CN109676587A - A kind of four-degree-of-freedom high speed parallel robot - Google Patents
A kind of four-degree-of-freedom high speed parallel robot Download PDFInfo
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- CN109676587A CN109676587A CN201910063152.9A CN201910063152A CN109676587A CN 109676587 A CN109676587 A CN 109676587A CN 201910063152 A CN201910063152 A CN 201910063152A CN 109676587 A CN109676587 A CN 109676587A
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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
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Abstract
The present invention provides a kind of four-degree-of-freedom high speed parallel robots, it is larger for solving four-degree-of-freedom robot moving platform size and weight in the prior art, it is unfavorable for realizing the technical problem that high-speed motion, structure is complicated, with high costs, one-dimensional rotation angle is small, comprising: pedestal, moving platform, end effector, the first branch, the second branch, third branch and the 4th branch；Wherein, moving platform includes upper moving platform, lower moving platform, revolute pair and angular magnification organization, and angular magnification organization is set between moving platform and lower moving platform；It is connected between upper moving platform and lower moving platform by revolute pair；Implement technical solution of the present invention, branched structure is simple, and moving platform is small in size, and device is light, is easily installed；Use spherical pair and revolute pair, frictional force is small, it can be achieved that robot high-speed motion between accessory more；Angular magnification organization is set, increases the one-dimensional rotating range of end effector, and angular magnification is adjustable.
Description
Technical field
The present invention relates to robot gripping apparatus field, in particular to a kind of four-degree-of-freedom high speed parallel robot.
Background technique
With the high speed development of robot industry, robot is a large amount of in the industries such as logistics, food, medicine, light industrial goods
It uses, in the fields such as the sorting, carrying, vanning of material, the commonly robot of Three Degree Of Freedom at present, rare four-degree-of-freedom
Robot, such as disclosed in existing patent CN103317500A, CN102689305A, CN101708611A and CN103753521A
Achievable three-dimensional translation and one-dimensional rotation parallel robot mechanism.In patent CN103317500A and patent CN102689305A
The moving platform of mechanism includes upper and lower two parts, which is cleverly converted to end for the relative motion of upper and lower moving platform and executes
The rotational freedom of device, this compact layout and structure, but screw rod directly bears lateral force, is easily damaged；Patent
Mechanism moving platform is made of the main platform and auxiliary platform to intersect vertically in CN101708611A, and is installed between major and minor platform
For one or more sets reversing mechanisms to realize the rotation around z-axis, apparatus structure is complicated；Mechanism moving platform in patent CN103753521A
Including two sub-platforms, the lower connection axis connection of two sub-platforms branch adjacent with two groups respectively is set between two sub-platforms
There are guiding mechanism and angle converting mechanism, turns in the angle converting mechanism by rack and pinion engagement, and by the translation of rack gear
The rotation of gear is turned to realize the rotation of end effector, the mechanism structure is relatively compact, transmission accuracy is higher.But this
The moving platform size and weight of a little mechanisms are larger, are unfavorable for realizing high-speed motion, using being subject to certain restrictions.
Therefore, it is necessary to a kind of light quality, movement speed is fast, has preferable dynamic response characteristic, end effector posture
The wide four-freedom-degree parallel-connection robot of slewing area.
Summary of the invention
In order to solve the above-mentioned technical problem, a kind of four-degree-of-freedom high speed parallel robot is disclosed in the present invention, the present invention
Technical solution be implemented:
A kind of four-degree-of-freedom high speed parallel robot characterized by comprising pedestal, moving platform, end effector,
One branch, the second branch, third branch and the 4th branch；Wherein, the moving platform includes upper moving platform, lower moving platform, rotation
Secondary and angular magnification organization, the angular magnification organization are set between the upper moving platform and the lower moving platform；It is described
It is connected between upper moving platform and the lower moving platform by revolute pair；The lower moving platform rotates and drives the end effector
Axis around the upper moving platform is rotated；First branch, second branch, the third branch and the described 4th
Branch, comprising: active driving device and quadrangular mechanism；Pedestal and institute described in first branch, second chain link
Lower moving platform is stated, a Spatial Parallel close loop mechanism is formed；Pedestal described in the third branch, the 4th chain link and it is described on
Moving platform forms a Spatial Parallel close loop mechanism.
