CN106363608B - There are two types of the parallel robot devices of operation mode for tool - Google Patents
There are two types of the parallel robot devices of operation mode for tool Download PDFInfo
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- CN106363608B CN106363608B CN201610961368.3A CN201610961368A CN106363608B CN 106363608 B CN106363608 B CN 106363608B CN 201610961368 A CN201610961368 A CN 201610961368A CN 106363608 B CN106363608 B CN 106363608B
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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
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Abstract
There are two types of the parallel robot devices of operation mode for tool, be made of quiet, moving platform and four branches, the kinematic pair configuration relation of four branches is: the axis that the first branch is connected in the axis one group revolute pair parallel with three axis of the revolute pair on moving platform is vertical；Prismatic pair guide rail on second branch is parallel with the axis of two revolute pairs；The axis that third branch is connected in one group of parallel with three axis revolute pair of two revolute pair axis on dynamic and static platform is vertical；Prismatic pair guide rail on 4th branch is parallel with the axis of two revolute pairs.The kinematic pair configuration relation that four branches are connected on silent flatform is: movement secondary axis and the movement secondary axis of the first, second branch on third branch are mutually perpendicular to two-by-two, but parallel with the prismatic pair guide rail on the 4th branch；The first, the axis that third branch is connected in the revolute pair on moving platform is parallel to each other.The present invention is there are three translations, one rotation and two translations, two two kinds of operation modes of rotation, it can be achieved that the effect of a tractor serves several purposes.
Description
Technical field
The present invention relates to the executive device of parallel robot manipulator a kind of, for robot manipulator etc. provide one it is novel
Tool there are two types of operation mode parallel robot device.
Background technique
The manipulator of parallel-connection structure has obtained the Delta operation of industrial application, especially realization three translation functions of space
Hand has played good effect in the techniques such as high speed pick-and-place, positioning assembly, carrying, sorting, loading and unloading；And it is flat with three
The parallel manipulator for moving a rotating function is even more indispensable under the occasion for needing to adjust workpiece posture.For this purpose, 1988
R.Clavel is on the basis of three translation Delta manipulators, then connect a R-U-P-U-R branch or S-P-S branch, constitutes
One mixed connection manipulator with three one rotating functions of translation；The Chinese patent of Yang Ting power application in 2003
200310106012.4, one group of 5 three-translation and one-rotation parallel mechanism is proposed, but there is no Development Prototype；It opens within later 2006
Beginning, Pierrot etc. has invented four-degree-of-freedom SCARA type (one rotation of i.e. three translations) manipulator of H4, I4, Par4 series in succession,
Professor Huang Tian develops the Cross-IV type high speed transfer robot of one rotation of the translation of four-degree-of-freedom three；And Chinese patent
201210435375.1 propose a kind of parallel institution for realizing three translations, one rotation, and have developed model machine.Currently, these are in parallel
Mechanism is all a kind of fixed freedom degree mostly, and only a kind of operation mode, and there are functions to fix, is difficult to adapt to multioperation work
The defects of requirement of position, causes basic in addition, some mechanisms, since structure is complicated, movement/Dynamic Modeling and solution are difficult
Study it is not perfect so that such mechanism do not obtain well develop and application.
Therefore, have the development and functionization of the parallel institution there are two types of operation mode, need to create better than existing mechanism
New architecture.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art to provide a kind of parallel robot of tool there are two types of operation mode
Device.
The present invention is achieved by the following technical solutions.
A kind of tool of the present invention there are two types of operation mode parallel robot device, by silent flatform, moving platform and
Couple four articles of branches (the first branch, the second branch, third branch, the 4th branch) composition of moving platform, silent flatform, feature
It is.
1. the first branch is made of a connecting rod, five connecting rods and eight revolute pairs, wherein frame linking on the first branch
One end of bar one couples with silent flatform revolute pair one, the other end of connecting rod one and the midpoint revolute pair three of connecting rod one
It connects, one end of connecting rod one couples with one end revolute pair two of connecting rod two, and the other end of connecting rod one and one end of connecting rod three are used and turned
Dynamic pair four couples, and the other end of connecting rod two couples with one end revolute pair seven of connecting rod four, the other end and connecting rod four of connecting rod three
The other end coupled with revolute pair five, the midpoint of connecting rod four couples with one end revolute pair six of connecting rod five, connecting rod five it is another
End is coupled with moving platform with revolute pair eight, and connecting rod one, connecting rod two, connecting rod three and connecting rod four pass through revolute pair two, revolute pair four,
Revolute pair five and revolute pair seven form parallelogram mechanism, be connected in the revolute pair eight on moving platform pivot center and three
The pivot center of one group of parallel revolute pair of axis is vertical.
