branches III connect the fixed platform 1 and upper moving platform 8, and the second branch II and the 4th branch IV connect the fixed platform 1
With lower moving platform 12, and four branches are by the way of being arranged symmetrically；Four branches include：Active drive fills
It sets, quadrangular mechanism and kinematic pair；The active driving device includes motor 2 and drive rod 3；By taking the first branch I as an example,
The quadrangular mechanism includes two isometric the 5th connecting rod 4a and six-bar linkage 4b and two isometric seven-link assembly 6a
With the 8th connecting rod 6b, wherein passing through spherical pair 5a and spherical pair 5b between the 5th connecting rod 4a and seven-link assembly 6a and the 8th connecting rod 6b
Connection, passes through spherical pair 5c and spherical pair 5d connections, four companies between six-bar linkage 4b and seven-link assembly 6a and the 8th connecting rod 6b
Bar is at closing ring mechanism；Drive rod 3 and first connecting rod 4a is connected, the pivot center of the drive rod 3 and the 5th connecting rod
4a is mutually parallel；Four branches are connect with fixed platform 1 and moving platform 7 respectively forms a Spatial Parallel closed loop machine
Structure may be implemented the three-dimensional translating of end effector 9 and one-dimensional rotation in space by the movement of four branches and move.
Embodiment 2
As shown in Figure 2 and Figure 6, similar to Example 1, mechanism includes fixed platform 1, moving platform 71, the first branch I, second
Branch II, third branch III and the 4th branch IV, wherein the first branch I and third branch III connect the fixed platform 1 and upper
Moving platform 8, the second branch II and the 4th branch IV connect the fixed platform 1 and lower moving platform 12, and this four branch links
Structure is identical.The present embodiment and embodiment 1 difference lies in, the second branch II by with the 4th branch IV is positioned opposite changes into and the
One branch I is arranged side by side, and T-shaped structure is changed into the end of the preceding second connecting rod 4b2 in lower moving platform 12, while keeping other moulds
Block is constant.The kinematics degradation of mechanism, the present embodiment when becoming rectangle mechanism to avoid the moving platform in embodiment 1 from moving
In the way of four branch asymmetric arrangements, after above-mentioned change, the in the lower moving platform 12 in the present embodiment the 4th connects
Bar 11a will expand relative to the slewing area of upper moving platform 8, i.e., the turning power of end effector 9 will enhance.
Embodiment 3
As shown in Figure 3 and Figure 5, similar to Example 1, mechanism includes fixed platform 1, moving platform 7, the first branch I, second
Chain II, third branch III and the 4th branch IV, wherein the first branch I and third branch III connect the fixed platform 1 and upper dynamic
Platform 8, the second branch II and the 4th branch IV connect the fixed platform 1 and lower moving platform 12, and this four branched structures
It is identical.The present embodiment and the difference of embodiment 1 are：The active driving device of four branches has been all made of prismatic pair master
The drive form of dynamic driving, the prismatic pair move on guide rail, and the guide rail is evenly distributed on the surrounding of fixed platform 1.
It is embodied on concrete structure and is:The sliding block 31 of its first branch I is connected with the 5th connecting rod 4a of the quadrangular mechanism, and
It is moved on guide rail 21, and guide rail 21 is fixed on fixed platform 1.
Embodiment 4
As shown in Figure 4 and Figure 6, similar to Example 2, mechanism includes fixed platform 1, moving platform 71, the first branch I, second
Branch II, third branch III and the 4th branch IV.The present embodiment and the difference of embodiment 2 are：The master of four branches
Dynamic driving device has been all made of the drive form of prismatic pair active drive, and the prismatic pair moves on guide rail.
Claims (7)
1. a kind of four-freedom parallel connection robot mechanism that can realize three translations one rotation, it is characterised in that：Including fixed platform,
Moving platform and four branches being connected between fixed platform and moving platform；
The moving platform includes upper moving platform, lower moving platform and the bindiny mechanism between upper moving platform and lower moving platform；
The lower moving platform includes the parallelogram mechanism being made of four connecting rods, and four connecting rods pass sequentially through four revolute pairs
Connection；It is connected by revolute pair between the upper moving platform and lower moving platform, and the axis of the upper moving platform and lower moving platform
In two connecting rods it is parallel；It is provided with end effector on the connecting rod intersected with the axis of upper moving platform in lower moving platform；
Four branches include active driving device and quadrangular mechanism；Two be oppositely arranged in the quadrangular mechanism
Connecting rod is isometric, and four connecting rods pass sequentially through spherical pair connection, quadrangular mechanism by two connecting rods being oppositely arranged respectively with master
Driving device is connected with moving platform；In four branches, fixed platform described in the first branch and third branch chain link and upper move are put down
Fixed platform and lower moving platform described in platform, the second branch and the 4th chain link.
2. mechanism as described in claim 1, which is characterized in that first branch is symmetrical arranged with before and after third branch, the
Two branches are symmetrical set with the 4th branch.
