CN106346445A - Four-degree-of-freedom parallel robot mechanism capable of achieving high-speed movement - Google Patents
Four-degree-of-freedom parallel robot mechanism capable of achieving high-speed movement Download PDFInfo
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- CN106346445A CN106346445A CN201610466707.0A CN201610466707A CN106346445A CN 106346445 A CN106346445 A CN 106346445A CN 201610466707 A CN201610466707 A CN 201610466707A CN 106346445 A CN106346445 A CN 106346445A
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- 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
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Abstract
The invention relates to a four-degree-of-freedom parallel robot mechanism capable of achieving high-speed movement. The four-degree-of-freedom parallel robot mechanism comprises a fixed platform, a movable platform and four branch chains which are arranged between the fixed platform and the movable platform and have the same structure. Each branch chain comprises an active driving device. The movable platform comprises first sub-platforms, a second sub-platform and a connecting mechanism between the two platforms. The first branch chain, the second branch chain and the third branch chain are connected with the fixed platform and the first sub-platforms, and the fourth branch chain is connected with the fixed platform and the second sub-platform. A space parallel closed mechanism is formed by the four branch chains, the fixed platform and the movable platform, and three-dimensional horizontal movement and one-dimensional rotating movement of a terminal executer in the space can be achieved through the movement of the four branch chains. The movable platform is simple is structure and large in output rotating angle range, an amplification mechanism for enlarging the rotating angle range is not needed, the mass of the movable platform is reduced, and the dynamic response characteristic of the mechanism is greatly improved.
Description
Technical field
The invention belongs to industrial robot field, more particularly to a kind of three translation one rotations being capable of high-speed motion
Four-freedom parallel connection robot mechanism.
Background technology
Three translation one rotating parallel robot mechanisms do not have the advantage that because having serial machine robot mechanism, extensive
It is applied to the automatic production line carrying in the fields such as food medicine, modern logistics, electronic information and manufacture assembling work.
Existing patent cn102689305a, cn102642205a, cn103846909a, cn102229141a,
The parallel robot mechanism that achievable three-dimensional translation and one-dimensional disclosed in cn102922511a and cn103753521a rotates, including
Fixed platform, moving platform and four side chains connecting two platforms.It is to realize turning around the axis perpendicular to moving platform in said mechanism
Dynamic degree of freedom, has done time in the design of moving platform.Patent cn102689305a, cn102642205a,
In cn103846909a, the moving platform of mechanism is designed to two parts of relative motion, and cleverly utilizes two-part phase
Conversion of motion is become with the rotational freedom of end effector；Moving platform is designed to diamond structure by patent cn102229141a, profit
It is changed into output campaign with the amoeboid movement of its relative stretching diagonally and compression；Machine in patent cn102922511a
Between structure moving platform and four side chains four rotation is secondary or moving sets are parallel to each other and be in non-square on described moving platform
Arrangement, effectively avoids the unusual of mechanism；In patent cn103753521a, mechanism's moving platform includes adjacent with two groups respectively
Two sub-platforms and the guiding mechanism being provided between two sub-platforms and angle converting mechanism that the lower connecting shaft of chain connects, institute
The angle converting mechanism stated is that tooth bar translation is changed into the rotation of gear thus realizing the rotational freedom of end effector,
This mechanism structure is relatively compact, transmission accuracy is higher.But the moving platform of these mechanisms or complex structure, or containing more
Kinematic pair, or apply the larger gear of quality or ball-screw is angularly changed or enlarger, be unfavorable for realizing high
Speed motion.
Content of the invention
Present invention aims to the shortcoming of prior art, a kind of three translations one being capable of high-speed motion are proposed
The four-freedom parallel connection robot mechanism rotating.
