CN106956249A - It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform - Google Patents
It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform Download PDFInfo
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- CN106956249A CN106956249A CN201710329596.3A CN201710329596A CN106956249A CN 106956249 A CN106956249 A CN 106956249A CN 201710329596 A CN201710329596 A CN 201710329596A CN 106956249 A CN106956249 A CN 106956249A
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- China
- Prior art keywords
- connecting rod
- side chain
- moving platform
- platform
- hinged
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
The invention discloses it is a kind of have be hinged the four-freedom parallel mechanism of moving platform, including fixed platform, the first side chain, the second side chain, the 3rd side chain and the 4th side chain that are hinged moving platform and are arranged in the fixed platform and are hinged between moving platform；The moving platform that is hinged includes upper moving platform and lower moving platform two parts, and the upper moving platform is connected with lower moving platform by rotating pair；Planet gear speed increaser is installed with the lower moving platform, the input of the planet gear speed increaser and the upper moving platform are affixed；First side chain and the second branched structure are identical, and the 3rd side chain and the 4th branched structure are identical.The parallel institution, as enlarger, easily realizes the design of high transmission ratio using planet gear speed increaser, and mounting means is simple.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of four-degree-of-freedom with three-dimensional translating and one-dimensional rotation is empty
Between parallel institution.
Background technology
Operation is carried in the space that parallel institution with three-dimensional translating and the one-dimensional rotation free degree can meet operation object, because
This is widely used on the automatic production lines in field such as food medicine, modern logistics, electronic information.In the field, most
The parallel institution for first realizing application is the Delta mechanisms that Clavel is proposed.Increase a RUPU branch on the basis of Delta mechanisms
Chain, can realize that one-dimensional rotation is moved, the improved Delta mechanisms are promoted by ABB AB and are applied to food bag on moving platform
Sort operation on the production lines such as dress.Because RUPU side chains have passive prismatic pair, type Delta mechanisms are not appropriate for application
In the operation task of high-speed picking-up.Therefore, Pierrot etc., which proposes to have, is hinged the types such as H4, I4 and Par4 of moving platform
Four-freedom parallel mechanism.Wherein, being hinged for Par4 types parallel institution is moved as a parallelogram, will be flat by speed increasing mechanism
The relative motion of the opposite side of row quadrangle two is converted to the rotation of end effector.Because Par4 whole moving platform is by rotating
What pair was hinged so that Par4 can realize the pick-up operation of high speed, therefore Par4 also achieves industry application, its marque
For Adept Quattro manipulators.Similarly, moving platform is hinged using parallelogram, patent ZL201110149529.6 is carried
Another achievable three-dimensional translating and the parallel institution of the one-dimensional rotation free degree are gone out.Although such parallelogram is hinged dynamic flat
Platform has good exercise performance, but there is also the problems such as structure is complex, high speed dynamic response is complicated.
The content of the invention
The structure of moving platform is hinged it is an object of the invention to simplify existing parallelogram, is proposed a kind of dynamic with being hinged
Platform, and the four-freedom parallel mechanism of three-dimensional translating and one-dimensional rotation can be realized.
It is proposed by the present invention a kind of with the four-freedom parallel mechanism for being hinged moving platform, it is characterised in that：Including allocating
Platform, be hinged moving platform and be arranged in the fixed platform and be hinged between moving platform the first side chain, the second side chain, the 3rd side chain
With the 4th side chain；The moving platform that is hinged includes upper moving platform and lower moving platform two parts, the upper moving platform and lower moving platform
By rotating secondary connection；To amplify the relative rotation angle between the upper moving platform and lower moving platform, in the lower moving platform
On be installed with planet gear speed increaser；The input of the planet gear speed increaser and the upper moving platform are affixed, the planet
End effector is installed in the output end of gear speeder；First side chain and the 3rd branched structure are identical；Described first
Side chain and the 3rd side chain include actuating arm A, upper connecting rod A, left connecting rod A, right connecting rod A and lower connecting rod A；The actuating arm A
One end and the fixed platform be connected by rotating pair, the other end of the actuating arm A is by rotating the secondary and upper connecting rod A
Connection, the upper end of the left connecting rod A and right connecting rod A is connected by rotating secondary one end with the upper connecting rod A respectively, the left side
Connecting rod A and right connecting rod A lower end are connected by ball pivot with one end of the lower connecting rod A respectively, and the lower connecting rod A is by turning
It is dynamic secondary to be connected with the upper moving platform；Second side chain and the 4th branched structure are identical；Second side chain and the 4th side chain
Include actuating arm B, upper connecting rod B, left connecting rod B, right connecting rod B and lower connecting rod B；One end of the actuating arm B with it is described fixed
Platform is connected by rotating pair, and the other end of the actuating arm B and the upper connecting rod B are affixed, the left connecting rod B and right connecting rod
B upper end is connected by ball pivot with one end of the upper connecting rod B respectively, and the lower end of the left connecting rod B and right connecting rod B lead to respectively
One end that ball pivot is crossed with the lower connecting rod B is connected, and the lower connecting rod B is fixed on the lower moving platform；The fixed platform
Rotation pair between the actuating arm A is active drive pair；Based on rotation pair between the fixed platform and the actuating arm B
Dynamic drive pair.
The present invention also proposes another four-freedom parallel mechanism for having and being hinged moving platform, it is characterised in that：Including solid
The first side chain for determining frame, be hinged moving platform and be arranged in the fixed frame and being hinged between moving platform, the second side chain,
Three side chains and the 4th side chain；The moving platform that is hinged includes upper moving platform and lower moving platform two parts, and the upper moving platform is with
Moving platform is by rotating secondary connection；To amplify the relative rotation angle between the upper moving platform and lower moving platform, under described
Planet gear speed increaser is installed with moving platform；The input of the planet gear speed increaser and the upper moving platform are affixed, institute
State and end effector is installed in the output end of planet gear speed increaser；First side chain and the 3rd branched structure are identical；Institute
Stating the first side chain and the 3rd side chain includes sliding block A, upper connecting rod A, left connecting rod A, right connecting rod A and lower connecting rod A；The sliding block
A one end is connected with the fixed platform by prismatic pair, and the other end of the sliding block A is by rotating the secondary and upper connecting rod A
Connection, the upper end of the left connecting rod A and right connecting rod A is connected by rotating secondary one end with the upper connecting rod A respectively, the left side
Connecting rod A and right connecting rod A lower end are connected by ball pivot with one end of the lower connecting rod A respectively, and the lower connecting rod A is by turning
It is dynamic secondary to be connected with the upper moving platform；Second side chain and the 4th branched structure are identical；Second side chain and the 4th side chain
Include slide block B, upper connecting rod B, left connecting rod B, right connecting rod B and lower connecting rod B；One end of the slide block B and the fixed platform
By rotating secondary connection, the other end of the slide block B and the upper connecting rod B are affixed, and the left connecting rod B's and right connecting rod B is upper
End is connected by ball pivot with one end of the upper connecting rod B respectively, and the lower end of the left connecting rod B and right connecting rod B pass through ball respectively
Hinge is connected with one end of the lower connecting rod B, and the lower connecting rod B is fixed on the lower moving platform；The fixed frame with
Prismatic pair between the sliding block A is active drive pair；Prismatic pair between the fixed frame and the slide block B is actively drive
Dynamic pair.
The present invention has the advantages and positive effects of：It is hinged moving platform simple in construction, only includes by rotating secondary connect
Two components of the upper and lower moving platform connect；The design of high transmission ratio is easily realized using the enlarger of planet gear speed increaser, and
It is easy for installation, be conducive to being hinged the modularized design of moving platform；Whole mechanism structure concision and compact, rigidity are high, meet and pick up at a high speed
Extract operation requirement.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention one；
Fig. 2 is hinged the structural representation of moving platform for the present invention；
Fig. 3 is the structural representation of the embodiment of the present invention two；
Each mark is as follows in figure：1 fixed platform, 2 drive devices, 3-1 actuating arms A, 3-2 actuating arm B, 4-1 upper connecting rod A,
Connect under 4-2 upper connecting rods B, 5-1 left connecting rod A, 5-2 left connecting rod B, 6-1 right connecting rod A, 6-2 right connecting rod B, 7-1 lower connecting rod A, 7-2
Extension bar B, 8 are hinged moving platform under moving platform, the upper moving platforms of 8-1,8-2,9 planet gear speed increasers, 10 fixed frames, 11-1 sliding blocks
A, 11-2 slide block B, I first side chains, II second side chains, III the 3rd side chains, IV the 4th side chains.
Embodiment
For the content of the invention, feature and effect of the present invention can be expanded on further, following examples are hereby enumerated, and coordinate accompanying drawing
Describe in detail as follows：
Embodiment one：
The present embodiment it is a kind of have be hinged the four-freedom parallel mechanism of moving platform as shown in Figure 1 and Figure 2, including allocate
Platform 1, be hinged moving platform 8, and be arranged in the fixed platform 1 and be hinged between moving platform 8 the first side chain I, the second side chain II,
3rd side chain III and the 4th side chain IV.
Four drive devices 2 are installed with the fixed platform 1.
As shown in Fig. 2 the moving platform 8 that is hinged includes upper moving platform 8-1 and lower moving platform 8-2；In the lower moving platform
Planet gear speed increaser 9 is installed with 8-2, the input of the planet gear speed increaser 9 and the upper moving platform 8-1 are affixed,
The output end of the planet gear speed increaser 9 can install end effector.
First side chain I is identical with the structure of the 3rd side chain III；The side chain III of first side chain I and the 3rd includes driving
Arm A 3-1, upper connecting rod A 4-1, left connecting rod A 5-1, right connecting rod A 6-1 and lower connecting rod A 7-1；The actuating arm A 3-1
One end and the rotating shaft of the drive device 2 it is affixed, and secondary be connected by rotating with the fixed platform 1；The actuating arm A 3-1
The other end secondary be connected by rotating with the upper connecting rod A 4-1；The upper end of left connecting rod A 5-1 and right connecting rod the A 6-1
It is connected respectively by rotating secondary one end with the upper connecting rod A 4-1, under left connecting rod A 5-1 and right connecting rod the A 6-1
End is connected by ball pivot with one end of the lower connecting rod A 7-1 respectively；The lower connecting rod A 7-1 by rotate it is secondary with it is described
Upper moving platform 8-1 connections；The upper connecting rod A 4-1, left connecting rod A 5-1, right connecting rod A 6-1 and lower connecting rod A 7-1 are constituted
Parallelogram.
Second side chain II is identical with the structure of the 4th side chain IV；The side chain IV of second side chain II and the 4th includes driving
Swing arm B 3-2, upper connecting rod B 4-2, left connecting rod B 5-2, right connecting rod B 6-2 and lower connecting rod B 7-2；The actuating arm B 3-
2 one end and the rotating shaft of the drive device 2 are affixed, and secondary are connected by rotating with the fixed platform 1；The actuating arm B 3-
2 other end and the upper connecting rod B 4-2 are affixed；The upper end of left connecting rod B 5-2 and right connecting rod the B 6-2 passes through ball respectively
Hinge is connected with one end of the upper connecting rod B 4-2, and the lower end of left connecting rod B 5-2 and right connecting rod the B 6-2 passes through ball respectively
Hinge is connected with one end of the lower connecting rod B 7-2；The lower connecting rod B 7-2 and the lower moving platform 8-2 are affixed；On described
Connecting rod B 4-2, left connecting rod B 5-2, right connecting rod B 6-2 and lower connecting rod B 7-2 constitute parallelogram.
The secondary pivot center of rotation of first side chain I and the fixed platform 1 is connected parallel to being connected described 3rd
The pivot center secondary with the rotation of the fixed platform 1 of chain III；Connect second side chain II and the rotation pair of the fixed platform 1
The pivot center pivot center secondary with the rotation of the fixed platform 1 parallel to the 4th side chain IV is connected.
Embodiment two：
The present embodiment it is a kind of have be hinged the four-freedom parallel mechanism of moving platform as shown in figure 3, including fixed frame
10, it is hinged the side chain I of moving platform 8 and first, the second side chain II, the 3rd side chain III and the 4th side chain with the identical of embodiment one
Ⅳ.The fixed frame 10 is installed with four guide rails arranged vertically.First side chain I is identical with the structure of the 3rd side chain III；
The side chain III of first side chain I and the 3rd includes sliding block A 11-1, upper connecting rod A 4-1, left connecting rod A 5-1, right connecting rod A
6-1 and lower connecting rod A 7-1；Second side chain II is identical with the structure of the 4th side chain IV；Second side chain II and the 4th
Chain IV includes slide block B 11-2, upper connecting rod B 4-2, left connecting rod B 5-2, right connecting rod B 6-2 and lower connecting rod B 7-2.
The present embodiment from unlike embodiment one：First side chain I, the second side chain II, the 3rd side chain III and the 4th
Side chain IV employs the drive form that prismatic pair is active drive.It is embodied on concrete structure and is：The sliding block A 11-1 with
The upright guide rail of the fixed frame 10 is connected by prismatic pair, and the prismatic pair is active drive pair；The sliding block A 11-1
Secondary it is connected by rotating with the upper connecting rod A 4-1；The slide block B 11-2 and the fixed frame 10 upright guide rail lead to
Prismatic pair connection is crossed, and the prismatic pair is active drive pair；The slide block B 11-2 and the upper connecting rod B 4-2 are affixed.Institute
State the first side chain I, the second side chain II, the 3rd side chain III and the 4th remaining structure type of side chain IV and the complete phase of embodiment one
Together.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (3)
1. a kind of have the four-freedom parallel mechanism for being hinged moving platform, it is characterised in that：Including fixed platform (1), it is hinged dynamic put down
Platform (8), and be arranged in the fixed platform (1) and be hinged between moving platform (8) the first side chain (I), the second side chain (II),
Three side chains (III) and the 4th side chain (IV)；
Four drive devices (2) are installed with the fixed platform (1)；It is described be hinged moving platform (8) including upper moving platform (8-1) and
Lower moving platform (8-2)；Planet gear speed increaser (9), the planet gear speed increaser are installed with the lower moving platform (8-2)
(9) input and the upper moving platform (8-1) are affixed；
First side chain (I) is identical with the 3rd side chain (III) structure；First side chain (I) and the 3rd side chain (III) include
Actuating arm A (3-1), upper connecting rod A (4-1), left connecting rod A (5-1), right connecting rod A (6-1) and lower connecting rod A (7-1)；It is described to drive
Swing arm A (3-1) one end and the rotating shaft of the drive device (2) are affixed, and secondary are connected by rotating with the fixed platform (1)；
The other end of the actuating arm A (3-1) secondary is connected by rotating with the upper connecting rod A (4-1)；The left connecting rod A (5-1) and
Right connecting rod A (6-1) upper end is connected by rotating secondary one end with the upper connecting rod A (4-1) respectively, the left connecting rod A (5-
1) it is connected respectively by ball pivot with one end of the lower connecting rod A (7-1) with right connecting rod A (6-1) lower end；The lower connecting rod
A (7-1) secondary is connected by rotating with the upper moving platform (8-1)；The upper connecting rod A (4-1), left connecting rod A (5-1), right company
Bar A (6-1) and lower connecting rod A (7-1) constitutes parallelogram；
Second side chain (II) is identical with the 4th side chain (IV) structure；Second side chain (II) and the 4th side chain (IV) are wrapped
Include actuating arm B (3-2), upper connecting rod B (4-2), left connecting rod B (5-2), right connecting rod B (6-2) and lower connecting rod B (7-2)；It is described
Actuating arm B (3-2) one end and the rotating shaft of the drive device (2) are affixed, and by rotating the secondary and fixed platform (1) even
Connect；The other end of the actuating arm B (3-2) and the upper connecting rod B (4-2) are affixed；The left connecting rod B (5-2) and right connecting rod B
The upper end of (6-2) is connected by ball pivot with one end of the upper connecting rod B (4-2) respectively, the left connecting rod B (5-2) and right company
Bar B (6-2) lower end is connected by ball pivot with one end of the lower connecting rod B (7-2) respectively；The lower connecting rod B (7-2) with
The lower moving platform (8-2) is affixed；The upper connecting rod B (4-2), left connecting rod B (5-2), right connecting rod B (6-2) and lower connecting rod B
(7-2) constitutes parallelogram.
2. mechanism according to claim 1, it is characterised in that：Connect first side chain (I) and the fixed platform (1)
Rotate the secondary pivot center pivot center secondary with the rotation of the fixed platform (1) parallel to the 3rd side chain (III) is connected；
The secondary pivot center of rotation of second side chain (II) and the fixed platform (1) is connected parallel to being connected the 4th side chain
(IV) pivot center secondary with the rotation of the fixed platform (1).
