CN109955226A - A kind of weak coupling three transfer parallel robot mechanism - Google Patents
A kind of weak coupling three transfer parallel robot mechanism Download PDFInfo
- Publication number
- CN109955226A CN109955226A CN201910256315.5A CN201910256315A CN109955226A CN 109955226 A CN109955226 A CN 109955226A CN 201910256315 A CN201910256315 A CN 201910256315A CN 109955226 A CN109955226 A CN 109955226A
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- China
- Prior art keywords
- connecting rod
- moving platform
- electromagnet
- support
- fixed
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of weak coupling three transfer parallel robot mechanisms, including moving platform and fixed platform and moving parts and support component, the support component includes support telescopic connecting rod and eight electromagnet, the support telescopic connecting rod is between moving platform and fixed platform, the bottom of the support telescopic connecting rod is provided with fixed block, support sphere-pin pair is connected on the inside of the fixed block, the bottom of the support telescopic connecting rod is rotatablely connected by support sphere-pin pair and fixed block, triangular coupling rod is provided at the top of the support telescopic connecting rod, connection ball pins pair is connected between the triangular coupling rod and support telescopic connecting rod；By designing the electromagnet etc. being mounted on the inside of the triangular coupling rod and moving platform of moving platform bottom, while realizing moving platform Multi-angle turnover, moving platform is supported, realize stress equalization, and pressure is shared for stretching motion connecting rod, prevent stress or stretching motion connecting rod stress excessive the case where loading.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of weak coupling three transfer parallel robot mechanism.
Background technique
Parallel robot can be defined as moving platform and is connected with fixed platform by least two independent kinematic chains, machine
Structure has two or more freedom degrees, and a kind of close loop mechanism driven with parallel way.
Existing weak coupling parallel robot mechanism, need movement branched chain realize moving platform tilt angle adjust while according to
Moving platform is supported by movement branched chain, in specific tilt angle, movement branched chain, which may cannot achieve, stablizes cargo
It props up and transports, while larger, the required electric power resource and area of electromagnet area that existing parallel robot mechanism uses
Proportional, in contrast traditional electromagnet needs more electric power resources to support at runtime, thus it is proposed that a kind of weak
Couple three transfer parallel robot mechanism.
Summary of the invention
The purpose of the present invention is to provide a kind of weak coupling three transfer parallel robot mechanisms, to solve above-mentioned background technique
The problem of middle proposition, to reach stable and energy-efficient purpose.
To achieve the above object, the invention provides the following technical scheme: a kind of weak coupling three transfer parallel robot mechanism,
Including moving platform and fixed platform and moving parts and support component, the support component includes support telescopic connecting rod and eight
Electromagnet, between moving platform and fixed platform, the bottom of the support telescopic connecting rod is provided with solid the support telescopic connecting rod
Determine block, be connected with support sphere-pin pair on the inside of the fixed block, the bottom of the support telescopic connecting rod by support sphere-pin pair with
Fixed block is rotatablely connected, and triangular coupling rod is provided at the top of the support telescopic connecting rod, and the triangular coupling rod and support telescopic connect
Connection ball pins pair is connected between bar, the equal integral type in top two sides of the triangular coupling rod is connected with slave connecting rod, the slave connecting rod
Two lateral roofs be respectively connected with fixed revolute pair, eight electromagnet are located at the inside of moving platform.
Preferably, the moving parts include stretching motion connecting rod and flexible secondary bar, the stretching motion connecting rod and flexible
Secondary bar is respectively positioned between moving platform and fixed platform, and is respectively connected with the first rotation at the top and bottom of the stretching motion connecting rod
Pair is connected with the second sphere-pin pair at the top of the flexible secondary bar, and the bottom of the flexible secondary bar is connected with the first sphere-pin pair.
Preferably, the bottom surface of the moving platform and the corresponding position of fixed revolute pair are respectively connected with fixing seat, described solid
Reservation is closely connect with fixed revolute pair, is moved convenient for triangular coupling rod with compliant platform.
Preferably, the section of the triangular coupling rod is in equilateral triangle, it is possible to provide stable support.
Preferably, the triangular coupling rod is connect by connection ball pins pair with support telescopic link rotatable, and eight electricity
Magnet is uniformly distributed on the inside of moving platform, is convenient for the evenly dispersed absorption cargo of magnetic force.
Preferably, the application method of the electromagnet is as follows, and eight electromagnet are connected in the inside of moving platform, described dynamic
When the top bearing goods of platform, the power supply of electromagnet is connected, electromagnet can produce magnetism, can be by irony cargo or outer layer
Cargo for irony material is adsorbed and is fixed, and in unloading, disconnects the power supply of electromagnet, electromagnet can lose magnetism, be convenient for
The unloading of cargo.
Compared with prior art, the beneficial effects of the present invention are: being mounted with the triangle positioned at moving platform bottom by design
Electromagnet etc. on the inside of connecting rod and moving platform, has the characteristics that weak coupling, right while realizing moving platform Multi-angle turnover
Moving platform is supported, and is realized stress equalization, and share pressure for stretching motion connecting rod, is prevented stress or stretching motion
Connecting rod stress excessive the case where loading, and electromagnet is arranged in the inside of moving platform in dot matrix, and fixed cargo is adsorbed
It is still relatively stable, existing electromagnet is compared, The present invention reduces the gross areas of electromagnet, and electric power needed for reducing electromagnet
Resource.
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the invention；
Fig. 2 is the side view of moving platform of the present invention and triangular coupling rod；
Fig. 3 is the bottom surface structure schematic diagram of moving platform of the present invention；
In figure: 1, the first revolute pair；2, moving platform；3, stretching motion connecting rod；4, flexible secondary bar；5, the first sphere-pin pair；6,
Fixed platform；7, fixed block；8, sphere-pin pair is supported；9, support telescopic connecting rod；10, triangular coupling rod；11, fixed revolute pair；12, second
Sphere-pin pair；13, slave connecting rod；14, connection ball pins pair；15, electromagnet.
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.
Please refer to shown in Fig. 1 and Fig. 2 and Fig. 3, the present invention provides a kind of technical solution: a kind of weak coupling three translates parallel connection
Robot mechanism, including moving platform 2 and fixed platform 6 and moving parts and support component, support component include that support telescopic connects
Bar 9 and eight electromagnet 15, support telescopic connecting rod 9 is between moving platform 2 and fixed platform 6, the bottom of support telescopic connecting rod 9
It is provided with fixed block 7, the inside of fixed block 7 is connected with support sphere-pin pair 8, and the bottom of support telescopic connecting rod 9 passes through support ball pin
Pair 8 is rotatablely connected with fixed block 7, and the top of support telescopic connecting rod 9 is provided with triangular coupling rod 10, triangular coupling rod 10 and support telescopic
Connection ball pins pair 14 is connected between connecting rod 9, the equal integral type in top two sides of triangular coupling rod 10 is connected with slave connecting rod 13, slave connecting rod
13 two lateral roofs are respectively connected with fixed revolute pair 11, and eight electromagnet 15 are located at the inside of moving platform 2, are mounted with by design
Electromagnet 15 etc. positioned at 2 inside of triangular coupling rod 10 and moving platform of 2 bottom of moving platform, is turned in realization 2 multi-angle of moving platform
While turning, moving platform 2 is supported, realizes stress equalization, and share pressure for stretching motion connecting rod 3, prevent by
Power or 3 stress of stretching motion connecting rod excessive the case where loading, and electromagnet 15 is equal in dot matrix in the inside of moving platform 2
Arrangement, it is still relatively stable to adsorb fixed cargo, compares existing electromagnet 15, The present invention reduces the gross area of electromagnet 15,
And electric power resource needed for reducing electromagnet 15.
As shown in Figure 1, moving parts are by stretching motion connecting rod 3 and flexible secondary bar 4 and the first revolute pair 1 and the second sphere-pin pair
12 and first sphere-pin pair 5 form, and stretching motion connecting rod 3 and flexible secondary bar 4 are respectively positioned between moving platform 2 and fixed platform 6.
As shown in FIG. 2 and 3, the bottom surface of moving platform 2 and the corresponding position of fixed revolute pair 11 are respectively connected with fixation
Seat, fixing seat are closely connect with fixed revolute pair 11, and connection ball pins pair 14 is integrated with triangular coupling rod 10 and slave connecting rod 13
Formula structure, slave connecting rod 13 passes through fixed revolute pair 11 and is rotatablely connected with moving platform 2, and triangular coupling rod 10 passes through connection ball pins pair 14
It is rotatablely connected with support telescopic connecting rod 9, while eight electromagnet 15 are uniformly distributed in the inside of moving platform 2.
The working principle of the invention and process for using: the device is in use, stretching motion connecting rod 3 and flexible secondary bar 4 pass through
Flexible and extensional motion can realize the adjustment of the tilt angle of moving platform 2, while moving platform 2 tilts, 2 bottom of moving platform
Support telescopic connecting rod 9 and support sphere-pin pair 8 and connection ball pins pair 14 etc., it can be achieved that the multi-angle oblique of triangular coupling rod 10,
Its tilt rotation is followed when moving platform 2 tilts convenient for triangular coupling rod 10, simultaneously because the equilateral triangle of triangular coupling rod 10 is set
Meter supports moving platform 2 by using triangular coupling rod 10 so that triangular coupling rod 10 inherently has stronger stability, can be into
One step increases the stability of moving platform 2, can promote the bearing capacity of moving platform 2, while by eight electromagnet 15 in moving platform 2
Inside series connection when the top bearing goods of the moving platform 2, connects the power supply of electromagnet 15, and electromagnet 15 can produce magnetism,
The cargo that irony cargo or outer layer are irony material can be adsorbed and be fixed by electromagnet 15, since the dot matrix of electromagnet 15 is arranged
Cloth, can be evenly dispersed by magnetic force and adsorbs cargo, in unloading, disconnects the power supply of electromagnet 15, electromagnet 15 is meeting
It loses magnetism, convenient for the unloading of cargo, by designing the triangular coupling rod 10 and moving platform 2 that are mounted with positioned at 2 bottom of moving platform
Electromagnet 15 of inside etc. is supported moving platform 2 while realizing 2 Multi-angle turnover of moving platform, realizes that stress is equal
Weighing apparatus, and pressure is shared for stretching motion connecting rod 3, and electromagnet 15 is arranged in the inside of moving platform 2 in dot matrix, absorption is fixed
Cargo is still relatively stable.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of weak coupling three transfer parallel robot mechanism, it is characterised in that: including moving platform (2) and fixed platform (6) and fortune
Dynamic component and support component, the support component include support telescopic connecting rod (9) and eight electromagnet (15), the support
Shrinking connecting-rod (9) is located between moving platform (2) and fixed platform (6), and the bottom of the support telescopic connecting rod (9) is provided with fixed block
(7), support sphere-pin pair (8) is connected on the inside of the fixed block (7), the bottom of the support telescopic connecting rod (9) passes through support
Sphere-pin pair (8) and fixed block (7) are rotatablely connected, and are provided with triangular coupling rod (10) at the top of the support telescopic connecting rod (9), described
It is secondary (14) that connection ball pins are connected between triangular coupling rod (10) and support telescopic connecting rod (9), the top of the triangular coupling rod (10)
The equal integral type in two sides is connected with slave connecting rod (13), and two lateral roofs of the slave connecting rod (13) are respectively connected with fixed revolute pair (11),
Eight electromagnet (15) are located at the inside of moving platform (2).
2. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the exercise group
Part includes stretching motion connecting rod (3) and flexible secondary bar (4), and the stretching motion connecting rod (3) and flexible secondary bar (4) are respectively positioned on dynamic flat
Between platform (2) and fixed platform (6), and the first revolute pair (1) is respectively connected at the top and bottom of the stretching motion connecting rod (3),
It is connected with the second sphere-pin pair (12) at the top of the flexible secondary bar (4), and the bottom of the flexible secondary bar (4) is connected with the first ball
Sell secondary (5).
3. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the moving platform
(2) corresponding position of bottom surface and fixed revolute pair (11) is respectively connected with fixing seat, the fixing seat and fixed revolute pair
(11) close connection.
4. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the connected ball
Secondary (14) are sold to be an integral structure with triangular coupling rod (10) and slave connecting rod (13).
5. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the slave connecting rod
(13) it is rotatablely connected by fixed revolute pair (11) and moving platform (2).
6. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the triangle connects
The section of bar (10) is in equilateral triangle.
7. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the triangle connects
Bar (10) is rotatablely connected by connection ball pins secondary (14) and support telescopic connecting rod (9), and eight electromagnet (15) are dynamic flat
Platform is uniformly distributed on the inside of (2).
8. a kind of weak coupling three transfer parallel robot mechanism according to claim 1, it is characterised in that: the electromagnet
(15) application method is as follows, and eight electromagnet (15) are connected in the inside of moving platform (2), the top of the moving platform (2)
When portion's bearing goods, the power supply of electromagnet (15) is connected, electromagnet (15) can produce magnetism, can be by irony cargo or outer layer
The cargo of irony material is adsorbed and is fixed, and in unloading, disconnects the power supply of electromagnet (15), electromagnet (15) can lose magnetic
Property, convenient for the unloading of cargo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910256315.5A CN109955226A (en) | 2019-04-01 | 2019-04-01 | A kind of weak coupling three transfer parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910256315.5A CN109955226A (en) | 2019-04-01 | 2019-04-01 | A kind of weak coupling three transfer parallel robot mechanism |
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| Publication Number | Publication Date |
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| CN109955226A true CN109955226A (en) | 2019-07-02 |
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ID=67025478
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|---|---|---|---|
| CN201910256315.5A Pending CN109955226A (en) | 2019-04-01 | 2019-04-01 | A kind of weak coupling three transfer parallel robot mechanism |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015185A (en) * | 2014-06-12 | 2014-09-03 | 常州大学 | Weak coupling three horizontal moving parallel robot mechanism |
| CN105500350A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Three-translation high-speed sorting parallel manipulator |
| CN106112980A (en) * | 2016-07-26 | 2016-11-16 | 清华大学 | A kind of attitude regulating mechanism |
| WO2017067726A1 (en) * | 2015-10-20 | 2017-04-27 | Krones Aktiengesellschaft | Parallel-kinematics robot and method for operating same |
| CN107521623A (en) * | 2017-10-10 | 2017-12-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
-
2019
- 2019-04-01 CN CN201910256315.5A patent/CN109955226A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015185A (en) * | 2014-06-12 | 2014-09-03 | 常州大学 | Weak coupling three horizontal moving parallel robot mechanism |
| WO2017067726A1 (en) * | 2015-10-20 | 2017-04-27 | Krones Aktiengesellschaft | Parallel-kinematics robot and method for operating same |
| CN105500350A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Three-translation high-speed sorting parallel manipulator |
| CN106112980A (en) * | 2016-07-26 | 2016-11-16 | 清华大学 | A kind of attitude regulating mechanism |
| CN107521623A (en) * | 2017-10-10 | 2017-12-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
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Application publication date: 20190702 |
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