CN107186698A - Shuangzi parallel robot system - Google Patents
Shuangzi parallel robot system Download PDFInfo
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- CN107186698A CN107186698A CN201710513342.7A CN201710513342A CN107186698A CN 107186698 A CN107186698 A CN 107186698A CN 201710513342 A CN201710513342 A CN 201710513342A CN 107186698 A CN107186698 A CN 107186698A
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- Prior art keywords
- branched chain
- active branched
- parallel robot
- sub
- installed part
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Abstract
The invention discloses a kind of Shuangzi parallel robot system, it is related to the mechanical technical field of parallel robot.The present invention includes two sub- parallel robots, and the angle that every sub- parallel robot is included between active branched chain A, active branched chain B and active branched chain C, the straight line that the projection of active branched chain A, B in the horizontal plane is formed is in 180 °；Active branched chain A, B of every sub- parallel robot projects that formed straight line is symmetrical in the horizontal plane and floor projection of the active branched chain C of two sub- parallel robots is located at the distribution modes of straight line both sides respectively.The present invention can realize that installing space is small, the big effect of working space, can be rapidly completed operation, and can show the features such as high speed, high accuracy, flexibility.
Description
Technical field
The present invention relates to parallel robot technical field, more specifically to a kind of parallel robot system.
Background technology
Complementary with conventional serial robot, parallel robot expands whole robot field, it has also become current research
One of focus.However, most parallel institutions can not extensive use because of the problems such as design is difficult, working space is small, positive solution is difficult.
, Polytechnics of Lausanne, SUI federation in 1985（EPFL）Doctor Clavel invented a class 3DOF spatial translation parallel machine
Device people, i.e., famous Delta manipulators.Delta overcomes parallel institution shortcomings, with bearing capacity is strong, motion coupling
The advantages of weak, power control is easily, installation driving is simple, thus enjoy the favor of industrial quarters and academia.
From 1980s, Delta robots update out a variety of derived types, and Clavel is successively proposed will be outer
Revolute pair be changed to prismatic pair 3 in variant form, show the flexibility that mechanism is related to；Meanwhile, can be dynamic flat for convenience of operation
Install retractility rotating shaft between platform and silent flatform additional；Tsai replaces ball pivot to simplify the internal structure of an organization with Hooke's hinge；Pierrot et al. is by Delta
The Hexa high speed machine hands of 6 side chains are improved to, this kind of to be inspired by Delta mechanisms, the machine with similar structure and motion mode
Device people can generally be referred to as class Delta Series machine people.Since 21 century, Delta Series machines people more show at a high speed, it is high-precision
The developing direction such as degree, flexibility.In recent years, industrial requirement stimulate with patent protection solution limit, the development of flexible dynamics with it is light
Quantizing structure application, virtual platform and multi-field new technology etc. cause Delta Series machine people to increasingly constitute study hotspot.
State Intellectual Property Office disclosed a Publication No. CN102837308A on December 26th, 2012, entitled
A kind of patent of invention of " robot ", the patent of invention includes the first driving dress of at least three levels for being fixed on pedestal bottom
Put, rocking arm has been respectively fixedly connected in the rotating shaft of each first driving means, and rotating shaft can drive rocking arm to exist around the axis of its rotating shaft when rotating
Perpendicular is swung, and the one end of each rocking arm away from rotating shaft is connected by the upper end of oscillating bearing and connecting rod, under all connecting rods
End is connected with the handgrip mounting assembly for installing handgrip by oscillating bearing jointly.
Although above-mentioned Delta Series machines people of the prior art can show the spies such as high speed, high accuracy, flexibility
Point, but there are still it is certain the problem of：
1st, 3-dof parallel robot of the prior art be according to three active branched chains in circumference range it is equally distributed,
It is that in circumference range, three active branched chains of 3-dof parallel robot are equally distributed according to 120 °, in actual peace
Installation footprint during dress shared by it is larger, can increase the floor space of integral device.
2nd, 3-dof parallel robot of the prior art, its working space is the length with its side chain connecting rod in inverse ratio
, such as《Delta robots dimension synthesis and optimization based on maximum working space》Research point out, existing Three Degree Of Freedom work
Make the spatial volume V and long L of feature bar to be inversely proportional, L is bigger, and V is smaller；When the timing of L mono-, working space volume V, radius of gyration R=
At 33.33, maximum is presented in V, and the both sides in radius of gyration R=33.33, V values reduce；By the studies above it is known that existing
3-dof parallel robot especially side chain distributed layout feels the limitation suffered by its working space.
The content of the invention
In order to overcome defect present in above-mentioned prior art and deficiency, the invention provides a kind of Shuangzi parallel robot
System, goal of the invention of the invention is intended to solve parallel robot installation footprint in the prior art, and greatly, integral device is accounted for
Ground area is big, and the problem of limited working space.The Shuangzi parallel robot system that the present invention is provided is not in accordance with circumference
Equally distributed, in equal circumference range, the present invention can realize that installing space is small, and the big effect of working space can be fast
Speed fulfils assignment, and can show the features such as high speed, high accuracy, flexibility.
In order to solve above-mentioned problems of the prior art, the present invention is achieved through the following technical solutions：
Shuangzi parallel robot system, it is characterised in that：Including two sub- parallel robots, every sub- parallel robot includes
Active branched chain A, active branched chain B and active branched chain C, the angle between the active branched chain A and active branched chain B are in 180 °, described
Angle refers to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots are fixed
In frame, and active branched chain A, B of every sub- parallel robot projects formed straight line in correspondence in the horizontal plane
Distribution；The correspondence distribution refers to, active branched chain A, B projects that formed straight line is symmetrical and two sub- parallel machines in the horizontal plane
The active branched chain C of device people floor projection is located at the distribution mode of straight line both sides respectively.
The straight line that the projection of active branched chain A, B in the horizontal plane is formed is overlapped.
Every sub- parallel robot includes three drive mechanisms, and drive mechanism is connected with active branched chain A, B, C respectively, and
Drive active branched chain A, B, C motion.
Every sub- parallel robot includes moving platform, and active branched chain A, B, C are put down by driven side chain A, B, C with dynamic respectively
Platform is connected.
Angle between active branched chain C and active branched chain A and active branched chain B is in 90 °, and the angle refers to active branched chain
The straight line and active branched chain A and active branched chain B that the projections of C in the horizontal plane are formed are projected between the straight line of formation in the horizontal plane
Angle.
Every sub- parallel robot includes mounting platform, and the mounting platform includes installed part A, installed part B and installation
Part C, three drive mechanisms are separately fixed on installed part A, installed part B and installed part C.
The installed part A is parallel with installed part B or overlaps.
The installed part C vertically with installed part A and installed part B.
The installed part C be located at installed part A and installed part B sides or above or below.
Compared with prior art, the beneficial technique effect that the present invention is brought is shown：
1st, compared with prior art, in same circumference range, sub- parallel robot disclosed in the present application is due to wherein actively propping up
Angle between the straight line that the projection of chain A and active branched chain B in the horizontal plane is formed is in 180 °, in the installation of the same radius of gyration
In space, sub- parallel robot disclosed in the present application can install two, and in the prior art due to the layout of its active branched chain
Mode determines that it can only install one in the same radius of gyration, according to parallel robot of the prior art in same circle
Two parallel robots are installed, then its working space occurs simultaneously less in all scopes, and the application is by active branched chain A and active branched chain
Angle between the straight line that the projections of B in the horizontal plane are formed is in 180 ° of layout type, it is possible in existing circumference range
Two parallel robots of interior installation, and the working space for two parallel robots installed occurs simultaneously larger, passes through controller control
Two parallel robots prevent it from interfering, then can effectively significantly improve the operating efficiency in working space.
2nd, compared with prior art, such as《Workspace calculation algorithm research is expected by Delta robots》It is existing shown in open
Three Degree Of Freedom Delta robots working space be in semi-round ball shape, the maximum gauge of its working space is by Three Degree Of Freedom
What the radius of gyration of Delta robots was determined, and sub- parallel robot its shape in the application Shuangzi parallel robot system
Into working space it is spherical for semiellipse, the application changes the conventional distribution side of 3-dof parallel robot in the prior art
Formula, so that the shape of its working space is changed, and by the change of layout type, in the case of identical branch lengths, this
The working space of application is greater than the working space of 3-dof parallel robot in the prior art so that the sub- parallel machine of the application
Device people increases working space while installing space is reduced.
3rd, 3-dof parallel robot of the prior art, its working space is the length with its side chain connecting rod in inverse ratio
, such as《Delta robots dimension synthesis and optimization based on maximum working space》Research point out, existing Three Degree Of Freedom work
Make the spatial volume V and long L of feature bar to be inversely proportional, L is bigger, and V is smaller；And the sub- parallel robot of the application and prior art phase
Than, situation of the prior art is not presented, side chain connecting rod of the prior art is equal, and the application is used and master
The length of the driven side chain connecting rod of dynamic side chain A, B connection is less than the length for the driven side chain connecting rod being connected with active branched chain C, and it connects
Ratio between pole length and working space be not limited with proportionate relationship of the prior art, broken the routine of prior art
Design.
4th, Shuangzi parallel robot system of the invention, including two sub- parallel robots, another sub- parallel robot
Layout type, can effectively shorten the distance between two sub- parallel robots, reduce the space installed required for equipment,
The floor space of equipment is just reduced, in same working region, the Shuangzi parallel manipulator task efficiency of the application is at double
Improve, and the working space of the Shuangzi parallel robot of the application can be shared, and can simultaneously be completed in a station multiple dynamic
Make, without influenceing operating efficiency, and the parallel robot of prior art is to need to complete different work in two stations, enters one
The floor space for reducing equipment of step, improves operating efficiency.
5th, the Shuangzi parallel robot system of the application includes two moving platforms, is two and is completely independent the dynamic flat of action
Platform, forms two sub- parallel robot co-operatings, significantly improves operating efficiency.The active branched chain C of the application is in the horizontal plane
The straight line that is formed of projection and the angle that projects in the horizontal plane between the straight line of formation of active branched chain A and active branched chain B be in
90 °, active branched chain C vertically with active branched chain A, B, active branched chain C provides the power on third direction for moving platform so that moving platform
The execution in three dimensions.
6th, the setting of the mounting platform of the application can simplify the installation to parallel robot, while the layout of mounting platform
Mode can also reduce the installing space of parallel robot.
Brief description of the drawings
Fig. 1 is the application main structure diagram；
Fig. 2 is the dimensional structure diagram of the single sub- parallel robot of the application；
Fig. 3 is the application side structure schematic view；
Reference：1st, sub- parallel robot, 2, active branched chain A, 3, active branched chain B, 4, active branched chain C, 5, drive mechanism, 6,
Moving platform, 7, driven side chain A, 8, driven side chain B, 9, driven side chain C, 10, mounting platform, 11, installed part A, 12, installed part B,
13rd, installed part C, 14, working space.
Embodiment
Embodiment 1
As a preferred embodiment of the present invention, with reference to Figure of description 1-3, present embodiment discloses：
Shuangzi parallel robot system, including two sub- parallel robots 1, every sub- parallel robot 1 include active branched chain
A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 are in 180 °, the angle
Refer to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixedly mounted
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in correspondence point in the horizontal plane
Cloth；The correspondence distribution refers to, active branched chain A, B projects that formed straight line is symmetrical and two sub- parallel manipulators in the horizontal plane
The active branched chain C4 of people 1 floor projection is located at the distribution mode of straight line both sides respectively.In the case of identical branch lengths, this
The working space 14 of application is greater than the working space of 3-dof parallel robot in the prior art so that the application is in parallel
Robot increases working space while installing space is reduced.
Embodiment 2
As another preferred embodiment of the present invention, with reference to Figure of description 1-3, present embodiment discloses：
Shuangzi parallel robot system, including two sub- parallel robots 1, every sub- parallel robot 1 include active branched chain
A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 are in 180 °, the angle
Refer to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixedly mounted
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in correspondence point in the horizontal plane
Cloth；The correspondence distribution refers to, active branched chain A, B projects that formed straight line is symmetrical and two sub- parallel manipulators in the horizontal plane
The active branched chain C4 of people 1 floor projection is located at the distribution mode of straight line both sides respectively；Every sub- parallel robot 1 includes three
Individual drive mechanism 5, drive mechanism 5 is connected with active branched chain A, B, C respectively, and drives active branched chain A, B, C to move；Per height simultaneously
Joining robot 1 includes moving platform 6, and active branched chain A, B, C pass through driven side chain A7, driven side chain B8, driven side chain C9 respectively
It is connected with moving platform 6.
Embodiment 3
As another preferred embodiment of the present invention, with reference to Figure of description 1-3, present embodiment discloses：
Shuangzi parallel robot system, including two sub- parallel robots 1, every sub- parallel robot 1 include active branched chain
A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 are in 180 °, the angle
Refer to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixedly mounted
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in correspondence point in the horizontal plane
Cloth；The correspondence distribution refers to, active branched chain A, B projects that formed straight line is symmetrical and two sub- parallel manipulators in the horizontal plane
The active branched chain C4 of people 1 floor projection is located at the distribution mode of straight line both sides respectively；Every sub- parallel robot 1 includes three
Individual drive mechanism 5, drive mechanism 5 is connected with active branched chain A, B, C respectively, and drives active branched chain A, B, C to move；Per height simultaneously
Joining robot 1 includes moving platform 6, and active branched chain A, B, C pass through driven side chain A7, driven side chain B8, driven side chain C9 respectively
It is connected with moving platform 6；Angle between active branched chain C4 and active branched chain A2 and active branched chain B3 is in 90 °, and the angle is
The straight line for referring to the projection formation of active branched chain C4 in the horizontal plane is projected in the horizontal plane with active branched chain A2 and active branched chain B3
Angle between the straight line of formation.
Embodiment 4
As another preferred embodiment of the present invention, with reference to Figure of description 1-3, present embodiment discloses：
Shuangzi parallel robot system, including two sub- parallel robots 1, every sub- parallel robot 1 include active branched chain
A2, active branched chain B3 and active branched chain C4, the angle between the active branched chain A2 and active branched chain B3 are in 180 °, the angle
Refer to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed；Two sub- parallel robots 1 are fixedly mounted
In frame, and active branched chain A, B of every sub- parallel robot 1 projects formed straight line in correspondence point in the horizontal plane
Cloth；The correspondence distribution refers to, active branched chain A, B projects that formed straight line is symmetrical and two sub- parallel manipulators in the horizontal plane
The active branched chain C4 of people 1 floor projection is located at the distribution mode of straight line both sides respectively；Every sub- parallel robot 1 includes three
Individual drive mechanism 5, drive mechanism 5 is connected with active branched chain A, B, C respectively, and drives active branched chain A, B, C to move；Per height simultaneously
Joining robot 1 includes moving platform 6, and active branched chain A, B, C pass through driven side chain A7, driven side chain B8, driven side chain C9 respectively
It is connected with moving platform 6；Angle between active branched chain C4 and active branched chain A2 and active branched chain B3 is in 90 °, and the angle is
The straight line for referring to the projection formation of active branched chain C4 in the horizontal plane is projected in the horizontal plane with active branched chain A2 and active branched chain B3
Angle between the straight line of formation.The straight line that the projection of active branched chain A, B in the horizontal plane is formed is overlapped.
Every sub- parallel robot 1 includes mounting platform 10, and the mounting platform 10 includes installed part A11, installed part
B12 and installed part C13, three drive mechanisms 5 are separately fixed on installed part A11, installed part B12 and installed part C13；Institute
State installed part A11 it is parallel with installed part B or overlap；The installed part C13 vertically with installed part A11 and installed part B12；The peace
Piece installing C13 be located at installed part A11 and installed part B sides or above or below.
In the present embodiment, installed part A11 and installed part B12 overlap to form overall installed part, or installed part A11
It is be arranged in parallel with installed part B12, and there is certain interval, or installed part A11 and peace between installed part A11 and installed part B12
Piece installing B12 dislocation arrangements.
Claims (9)
1. Shuangzi parallel robot system, it is characterised in that：Including two sub- parallel robots (1), every sub- parallel robot
(1) active branched chain A (2), active branched chain B (3) and active branched chain C (4), the active branched chain A (2) and active branched chain B are included
(3) angle between is in 180 °, and the angle refers to the angle between the straight line that the projection of active branched chain A, B in the horizontal plane is formed
Degree；Two sub- parallel robots (1) are fixedly mounted in frame, and every sub- parallel robot (1) active branched chain A, B in water
Formed straight line is projected in plane to be distributed in correspondence；The correspondence distribution refers to that active branched chain A, B projects institute in the horizontal plane
The straight line of formation is symmetrical and floor projection of the active branched chain C (4) of two sub- parallel robots (1) is respectively positioned at straight line both sides
Distribution mode.
2. Shuangzi parallel robot system as claimed in claim 1, it is characterised in that：Active branched chain A, B is in horizontal plane
On projection formed straight line overlap.
3. Shuangzi parallel robot system as claimed in claim 1 or 2, it is characterised in that：Every sub- parallel robot (1) is
Including three drive mechanisms (5), drive mechanism (5) is connected with active branched chain A, B, C respectively, and drives active branched chain A, B, C to transport
It is dynamic.
4. Shuangzi parallel robot system as claimed in claim 1 or 2, it is characterised in that：Every sub- parallel robot (1) is
Including moving platform (6), active branched chain A, B, C are respectively by driven side chain A (7), driven side chain B (8), driven side chain C (9) with moving
Platform (6) is connected.
5. Shuangzi parallel robot system as claimed in claim 1 or 2, it is characterised in that：Active branched chain C (4) is with actively propping up
Angle between chain A (2) and active branched chain B (3) is in 90 °, and the angle refers to the throwings of active branched chain C (4) in the horizontal plane
The straight line and active branched chain A (2) and active branched chain B (3) of shadow formation project the angle between the straight line of formation in the horizontal plane.
6. Shuangzi parallel robot system as claimed in claim 1, it is characterised in that：Every sub- parallel robot (1) is wrapped
Mounting platform (10) is included, the mounting platform (10) includes installed part A (11), installed part B (12) and installed part C (13), described
Three drive mechanisms (5) are separately fixed on installed part A (11), installed part B (12) and installed part C (13).
7. Shuangzi parallel robot system as claimed in claim 6, it is characterised in that：The installed part A (11) and installed part B
(12) parallel or coincidence.
8. Shuangzi parallel robot system as claimed in claims 6 or 7, it is characterised in that：The installed part C (13) vertically with
Installed part A (11) and installed part B (12).
9. Shuangzi parallel robot system as claimed in claims 6 or 7, it is characterised in that：The installed part C (13) is located at peace
Piece installing A (11) and installed part B (12) sides or above or below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513342.7A CN107186698A (en) | 2017-06-29 | 2017-06-29 | Shuangzi parallel robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513342.7A CN107186698A (en) | 2017-06-29 | 2017-06-29 | Shuangzi parallel robot system |
Publications (1)
| Publication Number | Publication Date |
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| CN107186698A true CN107186698A (en) | 2017-09-22 |
Family
ID=59881580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710513342.7A Pending CN107186698A (en) | 2017-06-29 | 2017-06-29 | Shuangzi parallel robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153989A (en) * | 2018-02-14 | 2019-08-23 | 发那科株式会社 | Parallel link robot |
| CN110815187A (en) * | 2019-11-19 | 2020-02-21 | 同济大学 | Three-freedom-degree parallel mechanism without accompanying movement |
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| US20140230594A1 (en) * | 2013-02-15 | 2014-08-21 | Oldin Beheer B.V. | Load Handling Robot with Three Single Degree of Freedom Actuators |
| CN104354154A (en) * | 2014-09-19 | 2015-02-18 | 深圳职业技术学院 | Tri-translation parallel robot mechanism |
| CN104972453A (en) * | 2015-05-26 | 2015-10-14 | 韩方元 | Multi-motion platform parallel robot construction method and parallel robots |
| CN106413995A (en) * | 2014-02-27 | 2017-02-15 | Abb瑞士股份有限公司 | A compact robot installation |
| CN207027494U (en) * | 2017-06-29 | 2018-02-23 | 佛山思恩思智能装备有限公司 | Shuangzi parallel robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120272773A1 (en) * | 2011-04-26 | 2012-11-01 | Marchesini Group S.P.A. | Device For Moving And Positioning A Member In Space |
| US20140230594A1 (en) * | 2013-02-15 | 2014-08-21 | Oldin Beheer B.V. | Load Handling Robot with Three Single Degree of Freedom Actuators |
| CN106413995A (en) * | 2014-02-27 | 2017-02-15 | Abb瑞士股份有限公司 | A compact robot installation |
| CN104354154A (en) * | 2014-09-19 | 2015-02-18 | 深圳职业技术学院 | Tri-translation parallel robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110153989A (en) * | 2018-02-14 | 2019-08-23 | 发那科株式会社 | Parallel link robot |
| CN110815187A (en) * | 2019-11-19 | 2020-02-21 | 同济大学 | Three-freedom-degree parallel mechanism without accompanying movement |
| CN110815187B (en) * | 2019-11-19 | 2022-06-24 | 同济大学 | Three-freedom-degree parallel mechanism without accompanying movement |
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