CN110653799A - Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn - Google Patents

Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn Download PDF

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Publication number
CN110653799A
CN110653799A CN201910912989.6A CN201910912989A CN110653799A CN 110653799 A CN110653799 A CN 110653799A CN 201910912989 A CN201910912989 A CN 201910912989A CN 110653799 A CN110653799 A CN 110653799A
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CN
China
Prior art keywords
branch
rod
pair
movable platform
arm
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.)
Pending
Application number
CN201910912989.6A
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Chinese (zh)
Inventor
曹文熬
景自强
丁华锋
张德
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China University of Geosciences
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China University of Geosciences
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Publication date
Application filed by China University of Geosciences filed Critical China University of Geosciences
Priority to CN201910912989.6A priority Critical patent/CN110653799A/en
Publication of CN110653799A publication Critical patent/CN110653799A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

Abstract

The invention discloses a three-branch non-overconstrained high-speed parallel robot with three shifts and one turn, which comprises a rack, a movable platform, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected between the rack and the movable platform; the first branch comprises a parallelogram coupling driving assembly, a fourth revolute pair, a third driven rod, a fifth revolute pair and a universal hinge assembly from the rack to the movable platform in sequence; the second branch and the third branch are sequentially provided with a driving motor III, a third expansion sleeve component, a third driving arm, a 4S parallelogram component and a sixth revolute pair from the rack to the movable platform. The invention has the advantages that: the four-degree-of-freedom motion is realized through the three branches without over-constraint, the inertia of the mechanism is reduced, the branch structure is simple, the working space is large, the assembly is simple, the movable platform can realize forward and reverse 180-degree rotation, and no odd-position exists in the working space.

