CN106363608A - Parallel robot device with two operation modes - Google Patents
Parallel robot device with two operation modes Download PDFInfo
- Publication number
- CN106363608A CN106363608A CN201610961368.3A CN201610961368A CN106363608A CN 106363608 A CN106363608 A CN 106363608A CN 201610961368 A CN201610961368 A CN 201610961368A CN 106363608 A CN106363608 A CN 106363608A
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- China
- Prior art keywords
- side chain
- parallel
- rotation
- pair
- pivot center
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Classifications
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention discloses a parallel robot device with two operation modes. The parallel robot device is composed of a fixed platform, a movable platform and four branch chains. According to the configuration relations of movement pairs of the four branch chains, the axis of a rotation pair, connected to the movable platform, of the first branch chain is perpendicular to the axes of one set of three rotation pairs with parallel axes; a movable pair guide rail on the second branch chain is parallel to the axes of two rotation pairs; the axes of two rotation pairs, connected to the movable platform and the fixed platform, of the third branch chain are perpendicular to one set of three rotation pairs with parallel axes; and a movable pair guide rail on the fourth branch chain is parallel to the axes of two rotation pairs. According to the configuration relations of the movement pairs, connected to the fixed platform, of the four branch chains, the axis of the movement pair on the third branch chain and the axes of the movement pairs of the first branch chain and the second branch chain are perpendicular to one another, but the axis of the movement pair on the third branch chain is parallel to the movable pair guide rail on the fourth branch chain; and the axis of the rotation pair, connected to the movable platform, of the first branch chain is parallel to the axis of the rotation pair, connected to the movable platform, of the third branch chain. The three-horizontal-movement and one-rotation operation mode and the two-horizontal-movement and two-rotation operation mode can be selected by users to be used, and the effect that multiple purposes are achieved in one machine can be achieved.
Description
Technical field
The present invention relates to a kind of performs device of parallel robot manipulator, new for the offer such as robot manipulator one
The parallel robot device with two kinds of operator schemes.
Background technology
The manipulator of parallel-connection structure has obtained commercial Application, particularly realizes the delta operation of space three translation functions
Handss, have played good effect in the techniques such as high speed pick-and-place, positioning assembling, carrying, sorting, loading and unloading；And it is flat to have three
Move the parallel manipulator of a rotating function, under the occasion needing to adjust workpiece posture, even more indispensable.For this reason, 1988
R.clavel is on the basis of three translation delta operation handss, then connect a r-u-p-u-r side chain or s-p-s side chain, constitutes
One series-parallel connection manipulator with three translation one rotating function；The Chinese patent of Yang Ting power application in 2003
200310106012.4 it is proposed that one group of 5 three-translation and one-rotation parallel mechanism, but there is no Development Prototype；Open within 2006 later
Begin, pierrot etc. has invented four-degree-of-freedom scara type (the i.e. three translation one rotation) manipulator of h4, i4, par4 series in succession,
Professor Huang Tian develops the cross- of four-degree-of-freedom three translation one rotationType high speed transfer robot；And Chinese patent
201210435375.1 propose a kind of parallel institution realizing three translation one rotation, and have developed model machine.At present, these are in parallel
Mechanism is all a kind of fixing degree of freedom mostly, and only has a kind of operator scheme, there is function and fixes, is difficult in adapt to multioperation work
The defects such as the requirement of position, in addition, some mechanisms are due to complex structure, motion/Dynamic Modeling and solution are difficult, lead to basic
Research imperfection, so that such mechanism is not developed well and is applied.
Therefore, there is the development of the parallel institution of two kinds of operator schemes and practical, need to create better than existing mechanism
New architecture.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art to provide a kind of parallel robot with two kinds of operator schemes
Device.
The present invention is achieved by the following technical solutions.
A kind of parallel robot device with two kinds of operator schemes of the present invention, by silent flatform (0), moving platform
(1) and connection moving platform (1), silent flatform (0) four articles of side chains (theSide chain, side chain,Side chain,Side chain)
Composition, is characterized in that.
