CN110576428B - Over-constrained four-degree-of-freedom high-speed parallel robot - Google Patents
Over-constrained four-degree-of-freedom high-speed parallel robot Download PDFInfo
- Publication number
- CN110576428B CN110576428B CN201910936564.9A CN201910936564A CN110576428B CN 110576428 B CN110576428 B CN 110576428B CN 201910936564 A CN201910936564 A CN 201910936564A CN 110576428 B CN110576428 B CN 110576428B
- Authority
- CN
- China
- Prior art keywords
- link
- frame
- degree
- overconstrained
- parallel robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The application discloses high-speed parallel robot of four degrees of freedom of overconstrained, the high-speed parallel robot of four degrees of freedom of overconstrained includes: the fixed platform is provided with N first connecting parts, and each first connecting part is provided with a driving part; the movable platform is provided with N second connecting parts; the passive arm subassembly of N group, N first connecting portion, N second connecting portion and the passive arm subassembly one-to-one of N group, every passive arm subassembly of group includes restraint part and M passive arm, satisfies: n is more than or equal to 4, and M is more than or equal to 3; the driving parts of at least two of the N first connecting parts are used for driving the corresponding second connecting parts to move towards the first direction through the driven arm assembly, and the driving parts of the other at least two of the N first connecting parts are used for driving the corresponding second connecting parts to move towards the second direction through the driven arm assembly, so that the movable platform rotates around the first axis. The overconstrained four-freedom-degree high-speed parallel robot can realize multi-freedom-degree movement.
Description
Technical Field
The application relates to the technical field of robot manufacturing, in particular to an overconstrained four-degree-of-freedom high-speed parallel robot.
Background
The high-speed parallel robot mechanism can meet the operation of carrying space objects and the like, and is widely applied to high-speed light-load carrying operation of automatic production lines in the fields of food medicine, modern logistics, electronic information and the like. The passive arm and the moving platform of the existing four-degree-of-freedom high-speed parallel robot mechanism are generally connected through a pair of ball heads and ball socket type ball joints, but in the moving process of the moving platform, when the moving platform is particularly close to the boundary of a working space of the robot, the passive arm and the moving platform are easily connected and separated, accurate operation of the robot cannot be guaranteed, and an improved space exists.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, an object of the present application is to provide an overconstrained four-degree-of-freedom high-speed parallel robot, which can realize not only the movement but also the rotation of a movable platform through the cooperation of multiple driving members, and has better flexibility.
The overconstrained four-degree-of-freedom high-speed parallel robot according to the embodiment of the application comprises: the fixed platform is provided with N first connecting parts, and each first connecting part is provided with a driving part; the movable platform is provided with N second connecting parts; the passive arm assembly of N group, N first connecting portion, N second connecting portion and N group the passive arm assembly one-to-one, every group the passive arm assembly includes M passive arm, the both ends of passive arm respectively with first connecting portion, second connecting portion pass through bulb + ball socket type ball pivot and link to each other, satisfy: n is more than or equal to 4, and M is more than or equal to 3; the M driven arms are connected through the restraint piece so as to elastically pre-tighten towards the direction of approaching to each other; the driving parts of at least two of the N first connecting parts are used for driving the corresponding second connecting parts to move towards a first direction through the driven arm assembly, and the driving parts of the other at least two of the N first connecting parts are used for driving the corresponding second connecting parts to move towards a second direction through the driven arm assembly, so that the movable platform rotates around a first axis, and the first axis passes through the center of the movable platform.
According to the over-constrained four-degree-of-freedom high-speed parallel robot, the fixed platform and the movable platform are movably connected through the plurality of groups of driven arm assemblies, and the plurality of groups of driven arm assemblies can cooperatively act, so that the movable platform can realize translation of three degrees of freedom and rotation of one degree of freedom, the movement of the over-constrained four-degree-of-freedom high-speed parallel robot is more flexible, and various types of operation can be conveniently realized by a user.
According to some embodiments of the present application, in the overconstrained four-degree-of-freedom high-speed parallel robot, N is 4, two of the four first connecting portions that are oppositely disposed are used for driving the corresponding second connecting portions to move in a direction approaching each other, and two of the four first connecting portions that are oppositely disposed are used for driving the corresponding second connecting portions to move in a direction away from each other.
According to the overconstrained four-degree-of-freedom high-speed parallel robot in some embodiments of the present application, the movable platform includes a first link and a second link, the first link and the second link each have two of the second connecting portions, four adjacent two of the first connecting portions correspond to two of the first link, four other adjacent two of the first connecting portions correspond to two of the second connecting portions of the second link, and the first link and the second link are movably connected by a connecting rod.
According to the overconstrained four-degree-of-freedom high-speed parallel robot of some embodiments of the present application, the connecting rods are two, and the two connecting rods are spaced apart in parallel.
According to the overconstrained four-degree-of-freedom high-speed parallel robot provided by some embodiments of the application, the first connecting frame and the second connecting frame are both provided with a first connecting hole and a second connecting hole, two ends of one of the connecting rods are rotatably connected with the first connecting hole of the first connecting frame and the first connecting hole of the second connecting frame through a pin shaft, and two ends of the other of the connecting rods are rotatably connected with the second connecting hole of the first connecting frame and the second connecting hole of the second connecting frame through a pin shaft.
According to the overconstrained four-degree-of-freedom high-speed parallel robot according to some embodiments of the present application, a distance between the first connection hole and the second connection hole of the first connection frame is equal to a distance between the first connection hole and the second connection hole of the second connection frame.
According to the overconstrained four-degree-of-freedom high-speed parallel robot in some embodiments of the application, the movable platform comprises a first connecting frame and a second connecting frame, the first connecting frame and the second connecting frame are provided with two second connecting parts, four two of the first connecting parts, which are oppositely arranged, correspond to the two second connecting parts of the first connecting frame, four of the first connecting parts, which are oppositely arranged, correspond to the two second connecting parts of the second connecting frame, and the first connecting frame and the second connecting frame are matched through a screw rod mechanism.
According to the overconstrained four-degree-of-freedom high-speed parallel robot of some embodiments of the present application, the first link has a threaded rod, and the second link has a threaded sleeve through which the threaded rod extends to be threadedly connected with the threaded sleeve.
According to the overconstrained four-degree-of-freedom high-speed parallel robot in some embodiments of the present application, the threaded rod is disposed between the two second connecting portions of the first connecting frame, and the threaded sleeve is disposed between the two second connecting portions of the second connecting frame.
According to some embodiments of the application, the overconstrained four degree-of-freedom high speed parallel robot, the passive arm comprising: the intermediate segment and with the linkage segment that the both ends of intermediate segment link to each other, two the linkage segment respectively with first connecting portion the second connecting portion link to each other.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of an overconstrained four-degree-of-freedom high-speed parallel robot according to one embodiment of the present application;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is a schematic structural diagram of an overconstrained four-degree-of-freedom high-speed parallel robot according to another embodiment of the present application;
fig. 4 is an enlarged view at B in fig. 3.
Reference numerals:
an overconstrained four-degree-of-freedom high-speed parallel robot 100,
a fixed platform 1, a first connecting part 11, a connecting arm 12, a hinged frame 13, a driving part 14, a fixed arm 15,
a movable platform 2, a second connecting part 21, a first connecting frame 22, a second connecting frame 23, a connecting rod 24, a threaded rod 25, a threaded sleeve 26, a pin shaft 27, a supporting plate 28,
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
The overconstrained four-degree-of-freedom high-speed parallel robot 100 according to the embodiment of the present application is described below with reference to fig. 1 to 4, and the overconstrained four-degree-of-freedom high-speed parallel robot 100 can cooperatively drive the movable platform 2 through the plurality of driving members 14 and the plurality of driven arm assemblies 3, so that not only can the movable platform 2 move in three degrees of freedom, but also the movable platform 2 can rotate in a plane, and the robot is more flexible and has a wider application range.
As shown in fig. 1 to 4, an overconstrained four-degree-of-freedom high-speed parallel robot 100 according to an embodiment of the present application includes: the device comprises a fixed platform 1, a movable platform 2 and N groups of driven arm assemblies 3.
As shown in fig. 1 and 3, the fixed platform 1 is provided with N first connection portions 11, the N first connection portions 11 are arranged at intervals in the circumferential direction of the fixed platform 1, as shown in fig. 1 and 3, the number of the first connection portions 11 is four, and the four first connection portions 11 are arranged at intervals uniformly in the circumferential direction of the fixed platform 1, that is, an included angle between two adjacent first connection portions 11 in the circumferential direction is 90 °, and of course, the number of the first connection portions 11 may be more, such as 6, or 8. Wherein the stationary platform 1 can be fixed to a test bench or other support equipment.