Preferably, first branch and the plane where second branch are the first plane, the third branch with
Plane where 4th branch is the second plane, and first plane is vertical with second plane.
Preferably, first branch, second branch and the lower moving platform cooperate, and drive the end effector
Carry out plane motion；The third branch, the 4th branch and the upper moving platform cooperate, drive the end effector into
Row vertical movement.
Preferably, first branch, second branch, the third branch and the 4th branch are having the same
Structure.
Preferably, the quadrangular mechanism includes two isometric short connecting rods and two isometric long connecting rods, wherein described
Closing ring mechanism is connected by spherical pair between short connecting rod and the long connecting rod.
Preferably, the active driving device includes driving motor and master arm, and the master arm is connected by spherical pair
To the quadrangular mechanism.
Preferably, the active of first branch, second branch, the third branch and the 4th branch
Four rotary middle points of driving device are in the same plane.
Preferably, the angular magnification organization is gear teeth transmission or belt wheel transmission.
Preferably, the amplification coefficient of the angular magnification organization is adjustable.
Implement technical solution of the present invention can solve in the prior art four-degree-of-freedom robot moving platform size and weight compared with
Greatly, it is unfavorable for realizing the technical problem that high-speed motion, structure is complicated, one-dimensional rotation angle is small；Implement technical solution of the present invention,
Branched structure is simple, and moving platform is small in size, and device is light, is easily installed；Use spherical pair and revolute pair, frictional force between accessory more
It is small, it can be achieved that robot high-speed cruising；Angular magnification organization is set, the one-dimensional rotating range of end effector, and angle are increased
Amplification coefficient is adjustable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
A kind of embodiment of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is four-degree-of-freedom high speed robot's structural schematic diagram of the embodiment of the present invention 1；
Fig. 2 is four-degree-of-freedom high speed robot's structural schematic diagram of the embodiment of the present invention 2；
Fig. 3 is four-degree-of-freedom high speed robot's moving platform structural schematic diagram of the embodiment of the present invention 1 and embodiment 2；
Fig. 4 is four-degree-of-freedom high speed robot's structural schematic diagram of the embodiment of the present invention 3；
Fig. 5 is four-degree-of-freedom high speed robot's structural schematic diagram of the embodiment of the present invention 4；
Fig. 6 is four-degree-of-freedom high speed robot's moving platform structural schematic diagram of the embodiment of the present invention 3 and embodiment 4.
In above-mentioned attached drawing, each figure number label is respectively indicated:
1- pedestal；2- moving platform；The upper moving platform of 201-；Moving platform under 202-；3- end effector；The first branch of 4-；5-
Second branch；6- third branch；The 4th branch of 7-；8- active driving device；The first active driving device of 801-；802- second is main
Dynamic driving device；803- third active driving device；The 4th active driving device of 804-；9- quadrangular mechanism；10- short connecting rod；
1001- driving side short connecting rod；1002- moving platform side short connecting rod；11- long connecting rod；12- driving motor；13- master arm.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
In a kind of specific embodiment of the invention, a kind of four-degree-of-freedom high speed parallel robot, such as Fig. 1 and Fig. 3 institute
Show, comprising: pedestal 1, moving platform 2, end effector 3, the first branch 4, the second branch 5, third branch 6 and the 4th branch 7；Its
In, moving platform 2 includes upper moving platform 201, lower moving platform 202, revolute pair and angular magnification organization 8, and angular magnification organization is set
It is placed between moving platform 201 and lower moving platform 202；It is connected between upper moving platform 201 and lower moving platform 202 by revolute pair；
Lower moving platform 202 rotates and end effector 3 is driven to be rotated around the axis of upper moving platform 201；First branch 4, second
Chain 5, third branch 6 and the 4th branch 7, comprising: active driving device 8 and quadrangular mechanism 9；First branch 4, the second branch 5
Pedestal 1 and lower moving platform 202 are connected, a Spatial Parallel close loop mechanism is formed；Third branch 6, the 4th branch 7 connect pedestal 1
With upper moving platform 201, a Spatial Parallel close loop mechanism is formed.
The high material of stainless steel equal strength can be used in pedestal 1, to improve the load-bearing capacity of robot.Upper moving platform
201 and lower moving platform 202 the line of centres can be set to through rotation sub-center, make moving platform 201 and lower moving platform 202
Evenly dispersed stress improves revolute pair and rotates flexibility, extends the revolute pair service life.The rotation of sliding bearing formula can be used in revolute pair
Secondary, rolling bearing type revolute pair and other types revolute pair.When revolute pair uses sliding bearing formula revolute pair, auxiliary structure is rotated
Simply, cost is relatively low, and revolute pair radial dimension is small, convenient for the flexibility of hoisting machine people, and slidingsurface friction compared with
Greatly, it is easy to 3 position of fixation ends actuator；Rolling bearing type revolute pair, rolling bearing type revolute pair also can be used in revolute pair
Resistance to sliding is small, turns to flexibly, and easy to remove and be precisely controlled 3 position of end effector, service life is relatively long, reduces user
Maintenance cost, conducive to the working at high speed for realizing robot.User can advise according to 1 size of pedestal, 2 shape of moving platform, moving platform 2
The data such as lattice select the revolute pair of suitable offset distance, and the hard-over degree of revolute pair can be arranged in user according to production requirement.On
Angular magnification organization is set between moving platform 201 and lower moving platform 202, amplifies the rotation of lower moving platform 202 and upper moving platform 201
Angle increases the one-dimensional rotation range of end effector 3, and branch uses quadrangular mechanism 9, has relatively strong rigidity, improves device
Load-bearing capacity.
In this specific embodiment, the first branch 4, the second branch 5, third branch 6 and the 4th branch 7 are equipped with
One active driving device 801, the second active driving device 802, third active driving device 803 and the 4th active driving device
804.First active driving device 801 and the second active driving device 802 are separately positioned on the left and right sides of pedestal 1, third master
Dynamic driving device 803 and the 4th active driving device 804 are set to 1 top of pedestal, third active driving device 803 and the 4th master
The midpoint line of the midpoint of dynamic driving device 804 and the first active driving device 801 and the second active driving device 802 and vertical
Direction is consistent, the midpoint of the first active driving device 801 and the second active driving device 802, third active driving device 803,
Plane locating for 4th 804 3 points of active driving device is perpendicular to the first active driving device 801 and the second active driving device
802 line.In robot use process, active driving device 8 drives quadrangular mechanism 9, effect of the quadrangular mechanism 9 in power
Lower promotion moving platform 2, synergistic effect, mobile 2 position of moving platform, and adjust the angle of upper moving platform 201 and lower moving platform 202.
After end effector 3 is moved to predetermined position by robot, third active driving device 803 and the 4th active driving device 804
201 position of moving platform in fixation, the first active driving device 801 and the work of the second active driving device 802 push lower moving platform
202 rotations, can after 3 three-dimensional position of fixation ends actuator one-dimensional rotation end effector 3, realize end effector 3
D translation and one-dimensional rotation.
In a preferred embodiment, as shown in figures 1 and 3, the plane at 5 place of the first branch 4 and the second branch
For the first plane, the plane where third branch 6 and the 4th branch 7 is the second plane, and the first plane is vertical with the second plane.The
The intersection of one plane and the second plane is by the revolute pair between upper moving platform 201 and lower moving platform 202.Due to the first plane and the
Two planes are vertical, and in 3 moving process of end effector, upper moving platform 201 and lower 202 stress equalization of moving platform remain flat
Row, upper moving platform 201 and lower certain side of moving platform 202 will not have the tendency that it is close, avoid revolute pair rotated by stress by
Resistance, while preventing stress is excessive from leading to revolute pair deformation or damage, revolute pair is protected, device lifetime is extended.