The technical scheme realizing above-mentioned purpose is: a kind of four-freedom parallel connection robot being capable of high-speed motion
Structure, this mechanism includes fixed platform, moving platform and is connected to four side chains between fixed platform and moving platform；Described moving platform bag
Include the first sub-platform and the second sub-platform, the first sub-platform and the second sub-platform are parallel to each other and are horizontally disposed with, the first sub-platform
Pass through the first rotation pair to be connected, described first rotates secondary axis perpendicular to the first sub-platform between the second sub-platform；End
Executor is consolidated on the second sub-platform；In described four side chains, it is described fixed that the first side chain, the second side chain and the 3rd side chain connect
Platform and the first sub-platform, the 4th side chain connects described fixed platform and the second sub-platform；Described four side chains all include actively driving
Dynamic device and quadrangular mechanism；Described active driving device includes motor and drive rod；It is oppositely arranged in described quadrangular mechanism
Two connecting rods isometric, four connecting rods pass sequentially through spherical pair and connect, and two connecting rods that quadrangular mechanism passes through to be oppositely arranged divide
It is not connected with the drive rod in main drive and moving platform.
A kind of preferred version, the pivot center of described motor is all horizontally disposed with, and the first side chain, the 3rd side chain and the 4th
Motor rotation axis line in chain is parallel to each other, the motor rotation axis line in motor rotation axis line and the 4th side chain in the second side chain
Vertically；4th side chain passes through the second rotation pair with the second sub-platform and is connected, and second rotates the axle that secondary axis and first rotates pair
Line is parallel to each other.
Another kind of preferred version, the motor rotation axis line in the first side chain, the second side chain and the 3rd side chain is all horizontally disposed with,
Motor rotation axis line in first side chain and the 3rd side chain is parallel to each other, and the motor rotation axis line in the second side chain is perpendicular to
Motor rotation axis line in one side chain and the 3rd side chain；Motor rotation axis line in 4th side chain is vertically arranged；4th side chain with
Second sub-platform is connected
Compared with prior art, its remarkable advantage is the present invention: in the present invention, moving platform only comprises one or two
Rotate secondary, not using moving sets, it is to avoid discontinuity, frictional force is big to be waited not enough, and moving platform does not have use quality
Larger gear or ball-screw are angularly changed or enlarger, reduce the quality of moving platform, drastically increase mechanism
Dynamic response characteristic.
Brief description
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the embodiment of the present invention 2.
Fig. 3 is the structural representation of the embodiment of the present invention 3.
Fig. 4 is the structural representation of the moving platform of the embodiment of the present invention 1.
Fig. 5 is the structural representation of the moving platform of the embodiment of the present invention 2.
Fig. 6 is the structural representation of the moving platform of the embodiment of the present invention 3.
Specific embodiment
In order to be able to further appreciate that present disclosure and feature, in conjunction with accompanying drawing and preferred embodiment, the present invention is made in detail
Illustrate, be not to be construed as the whole of the present invention here or be considered as the restriction to technical solution of the present invention or restriction.
The four-freedom parallel connection robot mechanism of three translation one rotation being capable of high-speed motion of the present invention, including
Between fixed platform, moving platform and fixed platform and moving platform, there are mutually isostructural four side chains；Described moving platform includes
Bindiny mechanism between first sub-platform 8, the second sub-platform 9 and two sub-platforms and be consolidated in the end of the second sub-platform 9 and hold
Row device, passes through to rotate secondary connection, and provides end effector around vertical by the rotation of the second sub-platform 9 between wherein two sub-platforms
Rotational freedom in the axis of the first sub-platform 8；First, second and third side chain connects described fixed platform and the first sub-platform 8,
In four described side chains, first, second and third side chain connects described fixed platform and sub-platform 8 and forms delta mechanism, the 4th
Chain connects described fixed platform and the second sub-platform 9；The 4th described side chain is with the mechanism's restructural after the second sub-platform 9 connection
Property strong, can achieve multiple configurations；Four described side chains all include: active driving device, quadrangular mechanism and kinematic pair；Institute
The active driving device stated can be connecting rod or slide block；Described quadrangular mechanism include upper and lower two isometric short connecting rods and
The two isometric long connecting rods in left and right, connect into closing ring mechanism by spherical pair wherein between short connecting rod and long connecting rod；Described
Article four, side chain is connected one Spatial Parallel close loop mechanism of formation respectively with fixed platform and moving platform, by the motion of four side chains
The three-dimensional translating of end effector and one-dimensional rotation motion in space can be realized.