TheSide chain rotates pair by a side link, five connecting rods and eight and forms, wherein, theSide link on side chain
One (2) one end is coupled with rotating secondary one (r1) with silent flatform (0), the midpoint of the other end of side link one (2) and connecting rod one (3)
With rotating secondary three (r3) connection, one end of connecting rod one (3) rotates secondary two (r2) with one end of connecting rod two (4) and couples, connecting rod one
(3) one end of the other end and connecting rod three (5) rotates secondary four (r4) and couple, the other end of connecting rod two (4) and connecting rod four (6)
With rotating secondary seven (r7) connection, the other end of the other end of connecting rod three (5) and connecting rod four (6) is with rotating secondary five (r5) connection for one end
Connect, the midpoint of connecting rod four (6) rotates secondary six (r6) with one end of connecting rod five (7) and couples, and the other end of connecting rod five (7) rotates
Secondary eight (r8) are coupled with moving platform (1), and connecting rod one (3), connecting rod two (4), connecting rod three (5) and connecting rod four (6) pass through to rotate pair
Two (r2), secondary four (r4) of rotation, secondary five (r5) of rotation and rotation pair seven (r7) composition parallel-crank mechanism, are connected in moving platform
(1) pivot center of one group of rotation secondary (r1, r3, r6) of the pivot center of rotation pair eight (r8) on and three diameter parallels hangs down
Directly.
Side chain is made up of a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pair, its
In, one end of side chain upper slide bar one (8) is coupled with moving sets one (p1) with silent flatform (0), the other end of slide bar one (8) with
One end of connecting rod six (9) is secondary with rotating with one end of connecting rod seven (10) with rotating secondary nine (r9) connection, the other end of connecting rod six (9)
Ten (r10) couples, and the other end of connecting rod seven (10) coupled with moving platform (1) with ball pair one (s1), and the leading of moving sets one (p1)
Rail, the pivot center rotating secondary nine (r9), the pivot center three of secondary ten (r10) of rotation are parallel to each other.
TheSide chain rotates pair by a side link, three connecting rods and five and forms, wherein, theFrame linking on side chain
One end of bar two (11) and silent flatform (0) couples with rotating secondary 11 (r11), the other end of side link two (11) and connecting rod eight
(12) one end is secondary with rotating with one end of connecting rod nine (13) with rotating secondary 12 (r12) connection, the other end of connecting rod eight (12)
13 (r13) couples, and the other end of connecting rod nine (13) rotates secondary 14 (r14) with one end of connecting rod ten (14) and couples, connecting rod
Ten (14) other end is coupled with moving platform (1) with rotating secondary 15 (r15), and rotates secondary 11 (r11) and rotate secondary 15
(r15) pivot center is all vertical with the pivot center of one group of rotation secondary (r12, r13, r14) of three diameter parallels.
4.Branched structure is by a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pair group
Become, wherein, theOne end of side chain upper slide bar two (15) is coupled with moving sets two (p2) with silent flatform (0), slide bar two (15)
One end of the other end and connecting rod ten one (16) rotates secondary 16 (r16) and couple, the other end of connecting rod ten one (16) and connecting rod ten
Two (17) one end is with rotating secondary 17 (r17) connection, the other end ball pair two (s2) and the moving platform (1) of connecting rod ten two (17)
Connection, and the guide rail of moving sets two (p2), the pivot center rotating secondary 16 (r16), the pivot center of secondary 17 (r17) of rotation
Three is parallel to each other.
The position relation being connected in four kinematic pairs of silent flatform (0) is: theRotation pair one (r1) on side chain
The guide rail of moving sets two (p2) on pivot center, side chain andThe rotary shaft of rotation pair 11 (r11) on side chain
It is mutually perpendicular to two-by-two between line three, and theThe guide rail of moving sets two (p2) on side chain andRotation pair on side chain
The pivot center of 11 (r11) is parallel to each other；The position relation being connected in four kinematic pairs of moving platform (1) is: theOn side chain
The pivot center of rotation pair eight (r8) andThe pivot center rotating secondary 15 (r15) on side chain is parallel, on side chain
The centre of sphere of ball pair one (s1) andThe centre of sphere line of side chain upper sphere pair two (s2) is perpendicular toSecondary 15 are rotated on side chain
(r15) pivot center.
Further, side chain andThe moving sets coupling with silent flatform on side chain and its adjacent rotated pair all can use one
Individual cylindrical pair is substituting；And two moving sets being coupled with silent flatform all can be substituted with parallel-crank mechanism；TheOn side chain
Parallel-crank mechanism can be substituted with moving sets；Side chain andSide chain all can use sps, ssp, srs, rss
Side chain is substituting.
The invention provides the new parallel institution being suitable for different operating station of a class, this parallel robot device has
Three translations one rotate and two translation two, two kinds of different operator schemes of rotation, it is possible to provide two different operating stations supply user to select
Use, realize the effect of a tractor serves several purposes.
