CN1857875A - Three-translation and one-rotation parallel mechanism - Google Patents
Three-translation and one-rotation parallel mechanism Download PDFInfo
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Abstract
The three-translation and one-rotation parallel mechanism consists of one static platform, one movable platform and four moving branch chains. The first and the third branch chains have their swinging control arms connected separately through one rotation pair II or IV to the static platform and the parallelogram hinge, which is connected via the rotation pair VII to the movable platform. The second and the fourth branch chains have their swinging control arms connected separately to the rotation pair II or IV. The rotation axis of the rotation pair I connecting the four branch chains and the static platform is in the XOY plane. Between the rotation pair II and IV and the movable platform, there are one increased connecting rod and one rotation pair IX, and the connecting rod is connected to the rotation pair VII and the movable platform via the rotation pair IX. The axis of the rotation pair IX is perpendicular to that of the rotation pair VII, and coaxial or heteroaxial arrangement may be adopted.
Description
Technical field
This invention relates to a kind of novel three translations, a four-freedom parallel mechanism that rotates, can be used as industrial robot and parallel machine movement executing mechanism.It belongs to Robotics and numerical control machining equipment technical field.
Background technology
The Delta parallel robot is at first proposed and is applied for a patent by the Clavel of Lausanne, SUI engineering college (EPFL).See also shown in Figure 1ly, the structure of this mechanism is by silent flatform 1, moving platform 12 and is connected three movement branched chain moving 1, silent flatform 12 and constitutes.The pivot center of the revolute pair 2 that its three side chains are connected with silent flatform is arranged symmetrically on the silent flatform plane, and the structure of three movement branched chain is identical.Every side chain is by revolute pair 2,4,5,7, swing control arm 3, and the quadric chain of parallelogram--parallelogram hinge 6 connects to form.Swing control arm 3 links to each other with silent flatform 1, parallelogram hinge 6 respectively by revolute pair 2, revolute pair 4, and parallelogram hinge 6 links to each other with moving platform 12 by revolute pair 7.The closed quadric chain of the parallelogram that parallelogram hinge 6 is made up of by revolute pair 5 two long, two short two pairs of connecting rods (every pair bar long equate respectively), the axis normal of revolute pair 5 is in the quadrangular plan of four connecting rods composition, as Fig. 3 A institute; Also can be connected four connecting rods by two revolute pairs and two balls pairs.Angle can change between long connecting rod in the parallelogram hinge 6 and the short connecting rod, shown in Fig. 3 B; But between the long connecting rod, the total maintenance, be parallel to each other between the short connecting rod.Revolute pair 4,7 places the place, centre position of the short connecting rod of parallelogram hinge 5.The operation principle of Delta parallel robot is: the driving swing control arm 2 of motor or other driver is done the swing repeatedly of certain angle, drives 6 motions of parallelogram hinge then.Three 6 opening and closing of parallelogram hinge, translation and rotational motions drive the translational motion that moving platform 12 is realized three coordinate directions.Be fixed with the working end of robot on the moving platform 12, can handle the parts on the working end by the motor on the silent flatform 1 by the mechanism in the scalable sleeve.The characteristics of this parallel robot are: moving component is light, and acceleration can be up to 12g, is adapted at the little (article of 1g ~ 1kg) of carrying quality in diameter 1000mm, the height 200mm working range.Switzerland Demaurex company has bought this patent and in addition commercialization in 1987, develop series of products such as Pack-Placer, Line-Placer.In recent years, Sweden ABB group company and the Japan smart machine of day power company have also released novel robot and the high-speed drilling machine of picking and placeing according to the Delta robot.At present, the Delta parallel robot has been widely used in the fields such as assembling of cosmetics, food and pharmaceutical packing box electronic product.
Because Delta robot motion modular construction is simple, light weight and motion structure are reasonable in design, thereby makes the Delta robot that the fast outstanding advantage of acceleration be arranged.But the moving platform of Delta robot can only be realized translational motion at 3 coordinate directions, can not realize rotational motion.If a kind of mechanism not only has the above-mentioned advantage of Delta robot, and its moving platform has rotational motion, and the motion of the working end on the moving platform will be more flexible so, and this mechanism just can adapt to more that the multiplex (MUX) makes occasion, satisfied requirement more widely.