In a preferred embodiment, as shown in figures 1 and 3, the first branch 4, the second branch 5,6 and of third branch
The structure having the same of 4th branch 7.Identical structure is arranged in first branch 4, the second branch 5, third branch 6 and the 4th branch 7,
Conducive to large-scale production, the time cost and human cost of plant maintenance are reduced.First branch 4 and the second branch 5 can be in bases
It is symmetrical arranged on seat 1, third branch 6 and the 4th branch 7 can also be symmetrical arranged on pedestal 1, the first active driving device 801
Opposite action is taken with the second active driving device 802, third active driving device 803 and the 4th active driving device 804 are adopted
Opposite action is taken, end effector 3 can be moved round about from initial position, system control process is simplified, simplifies machine
Device people's motion model, reduces cost.
In a preferred embodiment, as shown in figures 1 and 3, quadrangular mechanism 9 includes two isometric short connecting rods
10 and two isometric long connecting rods 11, wherein closing ring mechanism is connected by spherical pair between short connecting rod 10 and long connecting rod 11.
Two isometric short connecting rods 10 divide for driving side short connecting rod 1001 and moving platform side short connecting rod 1002, driving side short connecting rod 1001 with
8 end of active driving device is mutually fixed, and moving platform side short connecting rod 1002 is fixed with upper moving platform 201 or 202 phase of lower moving platform, and two
Root long connecting rod 11 is separately connected two 10 ends of short connecting rod, forms quadrilateral shape, reduces when moving platform 2 rotates by quadrangle
The obstruction of mechanism 9 improves robot dexterity.In robot use process, active driving device 8 actively changes the short company of driving side
1001 position of bar drives platform side short connecting rod 1002 by long connecting rod 11, and four moving platform side short connecting rods 1002 cooperate in change
The position and angle of moving platform 201 and lower moving platform 202.Short connecting rod 10 is connect with long connecting rod 11 by spherical pair, and four sides are improved
The flexibility of 9 deformation of shape mechanism, to increase the scope of activities of moving platform 2, to expand robot three-dimensional translating range.Short connecting rod
10 and long connecting rod 11 length according to parameter selections such as size, the specifications of moving platform 2, the flexibility for being optimal robot.
Identical, evenly dispersed stress is arranged in short connecting rod 10 and 11 length of long connecting rod, extends device lifetime, is connected between connecting rod by spherical pair
It connects, frictional force is small, conducive to the working at high speed for realizing robot.
In a preferred embodiment, as shown in figures 1 and 3, active driving device 8 includes driving motor 12 and master
Swing arm 13, master arm 13 are connected to quadrangular mechanism 9 by spherical pair.In this specific embodiment, 13 one end of master arm connects
Connect driving motor 12, the other end connects the middle part of driving side short connecting rod 1001 in quadrangular mechanism 9, make short connecting rod 10 uniformly by
Power extends 10 service life of short connecting rod.In robot use process, driving motor 12 drives master arm 13 to rotate, and master arm 13 drives
Driving side short connecting rod 1001 is rotated around driving motor 12, and making quadrangular mechanism 9, deformation occurs, passes through moving platform side short connecting rod 1002
Drive moving platform 2, four mobile end effectors 3 of the cooperation of driving motors 12.First active driving device 801 and second actively drives
The master arm 13 of dynamic device 802 rotates in the horizontal plane, third active driving device 803 and the 4th active driving device 804
Master arm 13 rotates in a vertical plane.8 structure of active driving device is simple, and convenient for control, robot motion's response is timely.It is main
Swing arm 13 connects quadrangular mechanism 9 by spherical pair, and frictional force is small, and rotation flexibly, is easy to implement the working at high speed of robot.