The movable platform 2 is provided with N second connecting portions 21, the N second connecting portions 21 are arranged at intervals in the circumferential direction of the movable platform 2, as shown in fig. 1 and 3, the number of the second connecting portions 21 is four, and the four second connecting portions 21 are arranged at intervals uniformly in the circumferential direction of the fixed platform 1, that is, an included angle between two adjacent second connecting portions 21 in the circumferential direction is 90 °, and of course, the number of the second connecting portions 21 may be more, such as 6, or 8. Wherein, the movable platform 2 can be used for carrying articles to transport the carried objects to the target position.
The passive arm component 3 of N group is used for moving platform 2 and deciding platform 1 and link to each other, and N first connecting portion 11, N second connecting portion 21 and the passive arm component 3 one-to-one of N group satisfy: n is more than or equal to 4, namely the fixed platform 1 and the movable platform 2 can be connected through at least four groups of driven arm assemblies 3. As shown in fig. 1 and 3, four first connecting portions 11, four second connecting portions 21, and four sets of passive arm assemblies 3 correspond one to one, so that the movable platform 2 and the fixed platform 1 are connected as a whole by the passive arm assemblies 3.
Two ends of the driven arm component 3 are movably connected with the first connecting part 11 and the second connecting part 21 respectively;
as shown in fig. 1 and 3, each group of passive arm assemblies 3 includes a restraint member 34 and M passive arms 31, where the M passive arms 31 are connected by the restraint member 34, so that the M passive arms 31 are elastically pre-tensioned in a direction approaching to each other, and satisfy: m is more than or equal to 3, namely, at least three passive arms 31 are provided, and two ends of the passive arms 31 are movably connected with the first connecting part 11 and the second connecting part 21 respectively. Specifically, as shown in fig. 1 and 3, each first connection portion 11 and each second connection portion 21 are provided with three connection positions, and there are three passive arms 31, two ends of each passive arm are respectively connected with the connection position of the first connection portion 11 and the connection position of the second connection portion 21 through a ball and socket type ball joint, and the restraint member 34 is elastically connected between the three passive arms 31, so that the three passive arms 31 are relatively stable, and the passive arms 31 are ensured to be reliably transmitted between the first connection portion 11 and the second connection portion 21. Of course, each set of passive arm assemblies 3 may also include 4 passive arms 31, or more.
Therefore, the restraint piece can limit the M passive arms 31 to move towards the directions deviating from each other, the passive arms 3 can be stably connected with the first connecting part 11 and the second connecting part 21 all the time, the passive arms 3 are prevented from being separated from the movable platform 2 or the fixed platform 1, the transmission accuracy of the over-restrained four-freedom-degree high-speed parallel robot 100 is guaranteed, and the overall structure of the robot is more stable.
The driven arm 31 includes a middle section and connecting sections connected to both ends of the middle section, and the two connecting sections are connected to the first connecting portion and the second connecting portion, respectively. As shown in fig. 1, the connection section 33 at the upper end of the intermediate section 32 is used for connecting with the first connection portion 11, and the connection section 33 at the lower end of the intermediate section 32 is used for connecting with the second connection portion 21.
As shown in fig. 1 and 3, the upper end of the driven arm assembly 3 is connected to the first connecting portion 11, and the lower end of the driven arm assembly 3 is connected to the second connecting portion 21, so that the lower end of the driven arm assembly 3 can move in the space when the driven arm assembly 3 rotates relative to the fixed platform 1.
Each first connecting portion 11 is provided with a driving member 14, the driving member 14 is used for driving the driven arm assembly 3 to rotate relative to the fixed platform 1, so that the driven arm assembly 3 drives the movable platform 2 to move relative to the fixed platform 1, and it should be noted that the driving member 14 on each first connecting portion 11 is controlled independently.
As shown in fig. 1 and 3, the first connecting portion 11 further includes a connecting arm 12, a fixing arm 15, and a hinge bracket 13.
As shown in fig. 1 and fig. 3, the driving member 14 is installed on the fixed platform 1, the hinge frame 13 is overall triangular, the first end of the fixed arm 15 is rotatably connected to the body of the fixed platform 1, the other end of the fixed arm 15 is rotatably connected to the first corner of the hinge frame 13, the first end of the connecting arm 12 is rotatably connected to the body of the fixed platform 1, the driving member 14 is connected to the fixed arm 15 and is used for driving the fixed arm 15 to rotate, the second end of the connecting arm 12 is rotatably connected to the second corner of the hinge frame 13, the connecting arm 12 and the fixed arm 15 are spaced apart, as shown in fig. 1, the connecting arm 12 is located above the fixed arm 15, and the area of the hinge frame 13 near the third corner is used for being hingedly connected to the upper end of the driven arm assembly 3.
When the driving member 14 acts, the output end of the driving member 14 can drive the hinge frame 13 and the driven arm assembly 3 to rotate around the second corner of the hinge frame 13 through the connecting arm 12, so that the lower end of the driven arm assembly 3 moves upwards or downwards, and then the position of the moving platform 2 is adjusted, it should be noted that the moving platform 2 is connected through N sets of driven arm assemblies 3 spaced apart along the circumferential direction. Therefore, when the N driving pieces 14 corresponding to the N groups of driven arm assemblies 3 are matched to act, the movable platform 2 can move towards different directions in the space.
Thus, the N driving elements 14 can be operated individually or simultaneously, and the N driving elements 14 can output the driving force in the same state or in different states. From this, through the drive piece 14 concerted action on the N first connecting portion 11 of control to make N group's passive arm subassembly 3 move with different amplitudes in a flexible way, and then make the action that moves platform 2 and do different, make the motion state that moves platform 2 abundanter, and at the in-process that moves platform 2 motion, N group's passive arm subassembly 3 is through moving platform 2 linkage, and restraint each other, from this, can make the translation of three degrees of freedom of moving platform 2 realization through the concerted action between N drive piece 14.
In a specific implementation, the driving members 14 of at least two of the N first connecting portions 11 are used for driving the corresponding second connecting portions 21 to move towards the first direction through the driven arm assembly 3, and the driving members 14 of at least two other of the N first connecting portions 11 are used for driving the corresponding second connecting portions 21 to move towards the second direction through the driven arm assembly 3, so as to enable the moving platform 2 to rotate around the first axis. Wherein, the first axis passes through the center of the movable platform 2, that is, the first axis is the central axis of the movable platform 2. Therefore, the movable platform 2 can rotate around the central axis thereof in a plane, the angle of the movable platform 2 is flexibly adjusted, and the rotation with one degree of freedom is realized. Therefore, the overconstrained four-degree-of-freedom high-speed parallel robot 100 can perform complex actions, and is more flexible in specific work.
According to the over-constrained four-degree-of-freedom high-speed parallel robot 100, the fixed platform 1 and the movable platform 2 are movably connected through the multiple groups of driven arm assemblies 3, and the multiple groups of driven arm assemblies 3 can act in a coordinated manner, so that the movable platform 2 can realize translation of three degrees of freedom and rotation of one degree of freedom, the movement of the over-constrained four-degree-of-freedom high-speed parallel robot 100 is more flexible, and a user can conveniently realize various types of operation.
In some embodiments, as shown in fig. 1 and 3, the N-4, i.e., overconstrained, four-degree-of-freedom high-speed parallel robot 100 includes 4 first connections 11, 4 drives 14, 4 sets of passive arm assemblies 3, and 4 second connections 21. As shown in fig. 1, the 4 first connecting portions 11 are uniformly spaced apart along the circumferential direction of the fixed platform 1, and the 4 first connecting portions 11 and the 4 second connecting portions 21 on the movable platform 2 are respectively connected in the up-down direction through the 4 groups of driven arm assemblies 3, so that the 4 driving members 14 on the fixed platform 1 can drive the corresponding driven arm assemblies 3 and the second connecting portions 21 to move, and further the moving process of the movable platform 2 is realized.
As shown in fig. 1 to 4, two of the driving members 14 oppositely disposed in the four first connecting portions 11 are used to drive the corresponding second connecting portions 21 to move toward each other, that is, the second connecting portions 21 move upward, and two other driving members 14 oppositely disposed in the four first connecting portions 11 are used to drive the corresponding second connecting portions 21 to move away from each other, that is, the second connecting portions 21 move downward. Thus, when the driving part 14 drives the corresponding driven arm component 3 and the second connecting part 21 to move, the movable platform 2 can rotate around the first axis, so that the over-constrained four-degree-of-freedom high-speed parallel robot 100 can rotate by one degree of freedom, the constrained high-speed parallel robot has a simple structure and low installation difficulty, and is beneficial to realizing various complex operation actions.
The specific structure and the corresponding working process of the overconstrained four-degree-of-freedom high-speed parallel robot 100 according to the two embodiments of the present application are described below with reference to fig. 1-4.
The first embodiment is as follows:
as shown in fig. 1-2, the movable platform 2 includes a first connecting frame 22 and a second connecting frame 23, as shown in fig. 2, the first connecting frame 22 and the second connecting frame 23 are structurally connected, the first connecting frame 22 and the second connecting frame 23 each have two second connecting portions 21, as shown in fig. 2, the first connecting frame 22 and the second connecting frame 23 each include a frame body and the second connecting portions 21 connected to both ends of the frame body. In this way, the first connecting frame 22 can be connected with two groups of driven arm assemblies 3 through the two second connecting parts 21 at the two ends of the first connecting frame, and the second connecting frame 23 can be connected with the other two groups of driven arm assemblies 3 through the two second connecting parts 21 at the two ends of the second connecting frame.
As shown in fig. 2, two adjacent first connecting portions 11 of the four first connecting portions 11 correspond to two second connecting portions 21 of the first connecting frame 22, and the other two adjacent first connecting portions 11 of the four first connecting portions 11 correspond to two second connecting portions 21 of the second connecting frame 23. In other words, two adjacent first connecting portions 11 of the fixed platform 1 correspond to two second connecting portions 21 of the first connecting frame 22 one by one, and the other two adjacent first connecting portions 11 of the fixed platform 1 correspond to two second connecting portions 21 of the second connecting frame 23 one by one.
As shown in fig. 2, the first link frame 22 and the second link frame 23 are movably connected by a connecting rod 24. As shown in fig. 2, two ends of the connecting rod 24 are rotatably connected to the first connecting frame 22 and the second connecting frame 23, respectively, so that the connecting rod 24 can be driven to move in the moving process of the first connecting frame 22 and the second connecting frame 23, and the connecting rod 24, the first connecting frame 22 and the second connecting frame 23 can play a role of mutual constraint, so that when the first connecting frame 22 and the second connecting frame 23 are forced to move, the connecting rod 24 can rotate around the first axis.
As shown in fig. 2, there are two connecting rods 24, and the two connecting rods 24 are spaced in parallel, as shown in fig. 2, the two connecting rods 24 have the same length, the first connecting frame 22, the second connecting frame 23 and the two connecting rods 24 are connected in the axial direction to form the movable platform 2, and the movable platform 2 is in a parallelogram structure as a whole. In this way, when the first connecting frame 22 and the second connecting frame 23 rotate in the same direction around the first axis, the two connecting rods 24 can rotate around the first axis, that is, the movable platform 2 can rotate with one degree of freedom.
Specifically, first link 22 and second link 23 all are equipped with first connecting hole and second connecting hole, and the both ends of one in two connecting rods 24 rotatably link to each other through round pin 27 with the first connecting hole of first link 22, the first connecting hole of second link 23 respectively, and the both ends of another in two connecting rods 24 rotatably link to each other through round pin 27 with the second connecting hole of first link 22, the second connecting hole of second link 23 respectively for first link 22, second link 23 and two connecting rods 24 movably are connected.
Wherein the interval between the first and second coupling holes of the first coupling frame 22 and the interval between the first and second coupling holes of the second coupling frame 23 are equal, and in some embodiments, the interval between the first and second coupling holes of the first coupling frame 22 may be set to be equal to the length of the coupling rod 24. Therefore, the movable platform 2 is of a diamond structure as a whole.
As shown in fig. 2, when the rotating operation of the movable platform 2 about the first axis is performed, two of the four first connecting portions 11 that are oppositely arranged may drive the corresponding second connecting portion 21 to move upward by the driving member 14, and the other two of the four first connecting portions 11 that are oppositely arranged may drive the corresponding second connecting portion 21 to move downward by the driving member 14.
In this way, one second connecting portion 21 of the first connecting frame 22 and one second connecting portion 21 of the second connecting frame 23 are acted by an acting force toward the center of the movable platform 2, the other second connecting portion 21 of the first connecting frame 22 and the other second connecting portion 21 of the second connecting frame 23 are acted by an acting force away from the center of the movable platform 2, and the first connecting frame 22 and the second connecting frame 23 are further constrained by the connecting rod 24, so that the first connecting frame 22 and the second connecting frame 23 can rotate around the first axis, the rotating operation of the movable platform 2 is realized, wherein the rotating range of the connecting arm 12 can be adjusted by adjusting the driving part 14, so as to adjust the rotating angle of the movable platform 2, and the movable platform is favorable for adapting to various working environments.