3. a kind of have the four-freedom parallel mechanism for being hinged moving platform, it is characterised in that：Including fixed frame (10), be hinged it is dynamic
Platform (8) and be arranged in the fixed frame (10) and be hinged between moving platform (8) the first side chain (I), the second side chain
(II), the 3rd side chain (III) and the 4th side chain (IV)；
The fixed frame (10) is installed with four guide rails arranged vertically；The moving platform (8) that is hinged includes upper moving platform (8-
1) with lower moving platform (8-2)；Planet gear speed increaser (9) is installed with the lower moving platform (8-2), the planetary gear increases
The input of fast device (9) and the upper moving platform (8-1) are affixed；
First side chain (I) is identical with the 3rd side chain (III) structure；First side chain (I) and the 3rd side chain (III) include
Sliding block A (11-1), upper connecting rod A (4-1), left connecting rod A (5-1), right connecting rod A (6-1) and lower connecting rod A (7-1)；The sliding block
A (11-1) is connected with the upright guide rail of the fixed frame (10) by prismatic pair, and the prismatic pair is active drive pair；It is described
Sliding block A (11-1) secondary is connected by rotating with the upper connecting rod A (4-1)；The left connecting rod A (5-1) and right connecting rod A (6-1)
Upper end be connected respectively by rotating secondary one end with the upper connecting rod A (4-1), the left connecting rod A (5-1) and right connecting rod A
The lower end of (6-1) is connected by ball pivot with one end of the lower connecting rod A (7-1) respectively；The lower connecting rod A (7-1) passes through
Rotation is secondary to be connected with the upper moving platform (8-1)；The upper connecting rod A (4-1), left connecting rod A (5-1), right connecting rod A (6-1) and
Lower connecting rod A (7-1) constitutes parallelogram；
Second side chain (II) is identical with the 4th side chain (IV) structure；Second side chain (II) and the 4th side chain (IV) are wrapped
Include slide block B (11-2), upper connecting rod B (4-2), left connecting rod B (5-2), right connecting rod B (6-2) and lower connecting rod B (7-2)；The cunning
Block B (11-2) is connected with the upright guide rail of the fixed frame (10) by prismatic pair, and the prismatic pair is active drive pair；Institute
State slide block B (11-2) and the upper connecting rod B (4-2) is affixed；The left connecting rod B (5-2) and right connecting rod B (6-2) upper end point
It is not connected by ball pivot with one end of the upper connecting rod B (4-2), the left connecting rod B (5-2) and right connecting rod B (6-2) lower end
It is connected respectively by ball pivot with one end of the lower connecting rod B (7-2)；The lower connecting rod B (7-2) and the lower moving platform
(8-2) is affixed；The upper connecting rod B (4-2), left connecting rod B (5-2), right connecting rod B (6-2) and lower connecting rod B (7-2) constitute flat
Row quadrangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329596.3A CN106956249A (en) | 2017-05-11 | 2017-05-11 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329596.3A CN106956249A (en) | 2017-05-11 | 2017-05-11 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106956249A true CN106956249A (en) | 2017-07-18 |
Family
ID=59483115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710329596.3A Pending CN106956249A (en) | 2017-05-11 | 2017-05-11 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
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Cited By (5)
| 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 |
| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | There are three types of the four-freedom parallel mechanisms of 3T1R dynamic model formula for a kind of tool |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
| CN111975752A (en) * | 2020-08-24 | 2020-11-24 | 重庆邮电大学 | Four-freedom parallel mechanism with infinite rotation capacity |
| CN112405501A (en) * | 2020-11-13 | 2021-02-26 | 重庆邮电大学 | Series-parallel six-freedom-degree force feedback device with differential gear train |
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| CN109746895B (en) * | 2018-12-11 | 2021-02-05 | 西安工程大学 | Four-degree-of-freedom parallel mechanism with three 3T1R dynamic modes |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
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| CN111975752A (en) * | 2020-08-24 | 2020-11-24 | 重庆邮电大学 | Four-freedom parallel mechanism with infinite rotation capacity |
| CN111975752B (en) * | 2020-08-24 | 2022-03-22 | 重庆邮电大学 | Four-freedom-degree parallel mechanism with continuous rotation capacity |
| CN112405501A (en) * | 2020-11-13 | 2021-02-26 | 重庆邮电大学 | Series-parallel six-freedom-degree force feedback device with differential gear train |
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Application publication date: 20170718 |
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