In a preferred embodiment, as shown in figures 1 and 3, the first branch 4, the second branch 5 and lower moving platform
202 cooperations, drive end effector 3 to carry out plane motion；Third branch 6, the 4th branch 7 cooperate with upper moving platform 201, drive
End effector 3 is in vertical motion.In this specific embodiment, due to the first active driving device 801 and the second active
The master arm 13 of driving device 802 rotates in the horizontal plane, the first active driving device 801 and the second active driving device 802
The mobile lower moving platform 202 of work, the first branch 4 and the second branch 5, upper moving platform 201 is mobile with lower moving platform 202, third
Branch 6 and the 4th branch 7 are passively mobile, and the movement of end effector 3 in the horizontal plane can be completed；Due to third active drive
The master arm 13 of device 803 and the 4th active driving device 804 rotates in a vertical plane, 803 He of third active driving device
The work of 4th active driving device 804, the mobile upper moving platform 201 of third branch 6 and the 4th branch 7, lower moving platform 202 is with upper
Moving platform 201 is mobile, the first branch 4 and the second branch 5 are passively mobile, and end effector 3 can be completed in perpendicular
It is mobile.Four branches can also cooperate, and realize the high-speed cruising of robot.
In a preferred embodiment, angular magnification organization is gear teeth transmission or belt wheel transmission.It is driven using the gear teeth,
Close structure can effectively reduce the volume of angular magnification organization, and load-bearing capacity is stronger；It is easy to tear open using belt wheel transmission
It unloads, driving wheel abrasion is less, and the service life is longer.
In a preferred embodiment, as shown in figure 3, the amplification coefficient of angular magnification organization is adjustable.Replacement
Driving wheel size in angular magnification organization, i.e., adjustable amplification coefficient.Amplification coefficient is smaller, and robot revolves end effector 3
The control of gyration is more accurate；Amplification coefficient is bigger, and the maximum rotation angle of robot rotary end effector 3 is bigger, Yong Huke
To be specifically chosen amplification coefficient according to usage scenario.
Embodiment 2:
In a preferred embodiment, unlike the first embodiment, as shown in Fig. 2, the first branch 4, the second branch
5, four rotary middle points of the active driving device 8 of third branch 6 and the 4th branch 7 are in the same plane.First actively
Two of the perpendicular where third branch 6 and the 4th branch 7 are arranged in driving device 801 and the second active driving device 802
Side.User can make robot be applicable in further types of work according to the suitable mounting means of robot erecting bed environmental selection
Factory's environment improves the compatibility of robot.
Embodiment 3:
In a preferred embodiment, unlike the first embodiment, as shown in Figure 4 and Figure 6, third branch 6 and
The long connecting rod 11 of 9 two quadrangular mechanisms 9 of interconnection of quadrangular mechanism of four branches 7 mutually restricts, moving platform 201 in reduction
Rotation amplitude, user can control upper dynamic flat by 10 length of short connecting rod and 11 diameter of long connecting rod that select quadrangular mechanism 9
The rotation amplitude of platform 201,201 rigidity of moving platform, improves device reliability in reinforcement.
Embodiment 4:
In a preferred embodiment, as different from Example 2, as shown in Figure 5 and Figure 6, third branch 6 and
The long connecting rod 11 of 9 two quadrangular mechanisms 9 of interconnection of quadrangular mechanism of four branches 7 mutually restricts, moving platform 201 in reduction
Rotation amplitude, user can control upper dynamic flat by 10 length of short connecting rod and 11 diameter of long connecting rod that select quadrangular mechanism 9
The rotation amplitude of platform 201,201 rigidity of moving platform, improves device reliability in reinforcement.
