CN106695766A - Six-degree-of-freedom parallel device based on grabbing parallel mechanism - Google Patents
Six-degree-of-freedom parallel device based on grabbing parallel mechanism Download PDFInfo
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- CN106695766A CN106695766A CN201710117136.4A CN201710117136A CN106695766A CN 106695766 A CN106695766 A CN 106695766A CN 201710117136 A CN201710117136 A CN 201710117136A CN 106695766 A CN106695766 A CN 106695766A
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- hooke
- connecting rod
- bar axle
- hinge
- freedom
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
A six-degree-of-freedom parallel device based on a grabbing parallel mechanism comprises a fixed frame, three-degree-of-freedom translation mechanisms and the grabbing parallel mechanism, wherein the two three-degree-of-freedom translation mechanisms are symmetrically mounted on two sides of the fixed frame; the grabbing parallel mechanism comprises clamp forceps, two three-dimensional translation links and two hooke joints; the pair of clamp forceps comprises two clamp forceps links which are arranged in a crossed manner and are in rotational connection through a rotating shaft; the three-dimensional translation links are fixedly connected with the three-degree-of-freedom translation mechanisms; each hooke joint is provided with a vertical rod shaft and a horizontal rod shaft; the horizontal rod shaft of one hooke joint is positioned above the corresponding three-dimensional translation link; the horizontal rod shaft of the other hooke joint is positioned below the corresponding three-dimensional translation link; the hooke joints are rotationally connected with the three-dimensional translation links through the corresponding vertical rod shafts; and the hooke joints are rotationally connected with the clamp forceps links through the corresponding horizontal rod shafts. The six-degree-of-freedom parallel device has the advantages that the rotation range is wide and the grabbing capability is improved.
Description
Technical field
The invention belongs to robotics, specifically a kind of six-freedom parallel based on crawl parallel institution
Mechanism.
Background technology
Parallel institution is connected with silent flatform for moving platform by least two independent kinematic chains, with two or two
The free degree above, and a kind of close loop mechanism driven with parallel way.Compared with serial manipulator, parallel robot have with
Lower advantage：Accumulated error is small, precision is higher；Drive device is placed on fixed platform or close to the position of fixed platform, motion parts
Lightweight, speed is high, and dynamic response is good；Compact conformation, rigidity is high, large carrying capacity.
Minority carrier generation lifetime refers to parallel institution of the free degree less than 6, can be applied to many and is suitable to parallel institution behaviour
Make but do not need all 6 tasks of the free degree.Compared with 6DOF parallel institution, minority carrier generation lifetime has
Actuator is few, component is few, control is simple and convenient, it is easily fabricated, cheap the advantages of.Therefore, minority carrier generation lifetime
It is widely used in some occasions.
Due to being limited by Singularity, the turning power of parallel institution moving platform is often all smaller, even phase
To simple plane parallel mechanism, the slewing area that can be reached in theory is also no more than 180 °, actually can be smaller.
Part in parallel mechanism is bigger so as to obtain across Singularity come assistance platform by increasing redundant drive side chain
Turning power, but redundant drive can cause Planar Mechanisms so as to produce internal force, mechanism is faced the control problem of complexity；Also one
Parallel institution is divided then to select to increase redundant drive in some side chains, but which results in the appearance of mixed structure, so as to change original
There is the load transmission characteristic of parallel institution.
On automatic production line, the end that existing parallel institution scheme is mainly positioned against parallel institution increases actuator
(handgrip or sucker etc.) realizes crawl function, and this requires to increase servicing unit on the moving platform of parallel institution, or even needs
Motor is set up, the weight of parallel institution moving component is directly increased, the dynamic characteristic of parallel institution is had a strong impact on.