3. mechanism as claimed in claim 2, which is characterized in that the active driving device includes motor and drive rod, driving
Bar is connect with the connecting rod in the quadrangular mechanism.
4. mechanism as claimed in claim 2, which is characterized in that the active driving device includes sliding block and guide rail；It is described to lead
Rail is each perpendicular to the setting of fixed platform plane.
5. mechanism as described in claim 1, which is characterized in that first branch, the second branch and third branch or so are set
It sets, the second branch and the first branch are disposed side by side on left side, and the setting of third branch is arranged in right side, the 4th branch in rear side.
6. mechanism as claimed in claim 5, which is characterized in that the active driving device includes motor and drive rod, driving
Bar is connect with the connecting rod in the quadrangular mechanism.
7. mechanism as claimed in claim 5, which is characterized in that the active driving device includes sliding block and guide rail；It is described to lead
Rail is each perpendicular to the setting of fixed platform plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610465389.6A CN106346444B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610465389.6A CN106346444B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346444A CN106346444A (en) | 2017-01-25 |
| CN106346444B true CN106346444B (en) | 2018-11-13 |
Family
ID=57843215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610465389.6A Active CN106346444B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106346444B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956249A (en) * | 2017-05-11 | 2017-07-18 | 重庆邮电大学 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
| CN106985134B (en) * | 2017-05-11 | 2019-09-17 | 重庆邮电大学 | A kind of 3-freedom parallel mechanism with hinged moving platform |
| CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
| CN107225559B (en) * | 2017-05-25 | 2019-07-26 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA movement |
| CN106976070B (en) * | 2017-05-25 | 2019-06-18 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
| CN108081248B (en) * | 2018-01-23 | 2023-12-08 | 陕西科技大学 | Single motor drive precision alignment platform |
| CN108656079A (en) * | 2018-04-13 | 2018-10-16 | 上海大学 | A kind of parallel institution of three flat one turn of four-degree-of-freedoms |
| CN108500962A (en) * | 2018-06-07 | 2018-09-07 | 天津科技大学 | A kind of four-degree-of-freedom high speed parallel robot and its control method |
| CN110695962A (en) * | 2019-09-03 | 2020-01-17 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689305B (en) * | 2012-04-20 | 2014-04-16 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel mechanism |
| JP2014061559A (en) * | 2012-09-20 | 2014-04-10 | Ishida Co Ltd | Parallel link robot |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN103552059B (en) * | 2013-10-28 | 2016-02-17 | 哈尔滨工业大学深圳研究生院 | A kind of four-degree-of-freedom large-working space parallel robot mechanism towards Pick-and-Place operations |
| KR20160064250A (en) * | 2014-11-27 | 2016-06-07 | 주식회사 나온테크 | Link-arm robot comprising wrist-axis |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN205058029U (en) * | 2015-10-23 | 2016-03-02 | 广东惠利普智能科技有限公司 | High -speed parallelly connected mechanical hand of four degrees of freedom |
-
2016
- 2016-06-23 CN CN201610465389.6A patent/CN106346444B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106346444A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106346444B (en) | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation | |
| CN106346446B (en) | A kind of double acting platform parallel robot mechanism of the big working space of four-degree-of-freedom | |
| CN109531543B (en) | Four-freedom parallel robot with double-acting platform structure | |
| CN101161428B (en) | Plane parallel mechanism with constrained branched chain and its extended mechanical hand | |
| CN106976070B (en) | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation | |
| CN110815184B (en) | Four-freedom-degree high-speed parallel robot mechanism | |
| CN102825595A (en) | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism | |
| CN102922513A (en) | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN103386681B (en) | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation | |
| CN105904441B (en) | The movement of one kind two two rotates four-degree-of-freedom holohedral symmetry parallel institution | |
| CN203210372U (en) | Parallel robot | |
| CN114770475B (en) | Six-degree-of-freedom parallel robot with smart operation capability | |
| CN107225559A (en) | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions | |
| CN103231362A (en) | Parallel robot | |
| CN103350417B (en) | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation | |
| CN102848383B (en) | High-speed moving parallel mechanical arm with six degrees of freedom | |
| CN106346445B (en) | A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion | |
| CN102554918A (en) | Over-constraint parallel mechanism with three degrees of freedom | |
| CN107696014A (en) | Spherical surface two-freedom symmetrical parallel robot mechanism with redundant drive | |
| CN103350418A (en) | High-speed five-freedom-degree parallel mechanical arm | |
| CN103895006B (en) | Planar three-freedom-degree parallel mechanism | |
| CN102248532A (en) | Spatial three-degree-of-freedom parallel robot mechanism | |
| CN104044135A (en) | Planar two-degree-of-freedom parallel robot mechanism | |
| CN103395062A (en) | High-speed six-degree-of-freedom parallel manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |