CN108858139A - A kind of high speed parallel institution of the multiple motion platforms with restructural characteristic - Google Patents
A kind of high speed parallel institution of the multiple motion platforms with restructural characteristic Download PDFInfo
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- CN108858139A CN108858139A CN201810675320.5A CN201810675320A CN108858139A CN 108858139 A CN108858139 A CN 108858139A CN 201810675320 A CN201810675320 A CN 201810675320A CN 108858139 A CN108858139 A CN 108858139A
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- Prior art keywords
- connecting rod
- high speed
- platforms
- movement
- speed parallel
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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
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Abstract
The present invention provides a kind of high speed parallel institutions of multiple motion platforms with restructural characteristic, belong to high speed parallel robot technical field.The high speed parallel institution includes fixed platform, four end movement platforms and eight mutually isostructural movement branched chains；Every movement branched chain includes driving motor, drive connecting rod, passive connecting rod；Mutually perpendicular two adjacent movement branched chain ends of electrical axis connect the same end movement platform by gimbal suspension；Closed linkage is formed by vertical rotary pair and two coupled links connections, four end movement platforms and eight coupled links between two neighboring end movement platform.There are four the end movement platforms being translatable in space for high speed parallel institution tool, and the pick-and-place of four target objects can be realized simultaneously in a working cycles, is conducive to the working efficiency for improving flow production line, saves time and labour.
Description
Technical field
The invention belongs to high speed parallel robot technical fields, and one kind of application is especially picked up towards streamlined production line
The motion parallel connection mechanism of mountable multiple clampers is related to a kind of high speed parallel machine of multiple motion platforms with restructural characteristic
Structure.
Background technique
Parallel robot has the advantages that low inertia and high rigidity, especially its quick positioning Grasping skill are suitable for stream
Aquatic producing line has shown biggish commercial application potentiality.Only one more fortune of the such high speed parallel robot occurred at present
Moving platform, one target object of intelligent grabbing in a working cycles, fails the industry for giving full play to high speed parallel robot
Application potential.Based on this consideration, the parallel institutions with multiple end movement platforms of mountable multiple clampers, it can be achieved that
Multiple objects crawl in one working cycles, can effectively improve production efficiency.
Summary of the invention
The purpose of the present invention is the working efficiencies to improve flow production line, propose a kind of tool of mountable multiple clampers
There is the topological structure in parallel of multiple end movement platforms, a kind of novel high speed parallel institution is provided.
Technical solution of the present invention：
A kind of high speed parallel institution of the multiple motion platforms with restructural characteristic, including 1, four end fortune of fixed platform
Moving platform 8 and eight mutually isostructural movement branched chains；
The movement branched chain includes that driving motor 2, drive connecting rod 3 and passive connecting rod 5, driving motor 2 pass through rotary pair
So that drive connecting rod 3 is generated rotation, and drive connecting rod 3 is fixed on the stationary platform, between drive connecting rod 3 and passive connecting rod 5 by
Upper end gimbal suspension 4 connects；Mutually perpendicular two adjacent movement branched chain ends of 2 axis of driving motor, i.e., passive 5 end of connecting rod
End is connected to the same end movement platform 8 by lower end gimbal suspension 6；By perpendicular between two neighboring end movement platform 8
Straight rotary pair and two coupled links 7 connect, and four end movement platforms 8 and eight coupled links 7 form closed linkage.
The axis of four pairs of driving motors 2 is orthogonal, and wherein one with upper end gimbal suspension 4 and lower end gimbal suspension 6
To parallel, four end movement platforms 8 for constraining the high speed parallel institution generate translation in space for swivelling countershaft, realize one
The pick-and-place for realizing four target objects in a working cycles simultaneously is conducive to the working efficiency for improving flow production line.
Beneficial effects of the present invention：High speed parallel institution with multiple motion platforms of the invention can be followed in a job
The pick-and-place for realizing four target objects in ring simultaneously is conducive to the working efficiency for improving flow production line, saves time and labour
Power.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mechanism of the present invention.
In figure：1 fixed platform；2 driving motors；3 drive connecting rods；4 upper end gimbal suspensions；
5 passive connecting rods；6 lower end gimbal suspensions；7 coupled links；8 end movement platforms.
Specific embodiment
Below in conjunction with attached drawing and technical solution, a specific embodiment of the invention is further illustrated.
A kind of high speed parallel institution of multiple motion platforms with restructural characteristic proposed by the present invention, including fixed platform
1, four end movement platforms 8 and eight mutually isostructural movement branched chains.
Every movement branched chain of mechanism of the present invention includes driving motor 2, drive connecting rod 3, passive connecting rod 5,3 He of drive connecting rod
It is connected between passive connecting rod 5 by gimbal suspension 4.
Mutually perpendicular two adjacent movement branched chain ends of 2 axis of driving motor of mechanism of the present invention pass through gimbal suspension
6 connect the same end movement platforms 8, are connected between two neighboring end movement platform by vertical rotary pair and two couplings
Bar 7 connects.
The driving motor 2 of mechanism of the present invention makes drive connecting rod 3 generate rotation, the axis of four pairs of driving motors 2 by rotary pair
Line is orthogonal, and with a wherein swivelling countershaft for two gimbal suspensions 4 and 6 to parallel, four end movement platforms 8 and eight
A coupled links form closed linkage, constrain the translation in four end movement platforms 8 generation space of the high speed parallel institution,
The pick-and-place for realizing in a working cycles while realizing four target objects is conducive to the working efficiency for improving flow production line.
Claims (1)
1. a kind of high speed parallel institution of the multiple motion platforms with restructural characteristic, which is characterized in that the high-speed motion
Parallel institution includes fixed platform (1), four end movement platforms (8) and eight mutually isostructural movement branched chains；
The movement branched chain includes driving motor (2), drive connecting rod (3) and passive connecting rod (5), and driving motor (2) passes through back
Turning pair makes drive connecting rod (3) to generate rotation, and drive connecting rod (3) are fixed on the stationary platform, drive connecting rod (3) and passively connects
It is connected between bar (5) by upper end gimbal suspension (4)；The adjacent movement branched chain end of mutually perpendicular two of driving motor (2) axis
End, i.e., passive connecting rod (5) end are connected to the same end movement platform (8) by lower end gimbal suspension (6)；Two neighboring end
By vertical rotary pair and the connection of two coupled links (7) between end motion platform (8), four end movement platforms (8) and
Eight coupled links (7) form closed linkage；
The axis of four pairs of driving motors (2) is orthogonal, and wherein with upper end gimbal suspension (4) and lower end gimbal suspension (6)
For one swivelling countershaft to parallel, four end movement platforms (8) for constraining the high speed parallel institution generate translation in space, real
The pick-and-place for realizing four target objects in an existing working cycles simultaneously, is conducive to the working efficiency for improving flow production line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810675320.5A CN108858139B (en) | 2018-06-27 | 2018-06-27 | High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810675320.5A CN108858139B (en) | 2018-06-27 | 2018-06-27 | High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858139A true CN108858139A (en) | 2018-11-23 |
| CN108858139B CN108858139B (en) | 2021-04-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810675320.5A Active CN108858139B (en) | 2018-06-27 | 2018-06-27 | High-speed parallel mechanism with reconfigurable characteristic for multi-motion platform |
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| Country | Link |
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| CN (1) | CN108858139B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152190A (en) * | 2019-10-18 | 2020-05-15 | 上海工程技术大学 | Multi-movement-mode mobile parallel mechanism suitable for unstructured terrain and gait control method thereof |
| US20210393350A1 (en) * | 2018-11-02 | 2021-12-23 | Sony Corporation | Parallel link device, master-slave system, and medical master-slave system |
| US11364626B2 (en) * | 2019-09-09 | 2022-06-21 | Hrg International Institute For Research & Innovation | 6-dof parallel robot with a double-gyroscopic component |
Citations (4)
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| AU2006215525A1 (en) * | 2005-02-17 | 2006-08-24 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN203818136U (en) * | 2014-04-29 | 2014-09-10 | 浙江理工大学 | Three-degree-of-freedom high-speed parallel-connection robot |
| CN107901029A (en) * | 2017-12-29 | 2018-04-13 | 勃肯特（天津）机器人技术有限公司 | Six axis parallel institutions and robot |
-
2018
- 2018-06-27 CN CN201810675320.5A patent/CN108858139B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2006215525A1 (en) * | 2005-02-17 | 2006-08-24 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN203818136U (en) * | 2014-04-29 | 2014-09-10 | 浙江理工大学 | Three-degree-of-freedom high-speed parallel-connection robot |
| CN107901029A (en) * | 2017-12-29 | 2018-04-13 | 勃肯特（天津）机器人技术有限公司 | Six axis parallel institutions and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210393350A1 (en) * | 2018-11-02 | 2021-12-23 | Sony Corporation | Parallel link device, master-slave system, and medical master-slave system |
| US11364626B2 (en) * | 2019-09-09 | 2022-06-21 | Hrg International Institute For Research & Innovation | 6-dof parallel robot with a double-gyroscopic component |
| CN111152190A (en) * | 2019-10-18 | 2020-05-15 | 上海工程技术大学 | Multi-movement-mode mobile parallel mechanism suitable for unstructured terrain and gait control method thereof |
| CN111152190B (en) * | 2019-10-18 | 2023-02-28 | 上海工程技术大学 | Multi-movement-mode mobile parallel mechanism suitable for unstructured terrain and gait control method thereof |
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| CN108858139B (en) | 2021-04-30 |
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