CN110774263A - Parallel mechanism with one swinging and one translation and working method thereof - Google Patents
Parallel mechanism with one swinging and one translation and working method thereof Download PDFInfo
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- CN110774263A CN110774263A CN201911036344.7A CN201911036344A CN110774263A CN 110774263 A CN110774263 A CN 110774263A CN 201911036344 A CN201911036344 A CN 201911036344A CN 110774263 A CN110774263 A CN 110774263A
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- telescopic device
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 238000013519 translation Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims description 7
- 230000000694 effects Effects 0.000 abstract description 14
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000004377 microelectronic Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
The invention belongs to the technical field of robots, and particularly relates to a parallel mechanism with one swinging and one translation, which comprises a base, a first telescopic device, a second telescopic device, a third telescopic device and a movable platform, wherein the movable platform is hinged with the base through the first telescopic device and the third telescopic device respectively; the first telescopic device and the third telescopic device are used for driving the movable platform to move; the second telescopic device is used for guiding the motion of the movable platform. Only two driving devices are needed, the translation and the swing are completed by using a simpler structure, the prior art is improved by innovating the structure, the number of parts is reduced, the same effect is achieved, and the advantages of large platform rigidity and high precision are reflected while the structure is simple.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a parallel mechanism with swinging and translation and a working method thereof.
Background
In the existing robot for the robotized work, there are two types of mechanisms: a series mechanism and a parallel mechanism. The series mechanism has the advantages of large working space and high flexibility, and simultaneously has some disadvantages: not only the error accumulation and the end precision of each rod piece are low, but also the inertia is large, the rigidity is low and the dynamic performance is poorer.
The parallel mechanism is a closed multiple-loop mechanism with multiple degrees of freedom of movement and with the actuators distributed over different loops. Compared with a series robot, the parallel robot has the advantages of high rigidity, strong bearing capacity, no accumulated position errors, high precision, small dead weight load, good moving performance and the like. Various devices based on parallel mechanisms are an important complement to traditional series devices and play an important role in many fields. At present, the parallel robot is mainly applied to the fields of medical surgical equipment, motion simulation, mechanical manufacturing, automatic assembly, precision machining and measurement, microelectronic manufacturing, entertainment industry and the like.
In the prior art, the mechanism is mostly a parallel mechanism combining two, three and four degrees of freedom, the mechanism is complex, the stability of the mechanism during working is poor, and the working requirement that only swinging and translation are combined cannot be met.
In conclusion, the related art has defects and needs to be improved.
Disclosure of Invention
One of the objects of the present invention is: aiming at the defects of the prior art, the parallel mechanism with one swinging and one translation is provided, only two driving devices are needed under the condition of realizing the equal translation and swinging effects, the translation and the swinging are completed by using a simpler structure, the prior art is improved through the innovation of the structure, the number of parts is reduced, the same effect is achieved, and the advantages of large platform rigidity and high precision are embodied while the structure is simple.
In order to achieve the purpose, the invention adopts the following technical scheme:
a swing-translation parallel mechanism comprises a base, a first telescopic device, a second telescopic device, a third telescopic device and a movable platform, wherein the movable platform is hinged with the base through the first telescopic device and the third telescopic device respectively; the first telescopic device and the third telescopic device are used for driving the movable platform to move; the second telescopic device is used for guiding the up-and-down motion of the movable platform; the second telescopic mechanism is connected with the movable platform through a pin shaft. In practical application, the mechanism is fixed through the base, and the base provides a supporting force; in the work, the first telescopic device and the third telescopic device do corresponding telescopic motion, and the second telescopic device does telescopic motion passively, so that the movable platform does up-and-down translation and swing. Only two driving devices are needed, the translation and the swing are completed by using a simpler structure, the prior art is improved by innovating the structure, the number of parts is reduced, the same effect is achieved, and the advantages of large platform rigidity and high precision are reflected while the structure is simple.
As an improvement of the swing-translation parallel mechanism, the first telescopic device is a cylinder, a hydraulic cylinder or an electric push rod. Besides, the first telescopic device can be other equipment capable of achieving the same effect, and can be flexibly arranged according to actual conditions.
As an improvement of the swing-translation parallel mechanism of the present invention, the second telescopic device is a telescopic guide mechanism. Besides, the second telescopic device can be other equipment capable of achieving the same effect, and can be flexibly arranged according to actual conditions.
As an improvement of the swing-translation parallel mechanism, the third telescopic device is a cylinder, a hydraulic cylinder or an electric push rod. Besides, the third telescopic device can be other equipment capable of achieving the same effect, and can be flexibly arranged according to actual conditions.
As an improvement of the swing-translation parallel mechanism, the base is in the shape of
Type T or type Y. In practical application, the shape of the base can be various, and the base can be flexibly arranged according to practical conditions.
The second purpose of the invention is: aiming at the defects of the prior art, the working method of the parallel mechanism with one swinging and one translation is also provided to improve the working stability and efficiency of the parallel mechanism.
In order to achieve the above object, the present invention provides a working method of a parallel mechanism with swinging and translation, comprising the following steps:
the first telescopic device and the third telescopic device do telescopic motion, and the second telescopic device does telescopic motion passively, so that the movable platform does up-and-down translation and swing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram in an embodiment of the present invention;
wherein: 1-a base; 2-a first telescopic device; 3-a second telescoping device; 4-a third telescoping device; 5-moving the platform; 6-pin shaft.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, within which a person skilled in the art can solve the technical problem to substantially achieve the technical result.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail below with reference to the accompanying drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1, a parallel mechanism with one swing and one translation includes a base 1, a first telescopic device 2, a second telescopic device 3, a third telescopic device 4 and a movable platform 5, wherein the movable platform 5 is hinged to the base 1 through the first telescopic device 2 and the third telescopic device 4, the end of the second telescopic device 3 is fixedly connected to the base 1, the middle of the movable platform 5 is hinged to the end of the second telescopic device 3, and the first telescopic device 2 and the third telescopic device 4 are disposed on two sides of the second telescopic device 3. In practical application, the mechanism is fixed through the base 1, and the base 1 provides a supporting force; in the work, the first telescopic device and the third telescopic device do telescopic motion, and the second telescopic device does telescopic motion passively, so that the movable platform does up-and-down translation and swing; the mechanism only needs two driving devices under the condition of realizing the same translation and swing effects, and uses a simpler and symmetrical structure to finish translation and swing, the prior art is improved through innovation of the structure, the number of parts is reduced to achieve the same effect, and the mechanism has the advantages of simple structure, high platform rigidity and high precision.
Preferably, the first telescopic device 2 is used for driving the movable platform 5 to move. In operation, the first telescopic device 2 is activated.
Preferably, the first telescopic device 2 is a cylinder, a hydraulic cylinder or an electric push rod. Besides, the first telescopic device 2 can be other devices which can achieve the same effect, and can be flexibly arranged according to actual conditions.
Preferably, the second telescopic device 3 is used for guiding the movement of the movable platform 5. In operation, the second telescopic device 3 plays a role of guiding and is a driven mechanism.
Preferably, the second telescopic device 3 is a telescopic guide mechanism. Besides, the second telescopic device 3 can be other devices which can achieve the same effect, and can be flexibly arranged according to actual conditions.
Preferably, the third telescopic device 4 is used for driving the movable platform 5 to move. In operation, the third telescopic device 4 is activated.
Preferably, the third expansion device 4 is a cylinder, a hydraulic cylinder or an electric push rod. Besides, the third telescopic device 4 may be other devices capable of achieving the same effect, and may be flexibly set according to actual conditions.
Preferably, the second telescopic mechanism is connected with the movable platform 5 through a pin shaft 6. The structural design is beneficial to the swinging of the movable platform 5.
Preferably, the base 1 has a shape of
Type T or type Y. In practical application, the shape of the base 1 can be various, and the base can be flexibly arranged according to practical situations.
The working principle of the invention is as follows: in practical application, the mechanism is fixed through the base 1, and the base 1 provides a supporting force; in the work, the first telescopic device and the third telescopic device do telescopic motion, the second telescopic device does telescopic motion passively, the movable platform does up-and-down translation and swing, the mechanism only needs two driving devices under the condition of achieving the same translation and swing effects, a simpler and symmetrical structure is used for completing the translation and swing, the prior art is improved through innovation of the structure, the number of parts is reduced, the same effect is achieved, the advantages of large platform rigidity and high precision are reflected while the structure is simple, and the work efficiency is improved.
Example 2
As shown in fig. 1, an embodiment 1 is a working method of a swing-translation parallel mechanism, including the following steps:
when the movable platform 5 is translated up and down, the first telescopic device 2 and the third telescopic device 4 do telescopic motion, the telescopic amount of the first telescopic device 2 is the same as that of the third telescopic device 4, and the second telescopic device 3 is driven to do telescopic motion to push the movable platform 5 to do up and down translation;
when swinging, the first telescopic device 2 and the third telescopic device 4 do asynchronous telescopic motion, the telescopic amount of the first telescopic device 2 is different from that of the third telescopic device 4, the telescopic amount of the second telescopic device 3 is kept unchanged, and the movable platform 5 is pushed to swing left and right;
in practical application, the translation and the swing can be performed simultaneously or separately.
The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A swing-translation parallel mechanism is characterized in that: the device comprises a base (1), a first telescopic device (2), a second telescopic device (3), a third telescopic device (4) and a movable platform (5), wherein the movable platform (5) is hinged with the base (1) through the first telescopic device (2) and the third telescopic device (4) respectively, the end part of the second telescopic device (3) is fixedly connected with the base (1) and is hinged with the middle part of the movable platform (5) respectively, and the first telescopic device (2) and the third telescopic device (4) are arranged on two sides of the second telescopic device (3) respectively; the first telescopic device (2) and the third telescopic device (4) are used for driving the movable platform (5) to move; the second telescopic mechanism (3) is connected with the movable platform (5) through a pin shaft (6).
2. A swing-to-translation parallel mechanism as claimed in claim 1, wherein: the first telescopic device (2) and the third telescopic device (4) are cylinders, hydraulic cylinders or electric push rods.
3. A swing-to-translation parallel mechanism as claimed in claim 1, wherein: the second telescopic device (3) is a telescopic guide mechanism.
4. A swing-to-translation parallel mechanism as claimed in claim 1, wherein: the shape of the base (1) is reverse U-shaped, T-shaped or Y-shaped.
5. A working method of a parallel mechanism with swinging and translation is characterized by comprising the following steps:
the first telescopic device (2) and the third telescopic device (3) do telescopic motion, so that the translation and the swing of the movable platform are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911036344.7A CN110774263A (en) | 2019-10-29 | 2019-10-29 | Parallel mechanism with one swinging and one translation and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911036344.7A CN110774263A (en) | 2019-10-29 | 2019-10-29 | Parallel mechanism with one swinging and one translation and working method thereof |
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| CN110774263A true CN110774263A (en) | 2020-02-11 |
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| CN201911036344.7A Pending CN110774263A (en) | 2019-10-29 | 2019-10-29 | Parallel mechanism with one swinging and one translation and working method thereof |
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| CN103215631A (en) * | 2013-04-23 | 2013-07-24 | 清华大学 | Driving-redundancy automobile coating conveyor |
| CN103273481A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with two-degree-of-free translation function |
| CN103286772A (en) * | 2013-05-31 | 2013-09-11 | 扬州大学 | Series-parallel combined mechanism for guiding object to rotate around virtual center |
| CN205614647U (en) * | 2016-03-30 | 2016-10-05 | 燕山大学 | Two degree of freedom spherical surface parallel mechanism of high rigidity |
| WO2017008889A1 (en) * | 2015-07-14 | 2017-01-19 | Dürr Systems Ag | Coating plant robot, in particular manipulating robot |
| CN106811789A (en) * | 2015-12-01 | 2017-06-09 | 江苏长虹智能装备集团有限公司 | A kind of automobile coating conveyor based on serial-parallel mirror mechanism |
| CN206254173U (en) * | 2016-11-30 | 2017-06-16 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of four-freedom parallel mechanism |
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2019
- 2019-10-29 CN CN201911036344.7A patent/CN110774263A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN1589191A (en) * | 2001-12-31 | 2005-03-02 | 天津大学 | Planar parallel robot mechanism with two translational degrees of freedom |
| CN1560896A (en) * | 2004-03-12 | 2005-01-05 | 清华大学 | Target tray oblique scanning moving mechanism in ion implantaton apparatus |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN101161428A (en) * | 2007-11-16 | 2008-04-16 | 清华大学 | Plane parallel mechanism with constrained branched chain and its widening robot unit |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| CN103215631A (en) * | 2013-04-23 | 2013-07-24 | 清华大学 | Driving-redundancy automobile coating conveyor |
| CN103286772A (en) * | 2013-05-31 | 2013-09-11 | 扬州大学 | Series-parallel combined mechanism for guiding object to rotate around virtual center |
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Application publication date: 20200211 |