CN113146587A - Single-layer single-section guide rail type plane robot with double parallelograms - Google Patents
Single-layer single-section guide rail type plane robot with double parallelograms Download PDFInfo
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- CN113146587A CN113146587A CN202110479672.5A CN202110479672A CN113146587A CN 113146587 A CN113146587 A CN 113146587A CN 202110479672 A CN202110479672 A CN 202110479672A CN 113146587 A CN113146587 A CN 113146587A
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- guide rail
- revolute pair
- connecting rod
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
A single-layer single-section guide rail type planar robot comprising double parallelograms comprises a fixed platform, a moving platform and three branched chains which are connected between the fixed platform and the moving platform and have the same structure, wherein a section of planar curve guide rail is arranged on the fixed platform, each branched chain comprises a sliding block, two connecting rods I which are arranged in parallel, two connecting rods II which are arranged in parallel and a connecting rod III, the sliding block is connected with the planar curve guide rail in a sliding mode, the sliding block is rotatably connected with one ends of the two connecting rods I through a rotating pair I, the other ends of the two connecting rods are rotatably connected with the connecting rod III through a rotating pair II, the two ends of the connecting rod III are rotatably connected with the two connecting rods II through a rotating pair II, and the other ends of the two connecting rods II are rotatably connected with the moving platform through a rotating pair III; three revolute pairs I consisting of one revolute pair I are selected from each branched chain and are used as main driving joints or three sliding blocks are used as driving links.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a single-layer single-section guide rail type plane robot with double parallelograms.
Background
The parallel robot has the characteristics of high rigidity, high bearing capacity, high precision, small motion load, easiness in inverse solution and the like, so that the parallel robot is widely applied to the aspects of motion simulators, virtual axis machine tools, somatosensory simulators, medical equipment, agricultural operation robots and the like.
For the research of the three-degree-of-freedom robot, a lot of scholars do a lot of work. The Yuesheng provides a plane parallel robot experimental device with 3 flexible hinges based on a 3-RRR parallel robot, and the device can enable a motion platform of a mechanism to realize movement along the direction of an axis X, Y and rotation around the direction of an axis Z. Herve successfully synthesizes a three-degree-of-freedom translational parallel robot, such as a 3-RRC parallel robot, based on lie group and lie algebra theory. The Huangzhen provides a comprehensive method of a parallel robot type with less degrees of freedom including a plurality of translational parallel robots with three degrees of freedom based on the principle of a spiral theory. Liqichuan utilizes a spiral theory to carry out symmetrical three-degree-of-freedom parallel robot type synthesis of the system. The peak integrates a plurality of symmetrical and asymmetrical three-freedom-degree translation parallel robots with novel structures based on GF set theory. In 2011, chenfengming et al provides a novel two-translation one-rotation RRR-URR-RR parallel robot, analyzes the motion output characteristics of the mechanism, calculates the degree of freedom, and establishes a positive and negative solution equation of the position of the parallel robot. In 2016, Jurwei et al, university of Changzhou invented a two-translation and one-rotation parallel robot, which realizes two-dimensional translation motion and one-dimensional rotation motion in space by driving a movable platform to move through three actively-driven moving pairs. In 2018, Yanshan university Liyangxi et al propose a two-translation and one-rotation 2RRR-CRR parallel robot, the mechanism only comprises a moving pair and a rotating pair (a cylindrical pair is formed by combining the moving pair and the rotating pair), and most of the mechanism is the rotating pair, so that the mechanism is simple in structure and the axis relation is easy to satisfy.
Although scholars at home and abroad provide more three-degree-of-freedom robot configuration schemes, the planar three-degree-of-freedom robot has different performance requirements in different application fields, so that the robot configuration types with two translational degrees of freedom and one rotational degree of freedom are provided as many as possible, and the method has important significance for the type selection of researchers in the field.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a single-layer single-section guide rail type plane robot with double parallelograms, which is novel in structure and has two translational degrees of freedom and one rotational degree of freedom.
The scheme is realized by the following technical measures: a single-layer single-section guide rail type planar robot comprising double parallelograms comprises a fixed platform, a moving platform and three branched chains which are connected between the fixed platform and the moving platform and have the same structure, wherein a section of planar curve guide rail is arranged on the fixed platform, each branched chain comprises a sliding block, two connecting rods I which are arranged in parallel, two connecting rods II which are arranged in parallel and a connecting rod III, the sliding block is connected with the planar curve guide rail in a sliding mode, the sliding block is rotatably connected with one ends of the two connecting rods I through a rotating pair I, the other ends of the two connecting rods are rotatably connected with the connecting rod III through a rotating pair II, the two ends of the connecting rod III are rotatably connected with the two connecting rods II through a rotating pair II, and the other ends of the two connecting rods II are rotatably connected with the moving platform through a rotating pair III; in a branched chain, the distance between a revolute pair I and a revolute pair II connected with two ends of one connecting rod I is equal to the distance between a revolute pair I and a revolute pair II connected with two ends of the other connecting rod I, and the distance between a revolute pair II and a revolute pair III connected with two ends of one connecting rod II is equal to the distance between a revolute pair II and a revolute pair III connected with two ends of the other connecting rod II; the axes of the six revolute pairs I are parallel to each other and are all perpendicular to the motion plane of the sliding block relative to the plane curve guide rail; the axes of the six revolute pairs II are parallel to each other and are all vertical to the motion plane of the sliding block relative to the plane curve guide rail I; the axes of the six revolute pairs III are parallel to each other and are all vertical to the motion plane of the sliding block relative to the plane curve guide rail I; three revolute pairs I consisting of one revolute pair I are selected from each branched chain and are used as main driving joints or three sliding blocks are used as driving links. The plane curve guide rail is an arc guide rail.
Compared with the prior art, the invention has the advantages that: a section of plane curve guide rail is introduced to the fixed platform and is matched with the sliding block, the revolute pair I, the connecting rod I, the revolute pair II, the connecting rod III and the revolute pair III for use, so that the robot is guaranteed to have the motion characteristics of two translational degrees of freedom and one rotational degree of freedom, the working space can be increased in a specific degree of freedom by increasing the length of the guide rail and/or the length of the connecting rod I and/or the connecting rod II, and the flexibility of robot design is improved; the sliding block, the two connecting rods I arranged in parallel and the connecting rod III can form a parallelogram structure, specifically, the rotating connection points of the two connecting rods I, the sliding block and the connecting rod III are four vertexes of a parallelogram, the moving platform, the two connecting rods II arranged in parallel and the connecting rod III can form a parallelogram structure, specifically, the rotating connection points of the two connecting rods II, the moving platform and the connecting rod III are four vertexes of a parallelogram, and the operation is stable; meanwhile, three revolute pairs I consisting of one revolute pair I are selected from each branched chain in the planar robot to serve as main driving joints or three sliding blocks serve as driving parts, so that the flexibility of robot driving mode selection is improved.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a fixed platform;
in the figure: 1-fixed platform, 1.1-plane curve guide rail, 2-slide block, 3-revolute pair I, 4-connecting rod I, 5-connecting rod II, 6-moving platform, 7-revolute pair II, 8-revolute pair III, 9-moving plane and 10-connecting rod III.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments and drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of this patent.
As shown in figure 1, a single-layer single-section guide rail type plane robot containing double parallelograms comprises a fixed platform 1, a moving platform 6 and three branched chains with the same structure connected between the fixed platform 1 and the moving platform 6, a section of plane curve guide rail 1.1 is arranged on the fixed platform 1, each branched chain comprises a slide block 2, two connecting rods I4 arranged in parallel, two connecting rods II 5 arranged in parallel and a connecting rod III 9, the slide block 2 is connected with a plane curve guide rail 1.1 in a sliding way, the slide block 2 is rotationally connected with one end of two connecting rods I4 through a revolute pair I3, the other end of the two connecting rods 4 is rotationally connected with a connecting rod III 9 through a revolute pair II 7, two ends of the connecting rod III 9 are rotatably connected with the two connecting rods II 5 through revolute pairs II 7, and the other ends of the two connecting rods II 5 are rotatably connected with the moving platform 6 through revolute pairs III 8; in a branched chain, the distance between a revolute pair I3 and a revolute pair II 7 connected with two ends of one connecting rod I4 is equal to the distance between a revolute pair I3 and a revolute pair II 7 connected with two ends of the other connecting rod I4, and the distance between the revolute pair II 7 and a revolute pair III 8 connected with two ends of one connecting rod II 5 is equal to the distance between the revolute pair II 7 and a revolute pair III 8 connected with two ends of the other connecting rod II 5; the axes of the six revolute pairs I3 are parallel to each other and are all vertical to a motion plane 9 of the sliding block 2 relative to the plane curve guide rail I1.1; the axes of the six revolute pairs II 7 are parallel to each other and are all vertical to a motion plane 9 of the sliding block 2 relative to the plane curve guide rail I1.1; the axes of the six revolute pairs III 8 are parallel to each other and are all vertical to a motion plane 9 of the sliding block 2 relative to the plane curve guide rail I1.1; three revolute pairs I3 consisting of one revolute pair I3 are selected on each branched chain and are used as main driving joints or three sliding blocks 2 are used as driving links; the three sections of plane curve guide rails 1.1 are arc guide rails with different circle centers. Preferably, the planar curved guide rail 1.1 is a circular arc guide rail.
In the technical scheme, the three branched chains with the same structure mean that components contained in the three branched chains and the connection relationship among the components are the same, but the sizes of the same components in the three branched chains can be different.
In the technical scheme, the plane curve guide rail 1.1 is used for the slide block 2 to do plane curve motion along the guide rail as the name implies.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features and inventive features disclosed herein.
Claims (2)
1. The utility model provides a contain two parallelogram's individual layer single-section guide tracked planar robot, includes fixed platform (1), motion platform (6) and connects three structurally the same branched chains between fixed platform (1) and motion platform (6), its characterized in that: the fixed platform (1) is provided with a section of plane curve guide rail (1.1), each branched chain comprises a sliding block (2), two parallel connecting rods I (4), two parallel connecting rods II (5) and a connecting rod III (9), the sliding block (2) is in sliding connection with the plane curve guide rail (1.1), the sliding block (2) is in rotating connection with one ends of the two connecting rods I (4) through a revolute pair I (3), the other ends of the two connecting rods (4) are in rotating connection with the connecting rod III (9) through a revolute pair II (7), the two ends of the connecting rod III (9) are in rotating connection with the two connecting rods II (5) through a revolute pair II (7), and the other ends of the two connecting rods II (5) are in rotating connection with the moving platform (6) through a revolute pair III (8); in a branched chain, the distance between a revolute pair I (3) and a revolute pair II (7) connected with the two ends of one connecting rod I (4) is equal to the distance between a revolute pair I (3) and a revolute pair II (7) connected with the two ends of the other connecting rod I (4), and the distance between the revolute pair II (7) and a revolute pair III (8) connected with the two ends of one connecting rod II (5) is equal to the distance between the revolute pair II (7) and a revolute pair III (8) connected with the two ends of the other connecting rod II (5); the axes of the six revolute pairs I (3) are parallel to each other and are all vertical to a movement plane (9) of the sliding block (2) relative to the plane curve guide rail (1.1); the axes of the six revolute pairs II (7) are parallel to each other and are all vertical to a movement plane (9) of the sliding block (2) relative to the plane curve guide rail I (1.1); the axes of the six revolute pairs III (8) are parallel to each other and are all vertical to a movement plane (9) of the sliding block (2) relative to the plane curve guide rail I (1.1); three revolute pairs I (3) consisting of one revolute pair I (3) are selected on each branched chain and are used as main driving joints or three sliding blocks (2) are used as driving components.
2. The single-layer single-section guide-rail type planar robot containing the double parallelograms of claim 1, wherein: the plane curve guide rail (1.1) is an arc guide rail.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110038353.0A CN112720422A (en) | 2021-01-12 | 2021-01-12 | Single-layer single-section guide rail type plane robot with double parallelograms |
| CN2021100383530 | 2021-01-12 |
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| Publication Number | Publication Date |
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| CN113146587A true CN113146587A (en) | 2021-07-23 |
| CN113146587B CN113146587B (en) | 2022-03-25 |
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| CN202110038353.0A Pending CN112720422A (en) | 2021-01-12 | 2021-01-12 | Single-layer single-section guide rail type plane robot with double parallelograms |
| CN202110479672.5A Active CN113146587B (en) | 2021-01-12 | 2021-04-30 | Single-layer single-section guide rail type plane robot with double parallelograms |
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| CN202110038353.0A Pending CN112720422A (en) | 2021-01-12 | 2021-01-12 | Single-layer single-section guide rail type plane robot with double parallelograms |
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2021
- 2021-01-12 CN CN202110038353.0A patent/CN112720422A/en active Pending
- 2021-04-30 CN CN202110479672.5A patent/CN113146587B/en active Active
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| CN102120205A (en) * | 2011-02-23 | 2011-07-13 | 常州大学 | Single-spray gun spraying five-axis hybrid robot |
| US20160114481A1 (en) * | 2014-10-27 | 2016-04-28 | Michele D'Egidio | Device for the movement and positioning of an element in space |
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| Publication number | Publication date |
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| CN112720422A (en) | 2021-04-30 |
| CN113146587B (en) | 2022-03-25 |
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