CN116803622B - High-speed high-precision parallel driving robot - Google Patents
High-speed high-precision parallel driving robot Download PDFInfo
- Publication number
- CN116803622B CN116803622B CN202311063542.9A CN202311063542A CN116803622B CN 116803622 B CN116803622 B CN 116803622B CN 202311063542 A CN202311063542 A CN 202311063542A CN 116803622 B CN116803622 B CN 116803622B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- execution
- driving
- branched chain
- rod
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 230000003068 static effect Effects 0.000 claims abstract description 23
- 230000007704 transition Effects 0.000 claims description 23
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Transmission Devices (AREA)
Abstract
The invention belongs to the field of robots, and discloses a high-speed high-precision parallel driving robot which comprises a static platform, a dynamic platform, a first driving branch, a second driving branch and an executing mechanism.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a high-speed high-precision parallel driving robot.
Background
In most industrial applications, in order to ensure part accuracy and production efficiency, the machining equipment needs to have five-axis linkage working capability. The principle configuration of the existing five-degree-of-freedom robot mainly comprises: the device comprises a serial mechanism, a parallel mechanism and a series-parallel mechanism. The serial mechanism is not suitable for high-speed and heavy-load working conditions, the parallel mechanism is not suitable for large-stroke working conditions, the effective load capacity of the serial-parallel mechanism can be drastically reduced along with the tail end working speed of the serial-parallel mechanism, and the application range is limited. Different from the series, parallel and series-parallel mechanisms, the mechanism composition form of the parallel driving mechanism is a mechanism which consists of an actuating mechanism and a driving mechanism both connected with the frame and connected with each other through at least one joint, wherein the actuating mechanism is a passive mechanism, and the driving mechanism is an active mechanism. Compared with a serial mechanism, a parallel mechanism and a parallel mechanism, the parallel driving mechanism has potential advantages in the aspects of working space, rigidity, load, dynamic characteristics and the like, is a new choice of robot configuration design, and is beneficial to realizing the improvement of the five-degree-of-freedom robot body configuration and the performance thereof from a configuration source.
Disclosure of Invention
In order to solve the technical problems, the invention provides a high-speed high-precision parallel driving robot, which solves the problems in the prior art, and the technical scheme adopted by the invention is as follows:
a high-speed high-precision parallel driving robot comprises a static platform, a movable platform, a first driving branch, a second driving branch and an executing mechanism; the two second driving branches are distributed at two ends of the static platform, each second driving branch comprises a rotation driving branched chain, a driving arm and a first connecting rod, the output end of each rotation driving branched chain is fixedly connected with the top of each driving arm, the bottom of each driving arm can be connected with the top of each first connecting rod in a biaxial rotation mode, and the bottom of each first connecting rod is connected with the movable platform; the first driving branch comprises a first linear driving branched chain, a second linear driving branched chain and a third rotating driving branched chain, wherein the first linear driving branched chain and the second linear driving branched chain are obliquely and symmetrically arranged and distributed on two sides of the third rotating driving branched chain, and the tops of the first linear driving branched chain and the second linear driving branched chain are rotatably connected with the static platform; the actuating mechanism comprises a first actuating connecting rod, a second actuating connecting rod, a third actuating connecting rod and two connecting mechanisms, wherein the first actuating connecting rod and the second actuating connecting rod are obliquely and symmetrically arranged, one opposite ends of the first actuating connecting rod and the second actuating connecting rod are rotatably connected with the bottom of the third actuating connecting rod, and one opposite ends of the first actuating connecting rod and the second actuating connecting rod are respectively connected with the movable platform through the connecting mechanisms; the bottoms of the first linear driving branched chain and the second linear driving branched chain are respectively and rotatably connected with a first execution connecting rod and a second execution connecting rod, and the top of the third execution connecting rod is rotatably connected with the bottom of the third rotary driving branched chain; the axes of the first linear driving branched chain, the second linear driving branched chain, the first execution connecting rod, the second execution connecting rod and the third execution connecting rod are positioned on the same plane, and the two second driving branches are symmetrically distributed on two sides of the plane.
Further, the second driving branch further comprises a second connecting rod, the top of the second connecting rod can be connected with the bottom of the driving arm in a biaxial rotation mode, and the bottom of the second connecting rod is connected with the moving platform;
the first connecting rods and the second connecting rods are distributed on two sides of the driving arms, and the driving arms are obliquely arranged.
Further, the second driving branch further comprises a lower connecting rod, the bottoms of the first connecting rod and the second connecting rod are respectively and rotatably connected with two ends of the lower connecting rod, and the middle part of the lower connecting rod is connected with the movable platform in a triaxial rotating manner.
Further, the rotation axes of the top and the bottom of the first linear driving branched chain, the rotation axes of the top and the bottom of the second linear driving branched chain and the rotation axes of the top and the bottom of the third executing connecting rod are arranged in parallel, and the rotation axes of the third rotating driving branched chain are horizontally arranged.
Further, the connecting mechanism comprises a connecting plate and a fourth execution connecting rod, wherein the top of the fourth execution connecting rod is rotatably connected with the bottom of the connecting plate;
the tops of the connecting plates on the two connecting mechanisms are respectively connected with the bottoms of the first execution connecting rod and the second execution connecting rod in a biaxial rotation manner;
the bottom of the fourth execution connecting rod on the two connecting mechanisms is rotatably connected with the top of the transition plate, and the bottom of the transition plate is rotatably connected with the top of the movable platform.
Further, the connecting mechanism further comprises a fifth execution connecting rod and a sixth execution connecting rod, the fifth execution connecting rod and the sixth execution connecting rod are obliquely arranged and symmetrically distributed on two sides of the fourth execution connecting rod, the tops of the fifth execution connecting rod and the sixth execution connecting rod are respectively connected with the bottom of the connecting plate in a two-axis rotating mode, the bottoms of the fifth execution connecting rod and the sixth execution connecting rod are respectively connected with the top of the transition plate in a three-axis rotating mode, and the two connecting mechanisms are symmetrically arranged.
Further, the movable platform comprises a first bottom rod, a second bottom rod and a third bottom rod which are horizontally arranged, two ends of the third bottom rod are respectively and fixedly connected with one ends of the first bottom rod and one end of the second bottom rod, and the first bottom rod and the second bottom rod are arranged in parallel and are perpendicular to the third bottom rod;
the top of the third bottom rod is rotatably connected with the bottom of the transition plate;
the bottoms of the first connecting rods on the two second driving branches are respectively connected with one ends of the first bottom rod and the second bottom rod which are opposite.
Further, the static platform is a rod body and is parallel to the plane where the first driving branch is located.
Further, the fifth execution connecting rod and the sixth execution connecting rod are located on the same plane and have the same length, the extension lines of the axes of the fifth execution connecting rod and the sixth execution connecting rod are intersected, and the lengths of the fourth execution connecting rod and the fifth execution connecting rod are unequal.
Further, the lengths of the first connecting rod and the second connecting rod are equal and are always parallel.
The invention has the following beneficial effects:
1. the invention provides a novel mechanism topological structure, which particularly comprises an executing mechanism and a driving mechanism which are both connected with a rack, wherein the driving mechanism is an active mechanism, and the executing mechanism is a passive mechanism. The driving mechanism comprises a first driving branch and a second driving branch, and is composed of five dispersed driving branched chains in parallel, so that the rigidity and the load capacity of the robot can be effectively improved. The actuating mechanism consists of a first actuating connecting rod, a second actuating connecting rod, a third actuating connecting rod and two groups of connecting mechanisms, and has the characteristic of large working space. Compared with the prior published patent, the invention changes the constraint space of the executing mechanism by reasonably designing and constraining, two connecting mechanisms in the executing mechanism are mutually coupled with six space staggered rod pieces, and the executing mechanism has obviously different mechanism topological structure characteristics;
2. each driving branched chain in the second driving branched chain has loop characteristics, and particularly, a closed multi-hinge driving branched chain configuration is provided, and the design scheme has the characteristics of strong constraint characteristic, high precision and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a front view;
FIG. 3 is a schematic diagram of a connection mechanism within an actuator;
FIG. 4 is a schematic illustration of the coupling mechanism constraint force rotation within an actuator;
in the figure: 101 first linear driving branched chain, 102 second linear driving branched chain, 103 third rotary driving branched chain, 201 rotary driving branched chain, 202 driving arm, 203 first connecting rod, 204 second connecting rod, 205 lower connecting rod, 2A (2B) second driving branched chain, 301 first executing connecting rod, 302 second executing connecting rod 302, 303 third executing connecting rod, 304 fourth executing connecting rod, 305 fifth executing connecting rod, 306 connecting plate, 307 transition plate, 308 sixth executing connecting rod, 4 static platform, 501 first bottom rod, 502 second bottom rod, 503 third bottom rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments, and the technical means used in the embodiments are conventional means known to those skilled in the art unless specifically indicated.
In the present invention, fig. 1 and 2 show a structure diagram of an initial pose of a robot, and for convenience of description, each azimuth word is described based on the initial pose, and it is understood that angles and orientations between each component change relatively after the robot moves.
A high-speed high-precision parallel driving robot comprises a static platform 4, a movable platform, a first driving branch, a second driving branch and an executing mechanism; the two second driving branches are arranged at two ends of the static platform 4, each second driving branch comprises a rotation driving branched chain 201, a driving arm 202 and a first connecting rod 203, the output end of each rotation driving branched chain 201 is connected with the top of each driving arm 202, the bottom of each driving arm 202 can be connected with the top of each first connecting rod 203 in a biaxial rotation manner, and the bottom of each first connecting rod 203 is connected with the movable platform; the first driving branch comprises a first linear driving branched chain 101, a second linear driving branched chain 102 and a third rotating driving branched chain 103, wherein the first linear driving branched chain 101 and the second linear driving branched chain 102 are obliquely and symmetrically arranged and distributed on two sides of the third rotating driving branched chain 103, and the tops of the first linear driving branched chain 101 and the second linear driving branched chain 102 are rotatably connected with the static platform 4; the actuating mechanism comprises a first actuating connecting rod 301, a second actuating connecting rod 302, a third actuating connecting rod 303 and two connecting mechanisms, wherein the first actuating connecting rod 301 and the second actuating connecting rod 302 are obliquely and symmetrically arranged, opposite ends of the first actuating connecting rod 301 and the second actuating connecting rod 302 are rotatably connected with the bottom of the third actuating connecting rod 303, and opposite ends of the first actuating connecting rod 301 and the second actuating connecting rod 302 are respectively connected with the movable platform through the connecting mechanisms; the bottoms of the first linear driving branched chain 101 and the second linear driving branched chain 102 are respectively and rotatably connected with a first execution connecting rod 301 and a second execution connecting rod 302, and the top of the third execution connecting rod 303 is rotatably connected with the bottom of the third rotary driving branched chain 103; the axes of the first linear driving branched chain 101, the second linear driving branched chain 102, the first execution link 301, the second execution link 302 and the third execution link 303 are located on the same plane, and the two second driving branches are symmetrically distributed on two sides of the plane.
The static platform 4 is positioned above, the movable platform is positioned below, the static platform 4 is used as a fixed component and used for playing a fixed supporting role in a robot system, the movable platform is used as a driven output component, the purpose of connecting corresponding joints and other components in the robot system is to realize five-degree-of-freedom motion.
Specifically, the first linear driving branched chain 101 and the second linear driving branched chain 102 form a V-shaped structure, and the interval between lower ends is smaller than the interval between upper ends; the first execution link 301 and the second execution link 302 form an inverted V-shaped structure, the top of the two and the bottom of the third execution link 303 are rotatably connected on an axis together, and the third execution link 303 is vertically arranged.
For convenience of description, the two second driving branches are named as a second driving branch 2A and a second driving branch 2B, the second driving branch 2A and the second driving branch 2B have the same structure and are symmetrically distributed, and are symmetrically distributed on two sides of a plane where the first driving branch is located, wherein the driving arms 202 on the two second driving branches form an inverted V-shaped structure, the upper end interval of the two driving branches is small, and the lower end interval of the two driving branches is large.
Further, the second driving branch further includes a second connecting rod 204, the top of the second connecting rod 204 is rotatably connected to the bottom of the driving arm 202 in a two-axis manner, and the bottom of the second connecting rod 204 is connected to a moving platform; the first connecting rod 203 and the second connecting rod 204 are distributed on two sides of the driving arm 202, and the driving arm 202 is obliquely arranged.
Further, the second driving branch further includes a lower connecting rod 205, bottoms of the first connecting rod 203 and the second connecting rod 204 are rotatably connected to two ends of the lower connecting rod 205, and a middle portion of the lower connecting rod 205 is rotatably connected to the movable platform in a triaxial manner.
Specifically, the first connecting rod 203 and the second connecting rod 204 are both obliquely arranged, and the first connecting rod and the second connecting rod are parallel to each other and form a certain included angle with the plane where the first driving branch is located.
Further, the rotation axes of the top and bottom of the first linear driving branch 101, the rotation axes of the top and bottom of the second linear driving branch 102, and the rotation axes of the top and bottom of the third actuating link 303 are disposed in parallel, and the rotation axis of the third rotary driving branch 103 is disposed horizontally.
Further, the connection mechanism includes a connection plate 306 and a fourth execution link 304, wherein a top of the fourth execution link 304 is rotatably connected to a bottom of the connection plate 306; the tops of the connecting plates 306 on the two connecting mechanisms are respectively connected with the bottoms of the first executing connecting rod 301 and the second executing connecting rod 302 in a biaxial rotation manner; a transition plate 307 is arranged below the two connecting mechanisms, the bottoms of the fourth actuating connecting rods 304 on the two connecting mechanisms are rotatably connected, and are rotatably connected with the top of the transition plate 307, and the bottoms of the transition plate 307 are rotatably connected with the top of the movable platform.
Specifically, the four actuating links 304 on the two connection mechanisms are symmetrically distributed and form a "V" shaped structure.
Further, the connection mechanism further includes a fifth execution link 305 and a sixth execution link 308, where the fifth execution link 305 and the sixth execution link 308 are disposed obliquely and symmetrically distributed on two sides of the fourth execution link 304, top parts of the fifth execution link 305 and the sixth execution link 308 are respectively connected with a bottom part of the connection plate 306 in a two-axis rotatable manner, bottom parts of the fifth execution link 305 and the sixth execution link 308 are respectively connected with a top part of the transition plate 307 in a three-axis rotatable manner, and two connection mechanisms are symmetrically disposed.
Specifically, in the two connection mechanisms, the bottom connecting lines of the two fourth execution links 304, the two fifth execution links 305 and the two sixth execution links 308 together form an "X" shaped structure, the center point of the "X" shaped structure is the bottom connecting position of the two fourth execution links 304, and the four end points of the "X" shaped structure are the bottom connecting positions of the two fifth execution links 305 and the two sixth execution links 308.
In addition, the fourth execution link 304, the fifth execution link 305 and the sixth execution link 308 in the single connecting mechanism are all obliquely arranged, the fifth execution link 305 and the sixth execution link 308 are located on the same plane, the fourth execution link 304 is parallel to the plane, and the fourth execution link 305 and the sixth execution link 308 in the single connecting mechanism are located at positions close to the middle of the two connecting mechanisms, and the fifth execution link 305 and the sixth execution link 308 in the single connecting mechanism are symmetrically distributed on two sides of the plane where the first driving branch is located.
Further, the movable platform comprises a first bottom rod 501, a second bottom rod 502 and a third bottom rod 503 which are horizontally arranged, wherein two ends of the third bottom rod 503 are respectively and fixedly connected with one ends of the first bottom rod 501 and the second bottom rod 502, and the first bottom rod 501 and the second bottom rod 502 are arranged in parallel and are vertical to the third bottom rod 503; the top of the third bottom bar 503 is rotatably connected to the bottom of the transition plate 307; the bottoms of the first connecting rods 203 on the two second driving branches are respectively connected with opposite ends of the first bottom rod 501 and the second bottom rod 502.
Further, the lower connecting rod 205 on the second driving branch 2A is connected to the first bottom rod 501 in a triaxial rotatable manner, and the lower connecting rod 205 on the second driving branch 2B is connected in a triaxial rotatable manner.
Further, the stationary platform 4 is a rod body and is parallel to the plane of the first driving branch.
Specifically, the rod body of the static platform 4 is in the same plane with the first driving branch, and the two sides of the two ends of the static platform 4 are respectively provided with the second driving branch 2A and the second driving branch 2B, so that the second driving branch 2A and the second driving branch 2B are positioned on the two sides of the plane, the rotation driving branched chain 201 is fixedly installed on the rod body of the static platform 4, the rotation axis is parallel to the rod body of the static platform 4, and the tops of the first linear driving branched chain 101 and the second linear driving branched chain 102 are rotatably connected with the two ends of the static platform 4.
Further, the fifth execution link 305 and the sixth execution link 308 are located on the same plane and have the same length, and the axis extension lines of the fifth execution link 305 and the sixth execution link 308 intersect, the planes of the fifth execution link 305 and the sixth execution link 308 are parallel, and the lengths of the fourth execution link 304 and the fifth execution link 305 are not equal.
Further, the lengths of the first connecting rod 203 and the second connecting rod 204 are equal and always parallel.
In the invention, the specific positional relationship involved is as follows:
the stationary platform 4, the first execution link 301, the second execution link 302, the third execution link 303, the first linear drive branch 101, and the second linear drive branch 102 lie on the same plane, which is designated as plane a for convenience of description, and the third rotary drive branch 103, although not on plane a, moves on this plane a as a direct output portion thereof by the third execution link 303.
The driving arms 202 of the two second driving branches form an included angle with the plane a respectively, in the parallel direction of the plane, the two driving arms 202 are distributed in an inverted V shape, so that the two driving arms 202 are symmetrically and obliquely arranged, in the axial length direction of the static platform 4, the two second driving branches are distributed at intervals, and the positions of the two second driving branches correspond to the positions of the two connecting plates 306.
The third actuating link 303 is located in the middle of the two second drive branches; the third execution link 303 is located at the middle position of the static platform 4; the bottoms of the first and second linear drive branches 101 and 102 are connected to intermediate positions of the first and second execution links 301 and 302, respectively.
In addition, the first execution link 301 is the same length as the second execution link 302, and the first bottom bar 501 and the second bottom bar 502 are the same length.
It will be understood that the invention is said to lie in the same plane, particularly the axes of the various components.
In the present invention, the rotational axis direction involved is specifically as follows:
the axis of rotation perpendicular to plane a is: the rotation axes of the top and bottom of the first and second linear driving branches 101 and 102, and the rotation axes of the bottom of the third execution link 303 are connected to the top of the first and second execution links 301 and 302.
The axis of rotation parallel to plane a is: the axis of rotation at the top of the actuator arm 202.
In the present invention, the connection members involved are specifically as follows:
the device is connected with a hinge seat, a rotating shaft, a pin shaft and the like through a revolute pair: the top of the first linear driving branched chain 101 and the second linear driving branched chain 102 are connected with the static platform 4, the first linear driving branched chain 101 and the second linear driving branched chain 102 are connected with the first execution connecting rod 301 and the second execution connecting rod 302 respectively, the top of the first execution connecting rod 301 and the second execution connecting rod 302 are connected with the bottom of the third execution connecting rod 303, the top of the fourth execution connecting rod 304 is connected with the connecting plate 306, the bottom of the fourth execution connecting rod 304 is connected with the transition plate 307, the bottom of the transition plate 307 is connected with the top of the third bottom rod 503, and the bottoms of the first connecting rod 203 and the second connecting rod 204 are connected with the lower connecting rod 205.
The three-axis rotation connection is realized through the spherical hinge: the connection of the bottom of the fifth execution link 305 with the transition plate 307, the connection of the bottom of the sixth execution link 308 with the transition plate 307, the connection of the lower connecting rod 205 on the second drive branch 2A with the first bottom rod 501, and the connection of the lower connecting rod 205 on the second drive branch 2B with the second bottom rod 502.
The two shafts are connected in a rotating way through the Hooke's joint: the connection of the top of the fifth execution link 305 with the connection plate 306, the connection of the top of the sixth execution link 308 with the connection plate 306, the connection of the bottom of the first execution link 301 and the second execution link 302 with the two connection plates 306, respectively, the connection of the top of the first connection rod 203 and the second connection rod 204 with the driving arm 202.
A high-speed high-precision parallel driving robot has the following characteristics in the initial pose:
the fourth actuator link 304 is located in plane a.
The first linear drive branch 101 and the second linear drive branch 102 are the same length.
The lower connecting rod 205 is parallel to the plane of the first drive branch.
The connection plates 306 and the transition plates 307 are horizontally distributed.
The two connecting mechanisms are symmetrically distributed on both sides of the third actuating link 303.
The rotational axes of the top and bottom of the fourth actuating link 304 are perpendicular to plane a.
The axis of rotation of the top of third bottom bar 503 is parallel to and lies on plane a;
the invention has the advantages of closed-loop branched chain and active and passive coupling chains, can realize the adjustment of the three-dimensional position and the two-dimensional gesture of the tail end, has the advantages of large working space, high precision, good rigidity and the like, and particularly comprises the following aspects:
1. the invention provides a novel mechanism topological structure, which particularly comprises an executing mechanism and a driving mechanism which are both connected with a rack, wherein the driving mechanism is an active mechanism, and the executing mechanism is a passive mechanism. The driving mechanism comprises a first driving branch and a second driving branch, and is composed of five dispersed driving branched chains in parallel, so that the rigidity and the load capacity of the robot can be effectively improved. The actuating mechanism consists of a first actuating connecting rod, a second actuating connecting rod, a third actuating connecting rod and two groups of connecting mechanisms, and has the characteristic of large working space. Compared with the prior published patent, the invention changes the constraint space of the executing mechanism by reasonably designing and constraining, two connecting mechanisms in the executing mechanism are mutually coupled by six space staggered rod pieces, and the executing mechanism has obviously different mechanism topological structure characteristics. The specific analysis is as follows:
as shown in fig. 3-4, the connecting mechanism connected to the second actuating link 302 assumes that the axis of the fourth actuating link 304 intersects the connecting plate 306 and the transition plate 307 at points C and D, respectively, the axis of the fifth actuating link 305 intersects the connecting plate 306 and the transition plate 307 at points a and B, respectively, and the axis of the sixth actuating link 308 intersects the connecting plate 306 and the transition plate 307 at points E and F, respectively. The CD is taken as plane P, which is perpendicular to AE. The connection to the second actuator link 302 includes a loop ABDC, a loop ABFE, and a loop CDFE. The connection mechanism connected to the second actuating link 302 further includes geometric features, in which the fifth actuating link 305 and the sixth actuating link 308 are coplanar and have equal lengths, the extension lines of the axes of the fifth actuating link 305 and the sixth actuating link 308 intersect, and the length of the fourth actuating link 304 is unequal to the length of the fifth actuating link 305. Based on the theory of helix, the constraint rotation of the linkage to the second actuator link 302 isCan be expressed as:
wherein the method comprises the steps ofForce constraint through point A and parallel to AB, +.>Is the passing point E and parallel toForce constraint of EF>Force constraint for passing point D and parallel to CD, +.>Force constraint being the passing point D and perpendicular to CD, and +.>Is parallel to plane P, +.>For couple constraint parallel to CD, +.>Is a couple constraint perpendicular to CD, and +.>Is parallel to plane P. In summary, the multi-ring kinematic chain formed by connecting two connecting mechanisms in the executing mechanism has over-constraint characteristics, so that the constraint characteristics of the whole mechanism can be improved.
2. Each driving branched chain in the second driving branched chain has loop characteristics, and particularly, a closed multi-hinge driving branched chain configuration is provided, and the design scheme has the characteristics of strong constraint characteristic, high precision and the like.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications, variations, alterations, substitutions made by those skilled in the art to the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (4)
1. A high-speed high-precision parallel driving robot is characterized in that: comprises a static platform (4), a movable platform, a first driving branch, a second driving branch and an executing mechanism;
the two second driving branches are distributed at two ends of the static platform (4), each second driving branch comprises a rotary driving branched chain (201), a driving arm (202) and a first connecting rod (203), the output end of each rotary driving branched chain (201) is fixedly connected with the top of each driving arm (202), the bottom of each driving arm (202) can be connected with the top of each first connecting rod (203) in a biaxial rotating manner, and the bottom of each first connecting rod (203) is connected with the movable platform;
the first driving branch comprises a first linear driving branched chain (101), a second linear driving branched chain (102) and a third rotating driving branched chain (103), wherein the first linear driving branched chain (101) and the second linear driving branched chain (102) are obliquely and symmetrically arranged and distributed on two sides of the third rotating driving branched chain (103), and the tops of the first linear driving branched chain (101) and the second linear driving branched chain (102) are rotatably connected with the static platform (4);
the actuating mechanism comprises a first actuating connecting rod (301), a second actuating connecting rod (302), a third actuating connecting rod (303) and two connecting mechanisms, wherein the first actuating connecting rod (301) and the second actuating connecting rod (302) are obliquely and symmetrically arranged, one opposite ends of the first actuating connecting rod and the second actuating connecting rod are rotatably connected with the bottom of the third actuating connecting rod (303), and one opposite ends of the first actuating connecting rod and the second actuating connecting rod are respectively connected with the movable platform through the connecting mechanisms;
the bottoms of the first linear driving branched chain (101) and the second linear driving branched chain (102) are respectively and rotatably connected with a first execution connecting rod (301) and a second execution connecting rod (302), and the top of the third execution connecting rod (303) is rotatably connected with the bottom of the third rotary driving branched chain (103);
the axes of the first linear driving branched chain (101), the second linear driving branched chain (102), the first execution connecting rod (301), the second execution connecting rod (302) and the third execution connecting rod (303) are positioned on the same plane, and the two second driving branches are symmetrically distributed on two sides of the plane;
the second driving branch further comprises a second connecting rod (204), the top of the second connecting rod (204) is connected with the bottom of the driving arm (202) in a biaxial rotation mode, and the bottom of the second connecting rod (204) is connected with the movable platform;
the first connecting rods (203) and the second connecting rods (204) are distributed on two sides of the driving arm (202), and the driving arm (202) is obliquely arranged;
the second driving branch further comprises a lower connecting rod (205), the bottoms of the first connecting rod (203) and the second connecting rod (204) are respectively and rotatably connected with two ends of the lower connecting rod (205), and the middle part of the lower connecting rod (205) is connected with a movable platform in a triaxial rotation manner;
the rotation axes of the top and the bottom of the first linear driving branched chain (101), the rotation axes of the top and the bottom of the second linear driving branched chain (102) and the rotation axes of the top and the bottom of the third execution connecting rod (303) are arranged in parallel, and the rotation axes of the third rotary driving branched chain (103) are horizontally arranged;
the connecting mechanism comprises a connecting plate (306) and a fourth execution connecting rod (304), wherein the top of the fourth execution connecting rod (304) is rotatably connected with the bottom of the connecting plate (306);
the tops of the connecting plates (306) on the two connecting mechanisms are respectively connected with the bottoms of the first execution connecting rod (301) and the second execution connecting rod (302) in a biaxial rotation manner;
a transition plate (307) is arranged below the two connecting mechanisms, the bottoms of the fourth execution connecting rods (304) on the two connecting mechanisms are rotatably connected, the bottoms of the transition plates (307) are rotatably connected with the top of the movable platform, and the bottoms of the transition plates (307) are rotatably connected with the top of the movable platform;
the movable platform comprises a first bottom rod (501), a second bottom rod (502) and a third bottom rod (503) which are horizontally arranged, wherein two ends of the third bottom rod (503) are respectively and fixedly connected with one ends of the first bottom rod (501) and the second bottom rod (502), and the first bottom rod (501) and the second bottom rod (502) are arranged in parallel and are perpendicular to the third bottom rod (503);
the top of the third bottom rod (503) is rotatably connected with the bottom of the transition plate (307);
the bottoms of the first connecting rods (203) on the two second driving branches are respectively connected with one ends of the first bottom rod (501) and the second bottom rod (502) which are opposite;
the lengths of the first connecting rod (203) and the second connecting rod (204) are equal and are always parallel.
2. The high-speed high-precision parallel drive robot of claim 1, wherein: the connecting mechanism further comprises a fifth execution connecting rod (305) and a sixth execution connecting rod (308), wherein the fifth execution connecting rod (305) and the sixth execution connecting rod (308) are obliquely arranged and symmetrically distributed on two sides of the fourth execution connecting rod (304), the tops of the fifth execution connecting rod (305) and the sixth execution connecting rod (308) are respectively connected with the bottom of the connecting plate (306) in a biaxial rotation mode, the bottoms of the fifth execution connecting rod (305) and the sixth execution connecting rod (308) are respectively connected with the top of the transition plate (307) in a triaxial rotation mode, and the two connecting mechanisms are symmetrically arranged.
3. The high-speed high-precision parallel drive robot of claim 1, wherein: the static platform (4) is a rod body and is parallel to the plane where the first driving branch is located.
4. A high-speed high-precision parallel drive robot according to claim 2, wherein: the fifth execution connecting rod (305) and the sixth execution connecting rod (308) are positioned on the same plane and have the same length, the axis extension lines of the fifth execution connecting rod and the sixth execution connecting rod are intersected, and the length of the fourth execution connecting rod (304) is not equal to the length of the fifth execution connecting rod (305).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311063542.9A CN116803622B (en) | 2023-08-23 | 2023-08-23 | High-speed high-precision parallel driving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311063542.9A CN116803622B (en) | 2023-08-23 | 2023-08-23 | High-speed high-precision parallel driving robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116803622A CN116803622A (en) | 2023-09-26 |
| CN116803622B true CN116803622B (en) | 2023-10-27 |
Family
ID=88079683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311063542.9A Active CN116803622B (en) | 2023-08-23 | 2023-08-23 | High-speed high-precision parallel driving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116803622B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753355A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Multi-axis linkage device capable of realizing five-surface machining |
| CN107553470A (en) * | 2017-10-11 | 2018-01-09 | 清华大学 | Parallel institution and its expansion multi-axis linkages with five degree of freedom |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN110216658A (en) * | 2019-06-12 | 2019-09-10 | 清华大学 | A kind of five degree of freedom parallel connection machining robot with four branches |
| CN110815183A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains |
| CN114227648A (en) * | 2022-01-06 | 2022-03-25 | 清华大学 | High-rigidity five-degree-of-freedom parallel drive robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243622B (en) * | 2017-08-10 | 2018-06-19 | 安徽理工大学 | Series parallel type moves heavily loaded foundry robot |
-
2023
- 2023-08-23 CN CN202311063542.9A patent/CN116803622B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753355A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Multi-axis linkage device capable of realizing five-surface machining |
| CN107553470A (en) * | 2017-10-11 | 2018-01-09 | 清华大学 | Parallel institution and its expansion multi-axis linkages with five degree of freedom |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN110216658A (en) * | 2019-06-12 | 2019-09-10 | 清华大学 | A kind of five degree of freedom parallel connection machining robot with four branches |
| CN110815183A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains |
| CN114227648A (en) * | 2022-01-06 | 2022-03-25 | 清华大学 | High-rigidity five-degree-of-freedom parallel drive robot |
Non-Patent Citations (1)
| Title |
|---|
| 3T-2R五自由度并联机构的型综合;唐卫星;马履中;石奇端;郁玉峰;;中国机械工程(20);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116803622A (en) | 2023-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN114227648B (en) | High-rigidity five-degree-of-freedom parallel driving robot | |
| CN101036986B (en) | Novel 3-DOF parallel manipulator having two-rotating and one-moving | |
| CN114227649B (en) | Three-movement two-rotation five-degree-of-freedom parallel driving robot | |
| CN203210372U (en) | Parallel robot | |
| CN107225559A (en) | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions | |
| CN110653799A (en) | Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN116803622B (en) | High-speed high-precision parallel driving robot | |
| CN106625591B (en) | Three-translation two-rotation five-degree-of-freedom parallel mechanism | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN116766164B (en) | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains | |
| CN106826767B (en) | Six-degree-of-freedom parallel mechanism based on grabbing parallel structure | |
| CN112008699A (en) | Complete decoupling two-rotation one-movement parallel mechanism | |
| CN116372894A (en) | Two-rotation one-movement redundant driving parallel mechanism based on composite hook hinge | |
| CN111267070B (en) | Six-freedom-degree parallel robot mechanism | |
| CN112571404B (en) | Six-degree-of-freedom decoupling series-parallel mechanism | |
| CN114378792A (en) | Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion | |
| CN110103202B (en) | Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism | |
| CN211193871U (en) | Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn | |
| CN109894883B (en) | Symmetrical three-axis parallel spindle head capable of rotating around fixed point | |
| CN210161141U (en) | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN113459071A (en) | Three-degree-of-freedom parallel robot | |
| CN106625614B (en) | Six-degree-of-freedom parallel mechanism based on differential driving structure | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism |
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 |