The present invention utilizes the delta machine that first, second and third side chain is formed after connecting described fixed platform and the first sub-platform 8
Three rotational freedom constraints of the first sub-platform 8 are fallen by structure；Realize the second sub-platform 9 using the motion of the 4th side chain around vertical
In the rotational freedom of the axis of the first sub-platform 8, and the output in this, as end effector.
The present invention can be connected with the configuration of the second sub-platform 9 by the arrangement and the 4th side chain that change the 4th side chain
Three translation one rotational motions meeting relational implementation mechanism improve the performance of mechanism.
The present invention can also by change each side chain active drive mode realize mechanism three translation one rotational motions.
Embodiment 1
As shown in Figure 1 and Figure 4, it is a kind of four-freedom parallel connection robot mechanism of three translation one rotation, including fixed platform
1st, with the first side chain, the second side chain, the 3rd side chain and the 4th side chain, four described side chains connect moving platform 7 respectively
Between fixed platform 1 and moving platform 7, and there is identical structure；Described moving platform 7 includes the first sub-platform 8 and the second son
Platform 9, passes through between two platforms to rotate secondary 12a connection；End effector 11 is consolidated on the second described sub-platform 9；Described
Four articles of side chains in the first side chain, the second side chain and the 3rd side chain connect described fixed platform 1 and the first sub-platform 8, and
It is connected with three connection ends of the first sub-platform 8 respectively；4th side chain connects described fixed platform 1 and the second sub-platform 9.
Four described side chains all include: active driving device, quadrangular mechanism and kinematic pair；Described active drive
Device includes motor 2 and drive rod 3；Described quadrangular mechanism include two isometric upper short connecting rod 4a and lower short connecting rod 4b with
And two isometric left long connecting rod 6a and right long connecting rod 6b, wherein go up between short connecting rod 4a and two long connecting rods pass through spherical pair 5a and
Spherical pair 5b connects, and passes through spherical pair 5c and spherical pair 5d connects, four connecting rods become envelope between lower short connecting rod 4b and two long connecting rods
Close loop mechanism；Described upper short connecting rod 4a is connected with described drive rod 3, and the turning of the axis of upper short connecting rod 4a and drive rod 3
Shaft line is parallel to each other；Four described side chains are connected one Spatial Parallel closed loop of formation respectively with fixed platform 1 and moving platform 7
Mechanism, can realize the three-dimensional translating of end effector 11 and one-dimensional rotation motion in space by the motion of four side chains.
The pivot center of described motor is all horizontally disposed with, and the electricity in the first side chain, the 3rd side chain and the 4th side chain
Machine pivot center is parallel to each other, and the motor rotation axis line in motor rotation axis line and the 4th side chain in the second side chain hangs down
Directly；Lower short connecting rod 4b4 in the 4th described side chain is parallel to the first sub-platform 8, and the connecting rod connected, described with connecting rod 10
It is connected by rotating secondary 12b between 10 with the second sub-platform 9, the axis phase of the described axis of rotation secondary 12b and rotation secondary 12a
Mutually parallel.
Embodiment 2
As shown in Figure 2 and Figure 5, the present embodiment and embodiment 1 difference are, the lower short connecting rod 4b4 in the 4th side chain is straight
Connect rotation secondary 12b to be connected with the second sub-platform 9, and keep other modules constant simultaneously.After above-mentioned change, the present embodiment
In the moment of torsion suffered by the second sub-platform 9 will reduce, the mechanical property of mechanism will be improved.
Embodiment 3
As shown in Figure 3 and Figure 6, the present embodiment is similar to Example 2, the first side chain, the second side chain, the 3rd side chain
And the 4th side chain structure identical and be connected between fixed platform 1 and moving platform 71 one Spatial Parallel close loop mechanism of formation,
Wherein first side chain, the second side chain and the 3rd side chain connect described fixed platform 1 and the second sub-platform 8, the 4th side chain
Connect described fixed platform 1 and the second sub-platform 9, the motor rotation axis in the first side chain, the second side chain and the 3rd side chain
Line is all horizontally disposed with, and the motor rotation axis line in the first side chain and the 3rd side chain is parallel to each other, and the electricity in the second side chain
Motor rotation axis line in the first side chain and the 3rd side chain for the machine pivot center.Difference is: in the 4th side chain
Motor rotation axis line be vertically arranged；Lower short connecting rod 4b4 in 4th side chain perpendicular to the first sub-platform 8, and directly with the
Two sub-platforms 9 are connected.In the present embodiment, moving platform 71 comprises only one and rotates secondary 12, and its structure is simpler.
The present invention is it is also possible that the type of drive of four side chains stated is changed by the drive form rotating secondary active drive
For the drive form of moving sets active drive, belong within protection scope of the present invention.
Claims (3)
1. a kind of four-freedom parallel connection robot mechanism being capable of high-speed motion is it is characterised in that including fixed platform, moving and put down
Platform and be connected to four side chains between fixed platform and moving platform；
Described moving platform includes the first sub-platform and the second sub-platform, and the first sub-platform and the second sub-platform are parallel to each other and level
Setting, between the first sub-platform and the second sub-platform pass through first rotate pair is connected, described first rotate pair axis perpendicular to
First sub-platform；End effector is consolidated on the second sub-platform；
In described four side chains, the first side chain, the second side chain and the 3rd side chain described fixed platform of connection and the first sub-platform, the 4th
Side chain connects described fixed platform and the second sub-platform；
Described four side chains all include active driving device and quadrangular mechanism；Described active driving device includes motor and driving
Bar；Two connecting rods being oppositely arranged in described quadrangular mechanism are isometric, and four connecting rods pass sequentially through spherical pair and connect, tetragon machine
Two connecting rods that structure passes through to be oppositely arranged are connected with the drive rod in main drive and moving platform respectively.
2. mechanism as claimed in claim 1 is it is characterised in that the pivot center of described motor is all horizontally disposed with, and first
Motor rotation axis line in chain, the 3rd side chain and the 4th side chain is parallel to each other, the motor rotation axis line and the 4th in the second side chain
Motor rotation axis line in side chain is vertical；4th side chain passes through the second rotation pair with the second sub-platform and is connected, and second rotates pair
Axis rotates secondary axis with first and is parallel to each other.
3. mechanism as claimed in claim 1 is it is characterised in that the motor in the first side chain, the second side chain and the 3rd side chain turns
Shaft line is all horizontally disposed with, and the motor rotation axis line in the first side chain and the 3rd side chain is parallel to each other, and the electricity in the second side chain
Motor rotation axis line in the first side chain and the 3rd side chain for the machine pivot center；Motor rotation axis line in 4th side chain hangs down
Straight setting；4th side chain and the second sub-platform are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610466707.0A CN106346445B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610466707.0A CN106346445B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion |
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| CN106346445A true CN106346445A (en) | 2017-01-25 |
| CN106346445B CN106346445B (en) | 2018-10-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486841A (en) * | 2017-09-15 | 2017-12-19 | 大连理工大学 | A kind of SCARA motion parallel connection mechanisms with rectangular workspace |
| CN108656086A (en) * | 2018-06-04 | 2018-10-16 | 北京交通大学 | A kind of variable-operation spatial redundancy driving 4UPU-R parallel institutions |
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| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| 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 |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
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| US20120079908A1 (en) * | 2010-09-30 | 2012-04-05 | Hon Hai Precision Industry Co., Ltd. | Parallel robot |
| CN102689305A (en) * | 2012-04-20 | 2012-09-26 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel 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 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107486841A (en) * | 2017-09-15 | 2017-12-19 | 大连理工大学 | A kind of SCARA motion parallel connection mechanisms with rectangular workspace |
| CN108656086A (en) * | 2018-06-04 | 2018-10-16 | 北京交通大学 | A kind of variable-operation spatial redundancy driving 4UPU-R parallel institutions |
| CN108656086B (en) * | 2018-06-04 | 2020-04-07 | 北京交通大学 | Variable working space redundancy drive 4UPU-R parallel mechanism |
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| CN106346445B (en) | 2018-10-12 |
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