Chinese patent literature CN103538062A, date of publication 2014.1.29, disclose a kind of finger exercise of four-degree-of-freedom three
Make parallel institution, including a support, a moving platform and connection support and moving platform SP type linear drives branches and three
Individual completely identical in structure UPUR types finger actuation branch, one end of the SP types linear drives branch is flat with dynamic by prismatic pair
Platform is connected, and its other end is coupled by spherical hinge with support；Three structure identical finger actuation branches are in support and moving platform
Between it is circumferentially uniform, one end of the linear drives bar in each finger actuation branch is coupled by universal pair with support, and its is another
One end is coupled by universal pair with one end of finger connecting rod, and finger connecting rod middle part is coupled by rotating pair with moving platform, the hand
The other end for referring to connecting rod is free end.But the technology needs to set moving platform in addition between finger, increased the complexity of mechanism, no
Beneficial to the expansion of finger motion scope；And, the crawl motion of the technology finger depends on the pose of moving platform, is with fortune
It is dynamic, it is difficult to independent control.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of six-freedom parallel device based on crawl parallel institution, turns
Dynamic scope is big, increases Grasping skill, and global without unusual in working space, whole mechanism does not have motor to be placed in moving component
On, can realize pointing to the rotation of whole sphere.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme：
A kind of six-freedom parallel device based on crawl parallel institution, including fixed mount, Three Degree Of Freedom parallel moving mechanism and crawl
Mechanism, two Three Degree Of Freedom parallel moving mechanisms are symmetrically mounted on the both sides of fixed mount, and the crawl parallel institution includes：
Clamp, the clamp is made up of two clamp connecting rods, and two clamp connecting rods are arranged in a crossed manner and connected by axis of rotation, should
Two clamp connecting rods carry out open and close movement by rotation of rotating shaft；
Two three-dimensional translating connecting rods, the three-dimensional translating connecting rod is fixedly connected with Three Degree Of Freedom translation structure, Three Degree Of Freedom translation knot
Structure drives three-dimensional translating connecting rod in X-axis, three translational motions in direction of Y-axis and Z axis；
Two Hooke's hinges, the Hooke's hinge has vertical bar axle and horizon bar axle, and a Hooke's hinge is set on each three-dimensional translating connecting rod,
The vertical bar axle of the Hooke's hinge is connected in inserting three-dimensional translating connecting rod with the three-dimensional translating link rotatable, one of Hooke's hinge
Extend downwardly from making horizon bar axle position in the lower section of three-dimensional translating connecting rod, another Hooke's hinge protrude upward make horizon bar axle position in
The top of three-dimensional translating connecting rod, the Hooke's hinge turns by rotary centerline of the axis of vertical bar axle relative to three-dimensional translating connecting rod
It is dynamic；
One of clamp connecting rod is rotated with the horizon bar axle of the Hooke's hinge below three-dimensional translating connecting rod and is connected, another
Clamp connecting rod is rotated with the horizon bar axle of the Hooke's hinge above three-dimensional translating connecting rod and is connected, and clamp connecting rod is with the water of Hooke's hinge
Flat bar axle carries out rotational motion for center of rotation.
The vertical bar axle and horizon bar axle of the Hooke's hinge are vertically arranged, and the vertical bar axle of two Hooke's hinges is parallel to each other,
The horizon bar axle of two Hooke's hinges and rotating shaft are parallel to each other.
The three-dimensional translating connecting rod is cylindrical tube or the diminishing reducing pipe of external diameter.
There is connecting plate, three-dimensional translating connecting rod is fixedly attached at the center of the connecting plate in the Three Degree Of Freedom translation structure
Position.
The three-dimensional translating connecting rod and connecting plate are formed in one structure.
The present invention controls two rotational motions for capturing parallel-connection structure and a crawl fortune by two three-dimensional translatings
It is dynamic so that crawl parallel-connection structure has the turning power for pointing to whole sphere, increased Grasping skill；And it is complete in working space
Without unusual, whole mechanism does not have motor to be placed on moving component for office.