2. the second branch is made of a slide bar, two connecting rods, a prismatic pair, two revolute pairs and a ball pair,
In, one end of the second branch upper slide bar one couples with silent flatform prismatic pair one, the other end of slide bar one and one end of connecting rod six
Coupled with revolute pair nine, the other end of connecting rod six couples with one end revolute pair ten of connecting rod seven, the other end ball of connecting rod seven
Pair one couples with moving platform, and pivot center three's phase of the guide rail of prismatic pair one, the pivot center of revolute pair nine, revolute pair ten
It is mutually parallel.
3. third branch is made of a connecting rod, three connecting rods and five revolute pairs, wherein frame linking on third branch
One end of bar two couples with silent flatform revolute pair 11, the other end of connecting rod two and one end revolute pair 12 of connecting rod eight
Connection, the other end of connecting rod eight couple with one end revolute pair 13 of connecting rod nine, the other end of connecting rod nine and the one of connecting rod ten
End is coupled with revolute pair 14, and the other end of connecting rod ten is coupled with revolute pair 15 with moving platform, and revolute pair 11 and rotation
The pivot center of one group of parallel with three axis revolute pair of the pivot center of pair 15 is vertical.
4. the 4th branched structure is by a slide bar, two connecting rods, a prismatic pair, two revolute pairs and a ball pair group
At, wherein one end of the 4th branch upper slide bar two couples with silent flatform prismatic pair two, the other end and connecting rod 11 of slide bar two
One end coupled with revolute pair 16, the other end of connecting rod 11 couples with one end revolute pair 17 of connecting rod 12, connecting rod
12 other end is coupled with ball pair two with moving platform, and the guide rail of prismatic pair two, the pivot center of revolute pair 16, revolute pair
17 pivot center three is parallel to each other.
5. being connected in the position relation of four kinematic pairs of silent flatform are as follows: the rotation axis of the revolute pair one on the first branch
Two two-phases between the pivot center three of revolute pair 11 on the guide rail and third branch of prismatic pair two on line, the second branch
It is mutually vertical, and the pivot center of the revolute pair 11 on the guide rail of the prismatic pair two on the 4th branch and third branch is mutually flat
Row；It is connected in the position relation of four kinematic pairs of moving platform are as follows: the pivot center and third of the revolute pair eight on the first branch
The pivot center of revolute pair 15 is parallel on branch, the centre of sphere of the ball pair one on the second branch and the ball of the 4th branch upper sphere pair two
Pivot center of the heart line perpendicular to revolute pair 15 on third branch.
Further, the prismatic pair and its adjacent rotated pair coupled on the second branch and the 4th branch with silent flatform available one
A cylindrical pair substitutes；And two prismatic pairs coupled with silent flatform can be substituted with parallelogram mechanism；First branch
On parallelogram mechanism can be substituted with a prismatic pair；The available SPS, SSP of second branch and the 4th branch, SRS,
RSS branch substitutes.
The present invention provides a new class of parallel institution for being applicable in different operation station, this parallel robot device has
The two two different operation modes of rotation of three translations, one rotation and two translations, it is possible to provide two different operation stations are selected for user
It uses, realizes the effect of a tractor serves several purposes.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of one embodiment of the invention.
Specific embodiment
Technology of the invention is given below by attached drawing and example and is further explained.
Attached parallel institution shown in FIG. 1 can be one of the embodiment of the present invention, and technical solution is such that one kind has
The parallel robot device of two kinds of operation modes, by four branch of silent flatform 0, moving platform 1 and connection moving platform 1, silent flatform 0
Chain (the first branch, the second branch, third branch, the 4th branch) composition, it is characterized in that.