The pluses and minuses of the above-mentioned Delta of foundation robot, by publish thesis IEEE/ASME international conference in 1999 " H4:a new family of 4-dof parallel robots " such as Francois Pierrot one type new mechanism has been proposed: the H4 robot construction as shown in Figure 2, this mechanism between last silent flatform and following moving platform, be connected with four with Delta mechanism in the identical kinematic chain of movement branched chain structure.These four kinematic chains are not directly to be connected on the moving platform, but per two kinematic chains connect side link 10.Connecting rod rest 10 is connected on the moving platform by revolute pair 11.The pivot center of two revolute pairs 11 is perpendicular to the moving platform plane.The moving platform of H4 mechanism has along translational motion on three directions and the rotational motion of winding perpendicular to silent flatform plane turning cylinder.
Summary of the invention
The objective of the invention is: for overcome the Delta robot can only translational motion limitation, can be used for the four-degree-of-freedom high-speed motion of industrial robot and Digit Control Machine Tool movement executing mechanism, the parallel institution of class Delta robot but design one one kinds of the present invention.
The present invention adopts following technological means to realize:
A kind of three-translation and one-rotation parallel mechanism is made of silent flatform (1), moving platform (12) and four movement branched chain; Described four movement branched chain are arranged on around the silent flatform, wherein, the swing control arm (3) of first and third side chain links to each other with silent flatform (1), parallelogram hinge (6) by revolute pair (2), (4) respectively, and parallelogram hinge (6) links to each other with moving platform (12) by revolute pair (7); The second, the swing control arm (3) of four side chains is connected respectively to revolute pair (2), (4); Coordinate system o-xyz is set up in the geometric center position of silent flatform, the x axle points to the center position of the revolute pair (2) of the 3rd side chain, the y axle points to the center of the second side chain revolute pair (2), the z axle determined by the right-hand rule, and the pivot center of the revolute pair (1) that four side chains are connected with silent flatform is arranged on the xoy of plane; Side link (8) and revolute pair (9) have been increased between the revolute pair of described second, four side chains (2), (4) and the moving platform (12); Side link (8) connects revolute pair (7) and links to each other with moving platform (12) by revolute pair (9): four side chain one ends link to each other with silent flatform (1) by swing control arm (3), swing control arm (3) connects parallelogram hinge (6), the other end of side chain is to be linked to each other with moving platform (12) by revolute pair (7) by parallelogram hinge (6) on first and third side chain, parallelogram hinge (6) on second, four side chains connects side link (8), is connected to moving platform by side link (8) by revolute pair (9).
The present invention can also adopt following technological means to realize:
A kind of three-translation and one-rotation parallel mechanism, the axis of the revolute pair of the 3rd side chain (2) is parallel with the axis of the first side chain revolute pair (2), and the axis of the revolute pair of the 4th side chain (2) is parallel with the axis of the second side chain revolute pair (2); The axis of the revolute pair of first and second side chain (2) is vertical mutually; The pivot center of revolute pair (2), (4), (7) remains and is parallel to each other in every side chain.
The axis normal of the revolute pair of aforesaid second, four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
The axis normal of the revolute pair of aforesaid second, four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
The present invention compared with prior art has following remarkable advantages and beneficial effect:
Simple, the unbranched interference of mechanism structure, the position working space is big.The motion of mechanism parts are light, the acceleration height.Can only the D translation motion compare with Delta mechanism, this mechanism increases a rotational freedom, makes that the working end on the moving platform is more flexible.Can implementation space three translations, a rotational motion, and rotate is that regular rotational motion-its pivot center remains parallel, described translational motion be an object in spatial movement, line of any point-to-point transmission remains parallel motion on it in motion process.If be connected in series a cradle head with the working end, just can realize the free degree motion of end effector at moving platform.
Description of drawings
Fig. 1 is a prior art Delta parallel-connection structure robot;
Fig. 2 is a prior art H4 parallel-connection structure robot;
Fig. 3 is a prior art parallelogram hinge arrangement sketch;
Fig. 4 is the parallel-connection structure robot that four-degree-of-freedom is rotated in the present invention's three translations;
Fig. 5 is the rotation schematic diagram that the parallel-connection structure robot of four-degree-of-freedom is rotated in the present invention's three translations;
Fig. 6 is first and third movement branched chain of the novel parallel institution of Fig. 4 of the present invention;
Fig. 7 is second, four movement branched chain of the novel parallel institution of Fig. 4 of the present invention;
Fig. 8 is second kind of embodiment that the parallel-connection structure robot of four-degree-of-freedom is rotated in the present invention's three translations.
The specific embodiment
Below in conjunction with accompanying drawing specific embodiments of the invention are illustrated:
Three-translation and one-rotation parallel mechanism of the present invention, can implementation space three translations, a rotational motion, and rotate is that regular rotational motion-its pivot center remains parallel, described translational motion be an object in spatial movement, line of any point-to-point transmission remains parallel motion on it in motion process.A kind of novel parallel institution of the present invention can be realized moving and rotation around the y axle along x, y, three reference axis of z.
The operation principle of this parallel institution is as described below: an end of swing control arm under the driving of motor or other actuator, drives the swing repeatedly that the swing control arm is made certain angle by revolute pair and silent flatform.The motion of swing control arm drives flat shape quadrangle hinge movement, and the parallelogram hinge translation on second, four side chains, rotation etc. move through revolute pair and drive side link.Side link on first and third side chain on parallelogram hinge and second, four side chains by with moving platform on the revolute pair that links to each other control the moving of moving platform, rotational motion jointly.The working end that can the stationary machines people on the moving platform or the cutter of lathe finish in the industrial production to pick and place tasks such as cutter drilling, cutting by the working end.
Embodiment one;
Fig. 4 is a specific embodiments one of the present invention.As can be seen from the figure, on the foursquare silent flatform 1 of revolute pair 2 symmetric arrangement that four movement branched chain are connected with silent flatform 1, wherein, first and third branched structure sees also shown in Figure 6; As can be seen from the figure, the structure of first side chain, swing control arm 3 links to each other with silent flatform 1, parallelogram hinge 6 respectively by revolute pair 2, revolute pair 5, revolute pair 2, the 5 axis layout that is parallel to each other.Revolute pair 7 connects parallelogram hinge 6 and moving platform 12, and its axis is parallel to revolute pair 2 axis.The structure of the 3rd side chain is identical with first side chain, and the axis of its turning cylinder that links to each other with silent flatform 2 is parallel to each other.
The second, four branched structures see also shown in Figure 7; Wherein revolute pair 2 axis are vertical mutually, second branched structure, and itself and the first side chain difference are to have increased side link 8 and revolute pair 9 between revolute pair 7 and moving platform 12.The structure of the 4th side chain is identical with the structure of second side chain, and revolute pair 2 axis that two side chains are connected with silent flatform are parallel to each other, and revolute pair 9 axis coaxles are arranged on the moving platform plane in two side chains, and is parallel to revolute pair 2 axis of first side chain.
This mechanism is made of silent flatform 1, moving platform 12, four movement branched chain, and four movement branched chain are arranged in around the silent flatform, as shown in Figure 1.Seeing also shown in Figure 6ly, is the structure of first and third side chain: as can be seen from the figure, swing control arm 3 links to each other with silent flatform 1, parallelogram hinge 6 respectively by revolute pair 2,4, and parallelogram hinge 6 passes through revolute pair 7 and links to each other with moving platform 12.
See also as shown in Figure 7, it is the structure of second, four side chains, as can be seen from the figure, structural similarity with first and third side chain, difference is to have increased side link 8 and revolute pair 9 in revolute pair 7 and 12 of moving platforms, and side link 8 connects revolute pair 7 and links to each other with moving platform 12 by revolute pair 9.
See also shown in Figure 4ly, set up coordinate system o-xyz in rectangle silent flatform geometric center position, the x axle points to the center position of the revolute pair 2 of the 3rd side chain, and the y axle points to the center of the second side chain revolute pair 2, and the z axle is determined by the right-hand rule.Article four, the pivot center of the revolute pair 1 that is connected with silent flatform of side chain is arranged on the xoy of plane.
A kind of novel parallel institution of the present invention, the axis of the revolute pair 2 of the 3rd side chain is parallel with the axis of the first side chain revolute pair 2, and the axis of the revolute pair 2 of the 4th side chain is parallel with the axis of the second side chain revolute pair 2.The axis of the revolute pair 2 of first and second side chain is vertical mutually.The pivot center of revolute pair 2,4,7 is parallel to each other all the time in the side chain.
The axis normal of the revolute pair 9 of above-mentioned second, four side chains in the axis of side chain revolute pair 7 separately, can take axis coaxle as shown in Figure 4, perhaps axis out-of-alignment arrangement as shown in Figure 8, but the axis of two revolute pairs 9 must parallelly be assemblied on the moving platform 12 and keep parallel with the first movement branched chain revolute pair, 2 axis.。
Embodiment two
Introduce axis out-of-alignment embodiment below, see also shown in Figure 8ly, be another embodiment of the present invention, the building block of its each side chain and connection order are constant.Difference be in second, four side chains revolute pair 9 axis be not coaxial arrangement on moving platform, but all keep parallel with revolute pair 2 axis of first side chain.Coaxial and the pluses and minuses of out-of-alignment arrangement on mechanism performance are: the scenario-frame symmetry of coaxial arrangement, and the moving platform mean forced, the mechanism kinematic precision is higher, error is less; But because the tail end connecting rod 8 of two, four movement branched chain of mechanism remains translation, two, four side chains do not play influence for the rotational motion of moving platform, so the flexible performance of the rotation of mechanism is not strong.The mechanism of disalignment arrangement is asymmetric, the stressed inequality of moving platform, and its kinematic accuracy is lower, error is bigger; But, because four movement branched chain are all influential to the rotational motion of moving platform, so the rotational motion of mechanism is sensitive.
It should be noted that at last: above embodiment only in order to the explanation the present invention and and unrestricted technical scheme described in the invention; Therefore, although this specification has been described in detail the present invention with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the present invention; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of invention, and it all should be encompassed in the middle of the claim scope of the present invention.
Claims (4)
1, a kind of three-translation and one-rotation parallel mechanism is made of silent flatform (1), moving platform (12) and four movement branched chain; Described four movement branched chain are arranged on around the silent flatform, wherein, the swing control arm (3) of first and third side chain links to each other with silent flatform (1), parallelogram hinge (6) by revolute pair (2), (4) respectively, and described parallelogram hinge (6) links to each other with moving platform (12) by revolute pair (7); The second, the swing control arm (3) of four side chains is connected respectively to revolute pair (2), (4); It is characterized in that:
Coordinate system o-xyz is set up in the geometric center position of described silent flatform, the x axle points to the center position of the revolute pair (2) of the 3rd side chain, the y axle points to the center of the second side chain revolute pair (2), the z axle determined by the right-hand rule, and the pivot center of the revolute pair (1) that four side chains are connected with silent flatform is arranged on the xoy of plane; Side link (8) and revolute pair (9) have been increased between the revolute pair of described second, four side chains (2), (4) and the moving platform (12); Side link (8) connects revolute pair (7) and links to each other with moving platform (12) by revolute pair (9): four side chain one ends link to each other with silent flatform (1) by swing control arm (3), swing control arm (3) connects parallelogram hinge (6), the other end of side chain is to be linked to each other with moving platform (12) by revolute pair (7) by parallelogram hinge (6) on first and third side chain, parallelogram hinge (6) on second, four side chains connects side link (8), is connected to moving platform by side link (8) by revolute pair (9).
2, a kind of three-translation and one-rotation parallel mechanism according to claim 1, it is characterized in that: the axis of the revolute pair of the 3rd side chain (2) is parallel with the axis of the first side chain revolute pair (2), and the axis of the revolute pair of the 4th side chain (2) is parallel with the axis of the second side chain revolute pair (2); The axis of the revolute pair of first and second side chain (2) is vertical mutually; The pivot center of revolute pair (2), (4), (7) remains and is parallel to each other in every side chain.
3, three-translation and one-rotation parallel mechanism according to claim 1 and 2, it is characterized in that: the second, the axis normal of the revolute pair of four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
4, three-translation and one-rotation parallel mechanism according to claim 3, it is characterized in that: the second, the axis normal of the revolute pair of four side chains (9) in the axis of side chain revolute pair (7) separately, take axis out-of-alignment arrangement, the axis of two revolute pairs (9) is parallel to be assemblied in moving platform (12) and to go up and keep parallel with first movement branched chain revolute pair (2) axis.
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| CN201907121U (en) * | 2010-12-29 | 2011-07-27 | 天津大学 | Three-dimensional translational and one-dimensional rotational parallel mechanism |
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| JP2000097306A (en) * | 1998-09-24 | 2000-04-04 | Olympus Optical Co Ltd | Parallel link mechanism |
| JP2000210831A (en) * | 1999-01-22 | 2000-08-02 | Seiko Seiki Co Ltd | Parallel mechanism |
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| CN100439050C (en) * | 2003-10-28 | 2008-12-03 | 燕山大学 | Fine vernier parallel 3D travel mechanism including screw pair |
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