Description

Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn
Technical Field
The invention relates to the technical field of robots, in particular to a three-branch non-overconstrained high-speed parallel robot with three movements and one rotation.
Background
The development time of the parallel robot is short, but the parallel robot has the advantages of more and more obvious unique advantages, high movement speed, no accumulated error, higher precision, compact structure and high rigidity. In recent years, such mechanisms have been receiving more and more attention, and with the increasing requirements of industrial manufacturing, there are higher requirements for the motion space, motion flexibility, branch structure and the like of the parallel robot.
The existing three-rotation one-movement parallel robot is mainly based on an over-constrained parallel mechanism with a four-branch structure. The invention patent with the publication number of CN106002936A provides a three-translation one-rotation parallel robot platform manipulator, which adopts four branched chains, two opposite branched chains are unconstrained SSP or SPS branched chains, and the other two opposite branched chains adopt a complex double parallelogram connecting rod structure, so that the structure is complex and the assembly is difficult. The invention patent with the publication number of CN1772442A provides a four-degree-of-freedom parallel robot mechanism with three-dimensional translation and one-dimensional rotation, the robot also adopts four branches to realize four-degree-of-freedom motion, each branch comprises a moving pair, two Hooke hinges and a branch rod, the branch structure is simple, the problem of rod crossing exists, and the realization of the moving pair is difficult. The invention patent with publication number CN102922511A provides a three-shift one-turn four-branch symmetrical parallel structure, the robot is composed of a movable platform, a fixed platform and four branch chains with the same structure connecting the movable platform and the fixed platform, the branch chains adopt motors to drive driving connecting rods, the driving connecting rods are connected with the upper ends of parallelogram mechanisms containing four revolute pairs through the revolute pairs, the lower ends of the parallelogram mechanisms are connected with the upper ends of connecting pieces through the revolute pairs, and the lower ends of the connecting pieces are connected with the movable platform through the revolute pairs. The utility model discloses a utility model patent of publication No. CN207710785U provides a three commentaries on classics one transfer parallelly connected letter sorting robot that moves with whole gyration ability, and this robot is improved for the invention patent of publication No. CN102922511A, passes through revolute pair with lower connecting rod and worker shape connecting rod and is connected, and worker shape connecting rod and terminal executive device pass through the screw pair and connect, and two relative branches share a screw pair and worker shape connecting rod, and two other branches use another group worker shape connecting rod and revolve to opposite screw pair. The robot adopts the four-branch over-constraint mechanism, the number of branches is large, interference in the motion process is easy to occur, and therefore the working space is small and the assembly is complex.
The invention patent with publication number CN108393871A provides a high-speed high-load parallel robot, which comprises a movable platform, a moving platform and three same branches connecting the fixed platform and the movable platform, wherein the branches adopt a motor to drive a parallelogram second moving rod piece connected through a revolute pair, and a middle connecting rod is respectively connected with the parallelogram second moving rod piece and the moving platform through two U pairs. The invention patent with publication number CN108544479A proposes a three-branch four-degree-of-freedom robot with three-dimensional movement and one-dimensional rotation, which comprises a base, a motion platform and three parallel branches, wherein each branch is composed of two H-shaped rods parallel to each other at the upper part and two H-shaped rods parallel to each other at the lower part, a telescopic rod is connected in parallel on each branch, and two ends of the telescopic rod are respectively connected with the second end of the branch base and the middle-lower part of the first H-shaped rod close to the second end of the branch base in a rotating manner. The two parts adopt three branches to realize four degrees of freedom, the three branches can only realize three-dimensional movement and can not realize one-dimensional rotation through three-motor driving, if the four-degree-of-freedom movement needs to be improved on the existing mechanism, a rotating connecting rod needs to be added between the two platforms, the requirement on the structure of the connecting rod is very strict, and the working space of the mechanism can be limited; the mechanism can realize four-degree-of-freedom motion through three branches, but the mechanism adopts a complex connecting rod structure, increases the whole weight, causes load reduction, is not beneficial to improving the production efficiency, limits the moving range of the telescopic rod, and reduces the working space of the robot.
The mechanism of the invention relates to a four-degree-of-freedom parallel mechanism, which improves some problems of the existing four-degree-of-freedom parallel robot and further embodies the advantages of the four-degree-of-freedom parallel robot.
Disclosure of Invention
The invention aims to provide a three-branch non-overconstrained high-speed parallel robot with three shifts and one turn, aiming at the prior technical situation, wherein the robot has a simple branch structure and a large working space, a movable platform can realize forward and reverse 180-degree rotation, and no odd or abnormal positions exist in the working space.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-branch non-overconstrained high-speed parallel robot with three shifts and one turn comprises a rack, a movable platform, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected between the rack and the movable platform; the first branch comprises a parallelogram coupling driving assembly, a fourth revolute pair, a third driven rod, a fifth revolute pair and a universal hinge assembly from the rack to the movable platform in sequence; the parallelogram coupling driving assembly comprises a first driving motor, a first expansion sleeve part, a first driving arm, a second driving motor, a second expansion sleeve part, a second driving arm, a first rotating pair, a second rotating pair, a first driven arm, a third rotating pair and a second driven arm; the first driving arm is fixedly connected with the first driving motor through a first expansion sleeve part, the second driving arm is fixedly connected with the second driving motor through a second expansion sleeve part, the first driven arm is connected with the first driving arm through a first revolute pair, the second driven arm is connected with the second driving arm through a second revolute pair, and the first driven arm is connected with the second driven arm through a third revolute pair; the second driven arm is connected with a third driven rod through a fourth revolute pair, and the third driven rod is connected with the universal hinge assembly through a fifth revolute pair; the axis of the first driving motor, the axis of the second driving motor, the axis of the first rotating pair, the axis of the second rotating pair and the axis of the third rotating pair are parallel to each other; the axis of the fourth rotating pair is perpendicular to the rotating axes of all joints of the parallelogram coupling driving assembly and the central line of the third driven rod; the axis of the fifth revolute pair is superposed with the central line of the third driven rod and passes through the geometric center of the universal hinge assembly; the axis of the universal hinge assembly close to the revolute pair of the movable platform is vertical to, parallel to or obliquely crossed with the plane where the movable platform is located; the second branch and the third branch are sequentially provided with a driving motor III, a third expansion sleeve component, a third driving arm, a 4S parallelogram component and a sixth revolute pair from the rack to the movable platform; the 4S parallelogram component comprises a ball pair connecting rod, a left connecting rod, a right connecting rod, a T-shaped connecting rod and four ball pair components; one end of the third driving arm is fixedly connected with the driving motor through a third expansion sleeve component, the other end of the third driving arm is fixedly connected with a ball pair connecting rod, and two sides of the ball pair connecting rod are respectively connected with one end of the left connecting rod and one end of the right connecting rod through a ball pair component; two sides of the upper end of the T-shaped connecting rod are respectively connected with the other end of the left connecting rod and the other end of the right connecting rod through ball pair assemblies, and the lower end of the T-shaped connecting rod is connected with the movable platform through a sixth revolute pair; and the axis of the sixth revolute pair is vertical to the plane of the movable platform.
The invention has the advantages that: the four-degree-of-freedom motion is realized through the three branches without over-constraint, the inertia of the mechanism is reduced, the branch structure is simple, the working space is large, the assembly is simple, the movable platform can realize forward and reverse 180-degree rotation, and no odd-position exists in the working space.
Drawings
FIG. 1 is a perspective view of a high speed parallel robot according to the present invention;
FIG. 2 is a perspective view of a first leg of the present invention;
fig. 3 is a perspective view of a second and third branch of the present invention.
Description of the labeling: 1. the robot comprises a frame, 2, a movable platform, 3, a parallelogram coupling driving assembly, M1, a driving motor I, M2, a driving motor II, M3, a driving motor III, Z1, a first expansion sleeve component, Z2, a second expansion sleeve component, Z3, a third expansion sleeve component, 31, a first driving arm, 32, a second driving arm, 33, a first driven arm, 34, a second driven arm, 4, a third driven rod, 5, a third driving arm, 6, 4S parallelogram assemblies, 61, a ball pair connecting rod, 62, a left connecting rod, 63, a right connecting rod, 64, T-shaped connecting rod, I, a first branch, II, a second branch, III, a third branch, R1, a first rotating pair, R2, a second rotating pair, R3, a third rotating pair, R4, a fourth rotating pair, R5, a fifth rotating pair, R6, a sixth rotating pair, U1, a universal joint assembly and a S hinge assembly.
Detailed Description
Referring to fig. 1-3, a three-branch non-overconstrained high-speed parallel robot with three shifts and one turn includes a frame 1, a movable platform 2, and a first branch i, a second branch ii and a third branch iii connected between the frame 1 and the movable platform 2, wherein the second branch ii and the third branch iii have the same structure and connection mode; the first branch I sequentially comprises a parallelogram coupling driving assembly 3, a fourth revolute pair R4, a third driven rod 4, a fifth revolute pair R5 and a universal hinge assembly U1 from the rack 1 to the movable platform 2; the parallelogram coupling driving assembly 3 comprises a first driving motor M1, a first expansion sleeve part Z1, a first driving arm 31, a second driving motor M2, a second expansion sleeve part Z2, a second driving arm 32, a first revolute pair R1, a second revolute pair R2, a first driven arm 33, a third revolute pair R3 and a second driven arm 34; the first driving arm 31 is fixedly connected with a first driving motor M1 through a first expansion sleeve part Z1, the second driving arm 32 is fixedly connected with a second driving motor M2 through a second expansion sleeve part Z2, the first driven arm 33 is connected with the first driving arm 31 through a first revolute pair R1, the second driven arm 34 is connected with the second driving arm 32 through a second revolute pair R2, and the first driven arm 33 is connected with the second driven arm 34 through a third revolute pair R3; the second driven arm 34 is connected with the third driven rod 4 through a fourth revolute pair R4, and the third driven rod 4 is connected with the universal hinge assembly U1 through a fifth revolute pair R5; the axis of the first driving motor M1, the axis of the second driving motor