1. the first branch I is made of a connecting rod, five connecting rods and eight revolute pairs, wherein connect on the first branch I
One end of hack lever 1 couples with one R1 of revolute pair of silent flatform 0, and the other end of connecting rod 1 and the midpoint of connecting rod 1 rotate
Three R3 of pair connection, one end of connecting rod 1 couple with two R2 of one end revolute pair of connecting rod 24, the other end and connecting rod of connecting rod 1
35 one end is coupled with four R4 of revolute pair, and the other end of connecting rod 24 couples with seven R7 of one end revolute pair of connecting rod 46, connecting rod
35 other end couples with five R5 of other end revolute pair of connecting rod 46, and the midpoint of connecting rod 46 and one end of connecting rod 57 are used and turned
Dynamic six R6 of pair connection, the other end of connecting rod 57 is coupled with eight R8 of revolute pair with moving platform 1, and connecting rod 1, connecting rod 24, connecting rod
35 and connecting rod 46 parallelogram machine formed by two R2 of revolute pair, four R4 of revolute pair, five R5 of revolute pair and seven R7 of revolute pair
Structure is connected in pivot center one group revolute pair R1, R3, R6's parallel with three axis of eight R8 of revolute pair on moving platform 1
Pivot center is vertical.
2. the second branch II is made of a slide bar, two connecting rods, a prismatic pair, two revolute pairs and a ball pair,
Wherein, one end of II upper slide bar 1 of the second branch couples with one P1 of prismatic pair of silent flatform 0, the other end and connecting rod of slide bar 1
69 one end is coupled with nine R9 of revolute pair, and the other end of connecting rod 69 couples with ten R10 of one end revolute pair of connecting rod 7 10, even
The other end of bar 7 10 is coupled with one S1 of ball pair with moving platform 1, and the rotation axis of the guide rail of one P1 of prismatic pair, nine R9 of revolute pair
Line, ten R10 of revolute pair pivot center three be parallel to each other.
3. third branch III is made of a connecting rod, three connecting rods and five revolute pairs, wherein on third branch III
One end of connecting rod 2 11 couples with 11 R11 of revolute pair of silent flatform 0, the other end of connecting rod 2 11 and the one of connecting rod 8 12
End is coupled with 12 R12 of revolute pair, and the other end of connecting rod 8 12 couples with 13 R13 of one end revolute pair of connecting rod 9 13, even
The other end of bar 9 13 couples with 14 R14 of one end revolute pair of connecting rod 10, the other end revolute pair ten of connecting rod 10
Five R15 couple with moving platform 1, and 11 R11 of revolute pair is parallel with three axis with the pivot center of 15 R15 of revolute pair
The pivot center of one group of revolute pair R12, R13, R14 are vertical.
4. IV structure of the 4th branch is by a slide bar, two connecting rods, a prismatic pair, two revolute pairs and a ball pair
Composition, wherein one end of IV upper slide bar 2 15 of the 4th branch couples with two P2 of prismatic pair of silent flatform 0, slide bar 2 15 it is another
End couples with 16 R16 of one end revolute pair of connecting rod 11, the other end of connecting rod 11 and one end of connecting rod 12
Being coupled with 17 R17 of revolute pair, the other end of connecting rod 12 is coupled with two S2 of ball pair with moving platform 1, and two P2 of prismatic pair
Guide rail, the pivot center of 16 R16 of revolute pair, 17 R17 of revolute pair pivot center three be parallel to each other.
5. being connected in the position relation of four kinematic pairs of silent flatform 0 are as follows: turn of one R1 of revolute pair on the first branch I
The guide rail of two P2 of prismatic pair in shaft line, the second branch II and the pivot center of 11 R11 of revolute pair on third branch III
It is mutually perpendicular to two-by-two between three, and the revolute pair ten on the guide rail of two P2 of prismatic pair on the 4th branch IV and third branch III
The pivot center of one R11 is parallel to each other；It is connected in the position relation of four kinematic pairs of moving platform 1 are as follows: turn on the first branch I
The pivot center of dynamic eight R8 of pair is parallel with the pivot center of 15 R15 of revolute pair on third branch III, the ball on the second branch II
The centre of sphere line of two S2 of the centre of sphere and IV upper sphere pair of the 4th branch of one S1 of pair is perpendicular to 15 R15 of revolute pair on third branch III
Pivot center.
Further, the prismatic pair and its adjacent rotated pair coupled on the second branch II and the 4th branch IV with silent flatform
It is substituted with a cylindrical pair；And two prismatic pairs coupled with silent flatform, it can be substituted with parallelogram mechanism.
When the pivot center of 11 R11 of revolute pair and the pivot center of 15 R15 of revolute pair are parallel to each other and revolute pair one
When the pivot center of R1 is parallel with the pivot center of 12 R12 of revolute pair, which is in singular position, and mechanism is instantaneous at this time
Freedom degree is 5, and D translation and the rotation around 14 R14 of 15 R15 of revolute pair and revolute pair may be implemented in moving platform 1 at this time
The rotation output of axis rotation；But after 11 R11 of revolute pair turns an angle, which becomes three translations, one rotating machine
Structure；After lockking 11 R11 of revolute pair, which becomes two translations, two rotating mechanism；Therefore the mechanism has two different behaviour
Operation mode selects to use for user.When the mechanism is in singular position, if after 11 R11 of revolute pair turns an angle, driving
Dynamic two prismatic pairs P1, P2 and two revolute pairs R1, R12, so that it may moving platform 1 be made to realize D translation and around revolute pair 15
The one-dimensional rotation of R15 axis exports；If lockking 11 R11 of revolute pair, drive two prismatic pairs P1, P2 and two revolute pair R1,
R12, so that it may realize moving platform 1 perpendicular to the two-dimension translational of 12 R12 axis direction of revolute pair and around 15 R15 axis of revolute pair
The two-dimensional rotary of 14 R14 axis direction of line and revolute pair exports.
Claims (5)
1. there are two types of the parallel robot devices of operation mode for a kind of tool, by silent flatform, moving platform and the dynamic and static platform of connection
Four branch compositions, it is characterized in that: the first branch is by a connecting rod, a parallelogram mechanism, a connecting rod and eight
Revolute pair composition, wherein be connected in the pivot center one group revolute pair parallel with three axis of the revolute pair on moving platform
Pivot center is vertical；Second branch is made of a slide bar, two connecting rods, a prismatic pair, two revolute pairs and a ball pair,
Wherein, the guide rail of prismatic pair is parallel with the pivot center of two revolute pairs；Third branch is by a connecting rod, three connecting rods and five
A revolute pair composition, wherein the revolute pair axis being connected on moving platform and the revolute pair axis that is connected on silent flatform with
The pivot center of one group of parallel revolute pair of three axis is vertical；4th branch is by a slide bar, two connecting rods, a movement
Secondary, two revolute pairs and a ball pair composition, wherein the guide rail of prismatic pair is parallel with the pivot center of two revolute pairs；Connection
Revolute pair axis two on the revolute pair axis of the first branch of silent flatform, the prismatic pair guide rail of the second branch and third branch
Two are mutually perpendicular to, and the revolute pair axis that silent flatform is connected on the prismatic pair guide rail on the 4th branch and third branch is mutually flat
Row；The revolute pair that moving platform is connected on the pivot center and third branch of the revolute pair of moving platform is connected on first branch
Pivot center is parallel to each other；By three translation one rotation modes be transformed to two two rotation modes of translation when, lock third branch on
The revolute pair of silent flatform connection.
2. there are two types of the parallel robot devices of operation mode for tool according to claim 1, it is characterized in that the second branch, the
The prismatic pair and its adjacent rotated pair coupled on four branches with silent flatform can be substituted with a cylindrical pair.
3. there are two types of the parallel robot devices of operation mode for tool according to claim 1, it is characterized in that the second branch, the
The prismatic pair coupled on four branches with silent flatform can be substituted with parallelogram mechanism.
4. there are two types of the parallel robot devices of operation mode for tool according to claim 1, it is characterized in that on the first branch
Parallelogram mechanism can be substituted with a prismatic pair.
5. there are two types of the parallel robot devices of operation mode for tool according to claim 1, it is characterized in that the second branch, the
Four branches can be substituted with SPS, SSP, SRS, RSS branch.
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| CN108908296B (en) * | 2018-07-16 | 2020-11-17 | 西安工程大学 | Parallel mechanism with two motion modes of 3R1T and 2R2T |
| CN112171647B (en) * | 2020-10-29 | 2021-09-10 | 燕山大学 | Parallel mechanism with movement bifurcation characteristic |
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| CN206170068U (en) * | 2016-10-28 | 2017-05-17 | 南昌大学 | Parallel robot device with two kinds of mode of operations |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3488909B2 (en) * | 2000-03-08 | 2004-01-19 | 独立行政法人産業技術総合研究所 | Multi-degree-of-freedom drive mechanism by parallel mechanism |
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- 2016-10-28 CN CN201610961368.3A patent/CN106363608B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707281A (en) * | 2012-09-29 | 2014-04-09 | 南昌大学 | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation |
| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R parallel robot mechanism |
| CN105082112A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN105234922A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Three-degree of freedom (DOF) translational and one-DOF rotational parallel robot device |
| CN105643600A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot mechanism of low-coupling-degree three-kinematic-pair movable platform |
| CN206170068U (en) * | 2016-10-28 | 2017-05-17 | 南昌大学 | Parallel robot device with two kinds of mode of operations |
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