Brief description of the drawings
Accompanying drawing 1 is the dimensional structure diagram after present invention assembling；
Initial schematic diagram when accompanying drawing 2 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 3 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 4 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 5 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 6 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 7 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 8 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 9 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 10 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 11 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 12 is grabbing workpiece of the present invention；
Partial rotational process schematic when accompanying drawing 13 is grabbing workpiece of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1 and 2, it is present invention is disclosed a kind of six-freedom parallel device based on parallel institution including solid
Determine frame 3, Three Degree Of Freedom parallel moving mechanism 2 and grasping mechanism 1, two Three Degree Of Freedom parallel moving mechanisms 2 are symmetrically mounted on the two of fixed mount 3
Side, the crawl parallel institution 1 includes clamp, two three-dimensional translating connecting rods 5 and two Hooke's hinges 7, and clamp is connected by two clamps
Bar 4 is constituted, and two clamp connecting rods 4 are arranged in a crossed manner and rotate connection by rotating shaft 8, and two clamp connecting rods 4 are to turn with rotating shaft 8
It is dynamic to carry out open and close movement, form a folding free degree of crawl parallel institution 1.Two three-dimensional translating connecting rods 5 respectively with two
Three Degree Of Freedom translation structure 2 is fixedly connected, and Three Degree Of Freedom translation structure 2 drives three-dimensional translating connecting rod 5 in X-axis, Y-axis and Z axis three
The translational motion in individual direction, forms three translational degree of freedom.A Hooke's hinge 7, the Hooke's hinge are set on each three-dimensional translating connecting rod 5
7 have vertical bar axle 71 and a horizon bar axle 72, the vertical bar axle 71 of the Hooke's hinge 7 insert in three-dimensional translating connecting rod 5 with this three
Dimension translation connecting rod 5 rotates connection, and one of Hooke's hinge 7 extends downwardly from making horizon bar axle 72 be located under three-dimensional translating connecting rod 5
Side, another Hooke's hinge 7 protrudes upward the top for making horizon bar axle 72 be located at three-dimensional translating connecting rod 5, and the Hooke's hinge is with vertical
The axis of bar axle be rotary centerline relative to three-dimensional translating link rotatable, form crawl parallel institution one is rotatably mounted
Degree so that two horizon bar axles of Hooke's hinge are located at upper and lower diverse location respectively.One of clamp connecting rod 4 is put down with three-dimensional is located at
The horizon bar axle 72 of the Hooke's hinge 7 of the lower section of dynamic connecting rod 5 rotates connection, another clamp connecting rod 4 be located at three-dimensional translating connecting rod 5
The horizon bar axle 72 of the Hooke's hinge 7 of top rotates connection, and clamp connecting rod 4 is with the horizon bar axle 72 of Hooke's hinge 7 for center of rotation is entered
Row rotational motion.
Additionally, the vertical bar axle 71 and horizon bar axle 72 of Hooke's hinge 7 are vertically arranged, two vertical bar axles 71 of Hooke's hinge 7
It is parallel to each other, the horizon bar axle 72 of two Hooke's hinges 7 and rotating shaft 8 are parallel to each other, it is ensured that the uniformity and accuracy of motion.Hooke
Hinge with vertical bar axle as center of rotation formation rotational freedom rotational motion, with clamp connecting rod with horizon bar axle for rotation in
The rotational motion of the rotational freedom being formed centrally is mutually perpendicular to.
The three-dimensional translating connecting rod is provided with connecting plate, and Three Degree Of Freedom parallel moving mechanism is fixedly connected with the connecting plate.It is three-dimensional
Translation connecting rod is located at the center of connecting plate, it is ensured that the uniformity of stress.Three-dimensional translating connecting rod is formed in one with connecting plate
Structure.