Example two:
as shown in fig. 3 to 4, the movable platform 2 includes a first link frame 22 and a second link frame 23. As shown in fig. 4, the first connecting frame 22 has an avoiding cavity, the second connecting frame 23 penetrates through the avoiding cavity, the first connecting frame 22 and the second connecting frame 23 are connected in a crossing manner, and the first connecting frame 22 and the second connecting frame 23 can rotate relatively, so that the relative angle between the first connecting frame 22 and the second connecting frame 23 can be adjusted. As shown in fig. 4, the first connecting frame 22 includes two support plates 28 spaced apart from each other, and the two support plates 28 define an escape cavity, i.e., the second connecting frame 23 is located between the two support plates 28, and the support plates 28 can be used for carrying the articles to be transported.
As shown in fig. 4, the first connection frame 22 and the second connection frame 23 each have two second connection portions 21, as shown in fig. 4, the two second connection portions 21 of the first connection frame 22 are respectively connected at both ends of the support plate 28, the second connection frame 23 includes a frame body, and the two second connection portions 21 of the second connection frame 23 are respectively connected at both ends of the frame body. In this way, the first connecting frame 22 can be connected with two groups of driven arm assemblies 3 through the two second connecting parts 21 at the two ends of the first connecting frame, and the second connecting frame 23 can be connected with the other two groups of driven arm assemblies 3 through the two second connecting parts 21 at the two ends of the second connecting frame.
As shown in fig. 4, two of the four first connecting portions 11 that are oppositely disposed correspond to the two second connecting portions 21 of the first connecting frame 22, and the other two of the four first connecting portions 11 that are oppositely disposed correspond to the two second connecting portions 21 of the second connecting frame 23. In other words, the two first connecting portions 11 of the fixed platform 1, which are oppositely disposed, correspond to the two second connecting portions 21 of the first connecting frame 22 one by one, and the other two adjacent first connecting portions 11 of the fixed platform 1 correspond to the two second connecting portions 21 of the second connecting frame 23 one by one.
As shown in fig. 4, the first connecting frame 22 and the second connecting frame 23 are engaged with each other by a screw mechanism, so that when one of the first connecting frame 22 and the second connecting frame 23 moves linearly, the other of the first connecting frame 22 and the second connecting frame 23 rotates to realize the rotating operation of the movable platform 2.
In some embodiments, as shown in fig. 4, the first connecting frame 22 has a threaded rod 25, an axis of the threaded rod 25 coincides with the first axis, two ends of the threaded rod 25 are respectively connected to two support plates 28, the second connecting frame 23 has a threaded sleeve 26, the threaded sleeve 26 is located between the two support plates 28, and the threaded rod 25 penetrates through the threaded sleeve 26 to be in threaded connection with the threaded sleeve 26, so that the first connecting frame 22 and the second connecting frame 23 form a screw mechanism fit.
As shown in fig. 4, the threaded rod 25 is disposed between the two second coupling parts 21 of the first coupling frame 22, and the threaded bushing 26 is disposed between the two second coupling parts 21 of the second coupling frame 23, whereby the first coupling frame 22 and the second coupling frame 23 form a cross structure by the threaded rod 25 and the threaded bushing 26 being engaged. And when the two driven arm assemblies 3 corresponding to the first connecting frame 22 move in the up-and-down direction, the second connecting frame 23 rotates around the first axis under the action of the first connecting frame 22, so that the movable platform 2 can realize the rotation with one degree of freedom.
As shown in fig. 4, when the rotating platform 2 rotates around the first axis, two of the four first connecting portions 11 that are arranged oppositely can drive the corresponding second connecting portion 21 to move upwards or downwards through the driving member 14. Thus, the first link frame 22 may be moved upward or downward to rotate the second link frame 23 about the first axis, or the second link frame 23 may be moved upward or downward to rotate the first link frame 22 about the first axis, thereby performing the rotating operation of the movable platform 2. Wherein, the rotation range of the connecting arm 12 by the driving part 14 can be adjusted to adjust the rotation angle of the movable platform 2, which is beneficial to adapting to various working environments.