M2, the axis of the first rotating pair R1, the axis of the second rotating pair R2 and the axis of the third rotating pair R3 are parallel to each other; the axis of the fourth revolute pair R4 is perpendicular to the rotation axis of each joint of the parallelogram coupling driving assembly 3 and the central line of the third driven rod 4; the axis of the fifth revolute pair R5 is coincident with the central line of the third driven rod 4 and passes through the geometric center of the universal hinge assembly U1; the axis of the universal hinge component U1 close to the revolute pair of the movable platform 2 is vertical to, parallel to or obliquely crossed with the plane of the movable platform 2, and the axis of the universal hinge component U1 close to the revolute pair of the movable platform 2 shown in FIG. 1 is vertical to the plane of the movable platform 2; the second branch II and the third branch III sequentially comprise a driving motor III M3, a third expansion sleeve component Z3, a third driving arm 5, a 4S parallelogram component 6 and a sixth revolute pair R6 from the rack 1 to the movable platform 2; the 4S parallelogram component 6 comprises a ball pair connecting rod 61, a left connecting rod 62, a right connecting rod 63, a T-shaped connecting rod 64 and four ball pair components S; one end of the third driving arm 5 is fixedly connected with a driving motor III M3 through a third expansion sleeve component Z3, the other end of the third driving arm 5 is fixedly connected with a ball pair connecting rod 61, and two sides of the ball pair connecting rod 61 are respectively connected with one end of the left connecting rod 62 and one end of the right connecting rod 63 through a ball pair component S; two sides of the upper end of the T-shaped connecting rod 64 are respectively connected with the other end of the left connecting rod 62 and the other end of the right connecting rod 63 through a ball pair assembly S, and the lower end of the T-shaped connecting rod 64 is connected with the movable platform 2 through a sixth revolute pair R6; the axis of the sixth revolute pair R6 is perpendicular to the plane of the movable platform 2.
It should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, therefore, all equivalent changes in the principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. A three-branch non-overconstrained high-speed parallel robot with three shifts and one turn is characterized in that: the device comprises a rack, a movable platform, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected between the rack and the movable platform; the first branch comprises a parallelogram coupling driving assembly, a fourth revolute pair, a third driven rod, a fifth revolute pair and a universal hinge assembly from the rack to the movable platform in sequence; the parallelogram coupling driving assembly comprises a first driving motor, a first expansion sleeve part, a first driving arm, a second driving motor, a second expansion sleeve part, a second driving arm, a first rotating pair, a second rotating pair, a first driven arm, a third rotating pair and a second driven arm; the first driving arm is fixedly connected with the first driving motor through a first expansion sleeve part, the second driving arm is fixedly connected with the second driving motor through a second expansion sleeve part, the first driven arm is connected with the first driving arm through a first revolute pair, the second driven arm is connected with the second driving arm through a second revolute pair, and the first driven arm is connected with the second driven arm through a third revolute pair; the second driven arm is connected with a third driven rod through a fourth revolute pair, and the third driven rod is connected with the universal hinge assembly through a fifth revolute pair; the axis of the first driving motor, the axis of the second driving motor, the axis of the first rotating pair, the axis of the second rotating pair and the axis of the third rotating pair are parallel to each other; the axis of the fourth rotating pair is perpendicular to the rotating axes of all joints of the parallelogram coupling driving assembly and the central line of the third driven rod; the axis of the fifth revolute pair is superposed with the central line of the third driven rod and passes through the geometric center of the universal hinge assembly; the axis of the universal hinge assembly close to the revolute pair of the movable platform is vertical to, parallel to or obliquely crossed with the plane where the movable platform is located; the second branch and the third branch are sequentially provided with a driving motor III, a third expansion sleeve component, a third driving arm, a 4S parallelogram component and a sixth revolute pair from the rack to the movable platform; the 4S parallelogram component comprises a ball pair connecting rod, a left connecting rod, a right connecting rod, a T-shaped connecting rod and four ball pair components; one end of the third driving arm is fixedly connected with the driving motor through a third expansion sleeve component, the other end of the third driving arm is fixedly connected with a ball pair connecting rod, and two sides of the ball pair connecting rod are respectively connected with one end of the left connecting rod and one end of the right connecting rod through a ball pair component; two sides of the upper end of the T-shaped connecting rod are respectively connected with the other end of the left connecting rod and the other end of the right connecting rod through ball pair assemblies, and the lower end of the T-shaped connecting rod is connected with the movable platform through a sixth revolute pair; and the axis of the sixth revolute pair is vertical to the plane of the movable platform.
CN201910912989.6A 2019-09-25 2019-09-25 Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn Pending CN110653799A (en)

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CN201910912989.6A CN110653799A (en) 2019-09-25 2019-09-25 Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111438683A (en) * 2020-04-10 2020-07-24 燕山大学 Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111438683A (en) * 2020-04-10 2020-07-24 燕山大学 Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation
CN111438683B (en) * 2020-04-10 2021-05-14 燕山大学 Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation

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