In the present invention, Three Degree Of Freedom parallel moving mechanism is not particularly limited, it is only necessary to can realize in X-axis, Y-axis and Z axis three
The translational motion in individual direction.Such as can be three space translation serial mechanisms of the prismatic pair composition of series connection, or other are empty
Between translation serial mechanism.Or can for Delta mechanisms, Gantry Robot mechanisms, Cartesian Robot mechanisms,
Orthoglide mechanisms or Tsai ' s mechanisms, or other forms space translational parallel connection mechanism.Will not enumerate herein.
Three Degree Of Freedom parallel moving mechanism 2 is formed in three translational degree of freedom on x axles, y axles and z direction of principal axis, and crawl is in parallel
Two clamp connecting rods rotate around the axis the folding free degree to be formed in structure 1, and Hooke's hinge is relative around its vertical bar axle
Rotate to be formed around the horizon bar axle of Hooke's hinge in the rotational freedom that three-dimensional translating link rotatable is formed, and clamp connecting rod
A rotational freedom totally two rotational freedoms, so as to form six-freedom motion.
In the present invention, as shown in Figure 2, the folding of clamp is adjusted to suitable initial position, grips workpiece 9.Three certainly
The translational motion of X-axis, Y-axis and Z-direction is carried out by degree parallel moving mechanism drive three-dimensional translating connecting rod.First make clamp connecting rod with individual
Rotated in plane, Hooke's hinge with vertical bar axle be center of rotation relative to three-dimensional translating link rotatable, first in 90 degree of scopes
Interior rotation, as shown in Figure 3.Then it is further continued for rotating until being 90 degree relative to initial position, as shown in Figure 4.Then
As depicted in figures 5 and 6, clamp connecting rod completes the rotation in the 180 degree with a plane with a Plane Rotation 180 degree.Then such as
Shown in accompanying drawing 7 and 8, clamp connecting rod is returned again to the position relative to 90 degree of initial position.Then clamp connecting rod is with Hooke's hinge
Horizon bar axle is rotated for center of rotation, while Hooke's hinge is rotated by center of rotation of vertical bar axle, coordinates three freely
The translational motion of parallel moving mechanism is spent, the circular-rotation of 360 degree of clamp connecting rod is realized, as shown in accompanying drawing 9-13.So that clamp
Connecting rod has the turning power for pointing to whole sphere, and equal without motion is unusual in upper and lower two hemisphere faces.
Additionally, for clamp, other structures form is can also be, as long as the mesh of workpiece can be realized gripping using rotating
, the above clamp structure is one of which preferably implementation method, is not to limit.And the clamp is acted still
It is so to be controlled by two three-dimensional translating connecting rods.
It should be noted that the above is not limited to the present invention, creation design of the invention is not being departed from
Under the premise of, any obvious replacement is within protection scope of the present invention.
Claims (5)
1. a kind of six-freedom parallel device based on crawl parallel institution, including fixed mount, Three Degree Of Freedom parallel moving mechanism and grab
Mechanism is taken, two Three Degree Of Freedom parallel moving mechanisms are symmetrically mounted on the both sides of fixed mount, it is characterised in that the crawl parallel institution
Including：
Clamp, the clamp is made up of two clamp connecting rods, and two clamp connecting rods are arranged in a crossed manner and connected by axis of rotation, should
Two clamp connecting rods carry out open and close movement by rotation of rotating shaft；
Two three-dimensional translating connecting rods, the three-dimensional translating connecting rod is fixedly connected with Three Degree Of Freedom translation structure, Three Degree Of Freedom translation knot
Structure drives three-dimensional translating connecting rod in X-axis, three translational motions in direction of Y-axis and Z axis；
Two Hooke's hinges, the Hooke's hinge has vertical bar axle and horizon bar axle, and a Hooke's hinge is set on each three-dimensional translating connecting rod,
The vertical bar axle of the Hooke's hinge is connected in inserting three-dimensional translating connecting rod with the three-dimensional translating link rotatable, one of Hooke's hinge
Extend downwardly from making horizon bar axle position in the lower section of three-dimensional translating connecting rod, another Hooke's hinge protrude upward make horizon bar axle position in
The top of three-dimensional translating connecting rod, the Hooke's hinge turns by rotary centerline of the axis of vertical bar axle relative to three-dimensional translating connecting rod
It is dynamic；
One of clamp connecting rod is rotated with the horizon bar axle of the Hooke's hinge below three-dimensional translating connecting rod and is connected, another
Clamp connecting rod is rotated with the horizon bar axle of the Hooke's hinge above three-dimensional translating connecting rod and is connected, and clamp connecting rod is with the water of Hooke's hinge
Flat bar axle carries out rotational motion for center of rotation.