It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (9)
1. a kind of four-degree-of-freedom high speed parallel robot characterized by comprising pedestal, moving platform, end effector, first
Branch, the second branch, third branch and the 4th branch；Wherein,
The moving platform includes upper moving platform, lower moving platform, revolute pair and angular magnification organization, and the angular magnification organization is set
It is placed between the upper moving platform and the lower moving platform；Connected between the upper moving platform and the lower moving platform by revolute pair
It connects；The lower moving platform rotates and the end effector is driven to be rotated around the axis of the upper moving platform；
First branch, second branch, the third branch and the 4th branch, comprising:
Active driving device and quadrangular mechanism；
Pedestal and the lower moving platform described in first branch, second chain link, form a Spatial Parallel closed loop
Mechanism；Pedestal and the upper moving platform described in the third branch, the 4th chain link, form a Spatial Parallel closed loop machine
Structure.
2. a kind of four-degree-of-freedom high speed parallel robot according to claim 1, which is characterized in that first branch with
Plane where second branch is the first plane, and the third branch is second flat with the plane where the 4th branch
Face, first plane are vertical with second plane.
3. a kind of four-degree-of-freedom high speed parallel robot according to claim 2, which is characterized in that first branch,
Second branch and the lower moving platform cooperate, and the end effector is driven to carry out plane motion；The third branch, institute
It states the 4th branch and the upper moving platform cooperates, the end effector is driven to be in vertical motion.
4. a kind of four-degree-of-freedom high speed parallel robot according to claim 3, which is characterized in that first branch,
Second branch, the third branch and the 4th branch structure having the same.
5. a kind of four-degree-of-freedom high speed parallel robot according to claim 4, which is characterized in that the quadrangular mechanism
Including two isometric short connecting rods and two isometric long connecting rods, wherein pass through ball between the short connecting rod and the long connecting rod
Face pair connects into closing ring mechanism.
6. a kind of four-degree-of-freedom high speed parallel robot according to claim 5, which is characterized in that the active drive dress
It sets including driving motor and master arm, the master arm is connected to the quadrangular mechanism by spherical pair.
7. a kind of four-degree-of-freedom high speed parallel robot according to claim 6, which is characterized in that first branch,
Four rotary middle points of the active driving device of second branch, the third branch and the 4th branch are located at
On same plane.
8. a kind of four-degree-of-freedom high speed parallel robot according to claim 7, which is characterized in that the angle enlargement machine
Structure is gear teeth transmission or belt wheel transmission.
9. a kind of four-degree-of-freedom high speed parallel robot according to claim 8, which is characterized in that the angle enlargement machine
The amplification coefficient of structure is adjustable.
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| CN201910063152.9A CN109676587A (en) | 2019-01-23 | 2019-01-23 | A kind of four-degree-of-freedom high speed parallel robot |
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| CN201910063152.9A CN109676587A (en) | 2019-01-23 | 2019-01-23 | A kind of four-degree-of-freedom high speed parallel robot |
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| CN102689305A (en) * | 2012-04-20 | 2012-09-26 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel mechanism |
| US20130142608A1 (en) * | 2010-08-02 | 2013-06-06 | Kabushiki Kaisha Yaskawa Denki | Parallel mechanism |
| CN106346446A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Parallelly connected double action robot mechanism with four freedoms and large work space |
| CN106976070A (en) * | 2017-05-25 | 2017-07-25 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
| CN209831630U (en) * | 2019-01-23 | 2019-12-24 | 曜石机器人(上海)有限公司 | Four-freedom-degree high-speed parallel robot |
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- 2019-01-23 CN CN201910063152.9A patent/CN109676587A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20130142608A1 (en) * | 2010-08-02 | 2013-06-06 | Kabushiki Kaisha Yaskawa Denki | Parallel mechanism |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN102689305A (en) * | 2012-04-20 | 2012-09-26 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel mechanism |
| CN106346446A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Parallelly connected double action robot mechanism with four freedoms and large work space |
| CN106976070A (en) * | 2017-05-25 | 2017-07-25 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
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