Wherein, when two accessible driving piece 14 drive corresponding second connecting portion 21 upward movement of relative setting in four first connecting portion 11, two accessible driving piece 14 drive corresponding second connecting portion 21 downward movement of other relative setting in four first connecting portion 11, perhaps two corresponding driving piece 14 of other relative setting in four first connecting portion 11 do not move, all can realize moving platform 2's rotation, simple structure, the flexibility is stronger.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
In the description of the present application, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present application, "a plurality" means two or more.
In the description of the present application, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact not directly but via another feature therebetween.
In the description of the present application, the first feature being "on," "above" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. An overconstrained four-degree-of-freedom high-speed parallel robot, comprising:
the fixed platform is provided with N first connecting parts, and each first connecting part is provided with a driving part;
the movable platform is provided with N second connecting parts;
the passive arm assembly of N group, N first connecting portion, N second connecting portion and N group the passive arm assembly one-to-one, every group the passive arm assembly includes M passive arm, the both ends of passive arm respectively with first connecting portion, second connecting portion pass through bulb + ball socket type ball pivot and link to each other, satisfy: n is more than or equal to 4, and M is more than or equal to 3;
the M driven arms are connected through the restraint piece so as to elastically pre-tighten towards the direction of approaching to each other; wherein the content of the first and second substances,
the driving parts of at least two of the N first connecting parts are used for driving the corresponding second connecting parts to move towards a first direction through the driven arm assembly, and the driving parts of the other at least two of the N first connecting parts are used for driving the corresponding second connecting parts to move towards a second direction through the driven arm assembly so as to enable the movable platform to rotate around a first axis, and the first axis passes through the center of the movable platform;
the passive arm includes: the middle section and the connecting sections are connected with two ends of the middle section, and the two connecting sections are respectively connected with the first connecting part and the second connecting part;
the restraint member is provided on the connecting section.
2. The overconstrained four degree-of-freedom high speed parallel robot of claim 1 wherein N =4, wherein two of the four first links disposed opposite each other have their respective drives configured to drive the respective second links toward each other, and wherein two of the four first links disposed opposite each other have their respective drives configured to drive the respective second links away from each other.
3. The overconstrained four degree-of-freedom high speed parallel robot of claim 2 wherein said moveable platform comprises a first link and a second link, each of said first link and said second link having two of said second links, two adjacent ones of four of said first links corresponding to two of said second links of said first link, two other adjacent ones of four of said first links corresponding to two of said second links of said second link, said first link and said second link movably connected by a connecting rod.
4. The overconstrained four degree-of-freedom high speed parallel robot of claim 3 wherein there are two of the connecting rods and the two connecting rods are spaced apart in parallel.
5. The overconstrained four-degree-of-freedom high-speed parallel robot of claim 4, wherein the first link frame and the second link frame are each provided with a first connection hole and a second connection hole, both ends of one of the two connection rods are rotatably connected to the first connection hole of the first link frame and the first connection hole of the second link frame by a pin, respectively, and both ends of the other of the two connection rods are rotatably connected to the second connection hole of the first link frame and the second connection hole of the second link frame by a pin, respectively.
6. The overconstrained four degree-of-freedom high speed parallel robot of claim 5, wherein a spacing between the first and second connection holes of the first link frame is equal to a spacing between the first and second connection holes of the second link frame.
7. The overconstrained four degree-of-freedom high-speed parallel robot of claim 2 wherein the movable platform comprises a first link and a second link, each of the first link and the second link having two of the second connecting portions, two of the four first connecting portions disposed oppositely corresponding to the two of the second connecting portions of the first link, two of the other four first connecting portions disposed oppositely corresponding to the two of the second connecting portions of the second link, the first link and the second link being engaged by a screw mechanism.
8. The overconstrained four degree-of-freedom high speed parallel robot of claim 7 wherein the first link frame has a threaded rod and the second link frame has a threaded bushing, the threaded rod extending through the bushing to threadably engage the bushing.