Brief description
Accompanying drawing 1 is the structural representation of one embodiment of the invention.
Specific embodiment
Below by accompanying drawing and example, the technology of the present invention is given further to illustrate.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, and its technical scheme is such that one kind has
The parallel robot device of two kinds of operator schemes, by silent flatform 0, moving platform 1 and connection moving platform 1, four of silent flatform 0
Chain (theSide chain, side chain,Side chain,Side chain) composition, it is characterized in that.
TheSide chain rotates pair by a side link, five connecting rods and eight and forms, wherein, theSide link on side chain
One 2 one end is coupled with rotating a secondary r1 with silent flatform 0, and the midpoint of the other end of side link 1 and connecting rod 1 is with rotating secondary three
R3 couples, and one end secondary two r2 of rotation of one end of connecting rod 1 and connecting rod 24 couple, the other end of connecting rod 1 and connecting rod 35
One end coupled with rotating secondary four r4 connections, one end secondary seven r7 of rotation of the other end of connecting rod 24 and connecting rod 46, connecting rod 35
The other end of the other end and connecting rod 46 rotate secondary five r5 and couple, one end rotation of the midpoint of connecting rod 46 and connecting rod 57
Secondary six r6 connections, the other end of connecting rod 57 is rotated secondary eight r8 and is coupled with moving platform 1, and connecting rod 1, connecting rod 24, connecting rod 35
Pass through to rotate secondary two r2, secondary four r4 of rotation, secondary five r5 of rotation and rotate secondary seven r7 to form parallel-crank mechanism with connecting rod 46,
It is connected in one group of rotation secondary r1, rotation of r3, r6 of the pivot center of secondary eight r8 of rotation on moving platform 1 and three diameter parallels
Axis is vertical.
Side chain is made up of a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pair, its
In, one end of side chain upper slide bar 1 is coupled with moving sets one p1 with silent flatform 0, the other end of slide bar 1 and connecting rod 69
One end coupled with rotating secondary nine r9 connections, one end secondary ten r10 of rotation of the other end of connecting rod 69 and connecting rod 7 10, connecting rod
7 10 the other end ball pair one s1 couple with moving platform 1, and the guide rail of moving sets one p1, rotation secondary nine r9 pivot center,
The pivot center three rotating secondary ten r10 is parallel to each other.
TheSide chain rotates pair by a side link, three connecting rods and five and forms, wherein, theFrame linking on side chain
One end of bar 2 11 is coupled with rotating secondary 11 r11 with silent flatform 0, and one end of the other end of side link 2 11 and connecting rod 8 12 is used
Rotate secondary 12 r12 connections, the other end of connecting rod 8 12 rotates secondary 13 r13 with one end of connecting rod 9 13 and couples, connecting rod nine
13 other end rotates secondary 14 r14 with one end of connecting rod 10 and couples, and the other end of connecting rod 10 is with rotating secondary 15 r15
Couple with moving platform 1, and rotate one group with the pivot center of rotation pair 15 r15 all with three diameter parallels of secondary 11 r11
Rotate secondary r12, r13, r14 pivot center vertical.
4.Branched structure is by a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pair group
Become, wherein, theOne end of side chain upper slide bar 2 15 is coupled with moving sets two p2 with silent flatform 0, the other end of slide bar 2 15 with
With rotating secondary 16 r16 connections, one end of the other end of connecting rod 11 and connecting rod 12 is with turning for one end of connecting rod 11
Dynamic secondary 17 r17 connections, other end ball pair two s2 of connecting rod 12 are coupled with moving platform 1, and the guide rail of moving sets two p2,
The pivot center rotating secondary 16 r16, the pivot center three rotating secondary 17 r17 are parallel to each other.
The position relation being connected in four kinematic pairs of silent flatform 0 is: theThe rotation of the secondary r1 of rotation on side chain
The guide rail of moving sets two p2 on axis, side chain andOn side chain rotate secondary 11 r11 pivot center three it
Between be mutually perpendicular to two-by-two, andThe guide rail of moving sets two p2 on side chain andSecondary 11 r11 of rotation on side chain turn
Shaft line is parallel to each other；The position relation being connected in four kinematic pairs of moving platform 1 is: theSecondary eight r8's of rotation on side chain
Pivot center andThe pivot center rotating secondary 15 r15 on side chain is parallel, the centre of sphere of ball pair one s1 on side chain with
TheThe centre of sphere line of side chain upper sphere pair two s2 is perpendicular toThe pivot center of secondary 15 r15 is rotated on side chain.
Further, side chain andThe moving sets coupling with silent flatform on side chain and its adjacent rotated pair all can use one
Individual cylindrical pair is substituting；And two moving sets coupling with silent flatform, can be substituted with parallel-crank mechanism.
When the pivot center rotating secondary 11 r11 is parallel to each other with the pivot center rotating secondary 15 r15 and rotates secondary one
When the pivot center of r1 is parallel with the pivot center rotating secondary 12 r12, this mechanism is in singular position, and now mechanism is instantaneous
Degree of freedom is 5, and now moving platform 1 can realize D translation and around the rotation rotating secondary 15 r15 and rotate secondary 14 r14
The rotation output of axis rotation；But after secondary 11 r11 of rotation turn an angle, this mechanism is changed into three translation one rotating machine
Structure；After pinning rotation secondary 11 r11, this mechanism is changed into two translation two rotating mechanism；Therefore this mechanism has two kinds of different behaviour
Operation mode selects to use for user.When this mechanism is in singular position, if after secondary 11 r11 of rotation turn an angle, driving
Dynamic two moving sets p1, p2 and two rotation secondary r1, r12 are so that it may make moving platform 1 realize D translation and around rotation secondary 15
The one-dimensional rotation output of r15 axis；If pin rotating secondary 11 r11, drive two moving sets p1, p2 and two rotate secondary r1,
R12 is so that it may make moving platform 1 realize perpendicular to the two-dimension translational rotating secondary 12 r12 axis directions and around the secondary 15 r15 axles of rotation
Line and the two-dimensional rotary output rotating secondary 14 r14 axis directions.
Claims (5)
1. a kind of parallel robot device with two kinds of operator schemes, by silent flatform, moving platform and the dynamic and static platform of connection
Article four, side chain composition, is characterized in that: the first side chain is by a side link, a parallel-crank mechanism, a connecting rod and eight
Rotation pair composition, wherein, the pivot center of rotation pair being connected on moving platform and a group of three diameter parallels rotate pair
Pivot center is vertical；Second side chain is made up of a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pair,
Wherein, the guide rail of moving sets is parallel with the pivot center that two rotate pair；3rd side chain is by a side link, three connecting rods and five
Individual rotate secondary composition, wherein, the turns auxiliary shaft line being connected on moving platform and the turns auxiliary shaft line being connected on silent flatform all with
One group of secondary pivot center of rotation of three diameter parallels is vertical；4th branched structure is by a slide bar, two connecting rods, shiftings
Dynamic secondary, two rotation pairs and a ball pair composition, wherein, the guide rail of moving sets is parallel with the pivot center that two rotate pair；Connection
It is connected on the turns auxiliary shaft line of the first side chain of silent flatform, the turns auxiliary shaft line on the moving sets guide rail and the 3rd side chain of the second side chain
It is mutually perpendicular to two-by-two, and the turns auxiliary shaft line being connected in silent flatform on the moving sets guide rail on the 4th side chain and the 3rd side chain is mutual
Parallel；Be connected in moving platform on first side chain rotates the rotation pair being connected in moving platform on secondary pivot center and the 3rd side chain
Pivot center be parallel to each other.
2. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that side chain two, side chain
The moving sets being coupled with silent flatform on four and its adjacent rotated pair all can be substituted with a cylindrical pair.
3. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that side chain two, side chain
The moving sets being coupled with silent flatform on four all can be substituted with parallel-crank mechanism.
4. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that on side chain one
Parallel-crank mechanism can be substituted with moving sets.
5. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that side chain two, side chain
Four all can be substituted with sps, ssp, srs, rss side chain.
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| CN201610961368.3A CN106363608B (en) | 2016-10-28 | 2016-10-28 | There are two types of the parallel robot devices of operation mode for tool |
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| CN201610961368.3A CN106363608B (en) | 2016-10-28 | 2016-10-28 | There are two types of the parallel robot devices of operation mode for tool |
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| CN106363608B CN106363608B (en) | 2018-12-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN112171647A (en) * | 2020-10-29 | 2021-01-05 | 燕山大学 | Parallel mechanism with movement bifurcation characteristic |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN112171647A (en) * | 2020-10-29 | 2021-01-05 | 燕山大学 | Parallel mechanism with movement bifurcation characteristic |
| CN112171647B (en) * | 2020-10-29 | 2021-09-10 | 燕山大学 | Parallel mechanism with movement bifurcation characteristic |
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