2. it is according to claim 1 based on the six-freedom parallel device for capturing parallel institution, it is characterised in that the tiger
Gram hinge vertical bar axle and horizon bar axle be vertically arranged, the vertical bar axle of two Hooke's hinges is parallel to each other, two water of Hooke's hinge
Flat bar axle and rotating shaft are parallel to each other.
3. it is according to claim 2 based on the six-freedom parallel device for capturing parallel institution, it is characterised in that described three
Dimension translation connecting rod is cylindrical tube or the diminishing reducing pipe of external diameter.
4. it is according to claim 3 based on the six-freedom parallel device for capturing parallel institution, it is characterised in that described three
There is connecting plate, three-dimensional translating connecting rod is fixedly attached in the center of the connecting plate in free degree translation structure.
5. it is according to claim 4 based on the six-freedom parallel device for capturing parallel institution, it is characterised in that described three
Dimension translation connecting rod and connecting plate are formed in one structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710117136.4A CN106695766B (en) | 2017-03-01 | 2017-03-01 | Six-degree-of-freedom parallel device based on grabbing parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710117136.4A CN106695766B (en) | 2017-03-01 | 2017-03-01 | Six-degree-of-freedom parallel device based on grabbing parallel mechanism |
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| CN106695766A true CN106695766A (en) | 2017-05-24 |
| CN106695766B CN106695766B (en) | 2023-04-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110545963A (en) * | 2018-04-10 | 2019-12-06 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
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| US6412363B1 (en) * | 1998-04-29 | 2002-07-02 | Abb Ab | Device for relative movement of two elements |
| CN203460171U (en) * | 2013-07-25 | 2014-03-05 | 天津大学 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
| JP2015047667A (en) * | 2013-09-02 | 2015-03-16 | 株式会社カイジョー | Drive mechanism and production device |
| CN104875189A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | (3T1R)&R completely isotropic parallel serial robot mechanism |
| CN206551011U (en) * | 2017-03-01 | 2017-10-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-freedom parallel device based on crawl parallel institution |
-
2017
- 2017-03-01 CN CN201710117136.4A patent/CN106695766B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6412363B1 (en) * | 1998-04-29 | 2002-07-02 | Abb Ab | Device for relative movement of two elements |
| CN203460171U (en) * | 2013-07-25 | 2014-03-05 | 天津大学 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
| JP2015047667A (en) * | 2013-09-02 | 2015-03-16 | 株式会社カイジョー | Drive mechanism and production device |
| CN104875189A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | (3T1R)&R completely isotropic parallel serial robot mechanism |
| CN206551011U (en) * | 2017-03-01 | 2017-10-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-freedom parallel device based on crawl parallel institution |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110545963A (en) * | 2018-04-10 | 2019-12-06 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN110545963B (en) * | 2018-04-10 | 2021-04-13 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
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| CN106695766B (en) | 2023-04-28 |
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Effective date of registration: 20171123 Address after: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 1 unit 17.. Applicant after: DONGGUAN SONGSHAN LAKE ROBOT INDUSTRIAL DEVELOPMENT CO.,LTD. Address before: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 2 unit 17.. Applicant before: DONGGUAN SONGSHAN LAKE TECHXINSTITUTE Co.,Ltd. |
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