9. The overconstrained four degree-of-freedom high-speed parallel robot of claim 8, wherein the threaded rod is disposed between two of the second connecting portions of the first connecting frame, and the threaded rod is sleeved between two of the second connecting portions of the second connecting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910936564.9A CN110576428B (en) | 2019-09-29 | 2019-09-29 | Over-constrained four-degree-of-freedom high-speed parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910936564.9A CN110576428B (en) | 2019-09-29 | 2019-09-29 | Over-constrained four-degree-of-freedom high-speed parallel robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110576428A CN110576428A (en) | 2019-12-17 |
| CN110576428B true CN110576428B (en) | 2021-09-21 |
Family
ID=68814054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910936564.9A Active CN110576428B (en) | 2019-09-29 | 2019-09-29 | Over-constrained four-degree-of-freedom high-speed parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110576428B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| DE102015225332A1 (en) * | 2015-12-15 | 2017-06-22 | Krones Aktiengesellschaft | Parallel kinematics robots, in particular industrial robots |
| CN206277386U (en) * | 2016-11-21 | 2017-06-27 | 南京理工大学 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
| KR20190023572A (en) * | 2017-08-29 | 2019-03-08 | 주식회사 알씨엔이 | parallel link type robot |
| CN109531543A (en) * | 2018-12-21 | 2019-03-29 | 清华大学 | Four-freedom-degree parallel-connection robot with double acting platform structure |
| CN109531547A (en) * | 2018-12-26 | 2019-03-29 | 清华大学 | 3-dof parallel robot with two close cycles branched structure |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| CN103264386B (en) * | 2013-04-19 | 2015-09-30 | 南京理工大学 | Three Degree Of Freedom high-speed translation motion parallel connection mechanism |
| CN104858855A (en) * | 2014-02-25 | 2015-08-26 | 机科发展科技股份有限公司 | Module-based parallel mechanism with three-dimensional translation degrees of freedom |
-
2019
- 2019-09-29 CN CN201910936564.9A patent/CN110576428B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| DE102015225332A1 (en) * | 2015-12-15 | 2017-06-22 | Krones Aktiengesellschaft | Parallel kinematics robots, in particular industrial robots |
| CN206277386U (en) * | 2016-11-21 | 2017-06-27 | 南京理工大学 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
| KR20190023572A (en) * | 2017-08-29 | 2019-03-08 | 주식회사 알씨엔이 | parallel link type robot |
| CN109531543A (en) * | 2018-12-21 | 2019-03-29 | 清华大学 | Four-freedom-degree parallel-connection robot with double acting platform structure |
| CN109531547A (en) * | 2018-12-26 | 2019-03-29 | 清华大学 | 3-dof parallel robot with two close cycles branched structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110576428A (en) | 2019-12-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737600B (en) | A kind of seven freedom transfer robot containing ball-screw moving platform | |
| US20110154936A1 (en) | Parallel robot | |
| NL2012160C2 (en) | ROBOT WITH DELTA CONNECTED IN SERIES. | |
| CN103552059B (en) | A kind of four-degree-of-freedom large-working space parallel robot mechanism towards Pick-and-Place operations | |
| CN105729462A (en) | Three-support chain six-degree-of-freedom parallel robot mechanism | |
| CN107186699B (en) | Parallel mechanism with two planar moving degrees of freedom | |
| CN101161428B (en) | Plane parallel mechanism with constrained branched chain and its extended mechanical hand | |
| US8429998B2 (en) | Parallel mechanism and moveable linkage thereof | |
| CN102699904B (en) | A kind of six degree of freedom three side chain parallel robot mechanism | |
| CN109531543A (en) | Four-freedom-degree parallel-connection robot with double acting platform structure | |
| CN203210372U (en) | Parallel robot | |
| CN103552058B (en) | Parallel metamorphic mechanism capable of achieving pure translation and pure rotation | |
| DE102012207191A1 (en) | Reconfigurable gripping member that can be attached to a robot arm | |
| CN102922512A (en) | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation | |
| CN109531547B (en) | Three-degree-of-freedom parallel robot with double closed-loop branched chain structure | |
| CN110576428B (en) | Over-constrained four-degree-of-freedom high-speed parallel robot | |
| CN103231362A (en) | Parallel robot | |
| CN104802154B (en) | A kind of four-degree-of-freedom high-speed parallel manipulator | |
| CN111168649A (en) | High-speed high-precision parallel robot | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN102554917A (en) | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation | |
| CN203293189U (en) | Dual translation parallel robot with separated driving branch and driven branch | |
| CN103846908B (en) | The flat one turn of high-speed parallel manipulator of four side chains three | |
| CN103231371B (en) | Parallel robot and parallelogram levers group thereof | |
| CN203210376U (en) | Parallel robot and parallelogram rod group thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |