CN203245873U - Two-degree-of-freedom translational parallel robot mechanism for high-speed transportation - Google Patents
Two-degree-of-freedom translational parallel robot mechanism for high-speed transportation Download PDFInfo
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- CN203245873U CN203245873U CN 201320122048 CN201320122048U CN203245873U CN 203245873 U CN203245873 U CN 203245873U CN 201320122048 CN201320122048 CN 201320122048 CN 201320122048 U CN201320122048 U CN 201320122048U CN 203245873 U CN203245873 U CN 203245873U
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Abstract
A two-degree-of-freedom translational parallel robot mechanism for high-speed transportation comprises a machine frame (1), a movable platform (2) and three branch chains. The first branch chain and the second branch chain are identical and are respectively composed of three rotary pairs with parallel axes, the two rotary pairs directly connected with the machine frame (1) are arranged as driving pairs, and a drive motor is arranged. The robot mechanism is characterized in that the third branch chain is a driven branch chain, a parallelogram mechanism limits the movable platform (2) to move in a translational mode, and the first branch chain and the second branch chain are driven branch chains to limit the degree of freedom of rotation of the movable platform. Due to the fact that one branch chain composed of the parallelogram mechanism limits the degree of freedom of rotation of the movable platform, the movable platform can only move in a translational mode at two-degree of freedom under limiting of other two branch chains. The two-degree-of-freedom translational parallel robot mechanism has the advantages of being simple and reliable in structure, low in manufacturing and maintenance cost, large in acceleration borne by the movable platform, easy to control and the like, and particularly suitable for high-speed transportation requiring two-degree-of-freedom translation only.
Description
Technical field
The utility model belongs to industrial robot theory of mechanisms field, particularly a kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation.
Background technology
Automation production flow line in industries such as food, electronics, light industry, medicine; often can relate to some such as biscuit, little, the transport operation of quality light product between 2 o'clock of resin lens equal-volume; this transport operation generally needs high speed, to meet the beat of production line.
At present, industrially be applied in the comparatively ripe industrial machine people of this occasion and teach the delta robot of utility model for Switzerland clavel, the delta end effector of robot generally has three translations or three translations, a rotational freedom.The Delta robot has higher handling efficiency, but mechanism is comparatively complicated, wherein contains the kinematic pairs such as ball pivot, Hooke hinge, moving sets, and manufacturing cost and maintenance cost are higher.In point-to-point high speed transport operation occasion, do not require that the parallel robot end effector has three or three above frees degree, a kind of two-degrees-of-freedom translation parallel robot mechanism simple in structure, low cost of manufacture is more suitable.
Summary of the invention
The purpose of this utility model is to provide the two-degrees-of-freedom translation parallel robot mechanism that a kind of simple and reliable for structure, manufacturing and maintenance cost are low, be easy to control, be applicable to the high speed transport operation.
A kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation, formed by frame, moving platform and three side chains, article first and second, side chain is identical, formed by three parallel revolute pairs of axis, wherein be made as driving pair with direct-connected two revolute pairs of frame, drive motors is installed, and first and second side chains are arranged in the frame both sides, and symmetrical in frame central; Connecting rod I, III and connecting rod II, IV form connection frame and moving platform forms first and second side chains; Connecting rod V, VI connection frame and moving platform form parallel-crank mechanism, consist of the 3rd side chain, it is characterized in that: described the 3rd side chain is driven side chain, parallel-crank mechanism constraint moving platform is done translation, article first and second, side chain is driven side chain, the rotational freedom of constraint moving platform.
Between described frame and the connecting rod, between connecting rod and the connecting rod, all connect with turning joint between connecting rod and the moving platform.
Also be provided with the 4th side chain between described frame and the moving platform, rack-mounted drive motors rotates by the end effector that rotating shaft drives on the moving platform, and two-degree of freedom translation and the single-degree-of-freedom of constraint moving platform rotate.
Described connecting rod V, VI, rotating shaft and frame form first parallel-crank mechanism of the 3rd side chain, the connecting rod VII, connecting rod VIII, rotating shaft and moving platform form second parallel-crank mechanism of the 3rd side chain, the common edge of two parallel-crank mechanisms is rotating shaft, and two parallel-crank mechanism constraint moving platforms are done translation.
Described connecting rod V, VI, VII, VIII form parallel four limit mechanisms with frame, moving platform and consist of the 3rd side chain, form moving sets between connecting rod V and the connecting rod VII, form moving sets between connecting rod VI and the connecting rod VIII, flexible member can extend or compress equably, is connected between the moving sets of connecting rod V, VII and connecting rod VI, VIII formation, and connecting rod V, VII and connecting rod VI, the displacement of VIII moving sets are equated, one side of parallelogram can change, and enlarges the working space of moving platform.
The utility model,Article three, have in the side chain two identical, be symmetrically arranged in the frame both sides, retrained the rotational freedom of moving platform with a side chain that is formed by parallel-crank mechanism, make moving platform under the constraint of two other side chain, only can do the two-degree of freedom translation motion.Only contain turning joint in the mechanism, do not contain other kinematic pairs such as ball pivot, Hooke hinge, have simple and reliable for structure, make that maintenance cost is low, moving platform can bear acceleration large, be easy to the advantage such as control, only needing to be particularly suitable for the high speed transport operation of two-degree of freedom translation.
Description of drawings
Fig. 1 is the basic configuration of the utility model parallel robot mechanism.
Fig. 2 is the extension configuration one of the utility model parallel robot mechanism.
Fig. 3 is the extension configuration two of the utility model parallel robot mechanism.
Fig. 4 is the extension configuration three of the utility model parallel robot mechanism.
Among the figure: 1 frame, 2 moving platforms, 3 connecting rod I, 4 connecting rod II, 5 connecting rod III, 6 connecting rod IV, 7 connecting rod V, 8 connecting rod VI, 9 rotating shafts, 9-1 flexible member, 10 connecting rod VII, 11 connecting rod VIII.
The specific embodiment
A kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation, formed by frame 1, moving platform 2 and three side chains, article first and second, side chain is identical, formed by three parallel revolute pairs of axis, wherein be made as driving pair with direct-connected two revolute pairs of frame, drive motors is installed, and first and second side chains are arranged in the frame both sides, and symmetrical in frame central; Connecting rod I 3, connecting rod III 5 and connecting rod II 4, connecting rod IV 6 form connection frame and moving platform 2 forms first and second side chains; Connecting rod V 7, connecting rod VI 8 connection frames 1 and moving platform 2 shape parallel-crank mechanisms, consist of the 3rd side chain, the 3rd side chain is driven side chain, and parallel-crank mechanism constraint moving platform 2 is done translation, article first and second, side chain is driven side chain, the rotational freedom of constraint moving platform 2.
Embodiment 1:
As shown in Figure 1, be the basic configuration of the utility model parallel robot mechanism.Frame 1 keeps motionless, and moving platform 2 can be made two-degree of freedom translation.Connecting rod I 3, connecting rod III 5 and connecting rod II 4, connecting rod IV 6 form connection frame and moving platform 2 forms first and second side chains.Connecting rod V 7, connecting rod VI 8 connection frames 1 and moving platform 2 shape parallel-crank mechanisms consist of the 3rd side chain.Article three, side chain is driven side chain, and parallel-crank mechanism constraint moving platform 2 is done translation.
Embodiment 2:
Showing such as Fig. 2, is the extension configuration one of the utility model parallel robot mechanism.Frame 1 keeps motionless, and moving platform 2 can be made two-degree of freedom translation.Connecting rod I 3, connecting rod III 5 and connecting rod II 4, connecting rod IV 6 form connection frame and moving platform 2 forms first and second side chains.Connecting rod V 7, connecting rod VI 8 connection frames 1 and moving platform 2 form parallel-crank mechanism, consist of the 3rd side chain.Article three, side chain is driven side chain, and parallel-crank mechanism constraint moving platform 2 is done translation.
On this basis, introduce the 4th side chain, rack-mounted drive motors rotates by the end effector 10 that rotating shaft 9 drives on the moving platform 2.This mechanism can realize that two-degree of freedom translation and single-degree-of-freedom rotate.
Embodiment 3:
Showing such as Fig. 3, is the extension configuration two of the utility model parallel robot mechanism.Frame 1 keeps motionless, and moving platform 2 can be made two-degree of freedom translation.Connecting rod I 3, III 5 and connecting rod II 4, IV 6 form connection frame 1 and moving platform 2 forms first and second side chains.Connecting rod V 7, connecting rod VI 8, connecting rod VII 10, connecting rod VIII 11 and frame 1 form first parallel-crank mechanism of the 3rd side chain, connecting rod V 7, connecting rod VI 8, connecting rod VII 10, connecting rod VIII 11 and moving platform 2 form second parallel-crank mechanism of the 3rd side chain, and the common edge of two parallel-crank mechanisms is rotating shaft 9.Two parallel-crank mechanism constraint moving platforms 2 are done translation.
Embodiment 4:
Showing such as Fig. 4, is the extension configuration three of the utility model parallel robot mechanism.1 is frame, keeps motionless, and 2 is moving platform, can make two-degree of freedom translation.Connecting rod I 3, III 5 and connecting rod II 4, IV 6 form connection frame 1 and moving platform 2 forms first and second side chains.Connecting rod V 7, connecting rod VI 8, connecting rod VII 10, connecting rod VIII 11 form parallel four limit mechanisms with frame 1 with moving platform 2 and consist of the 3rd side chain.Form moving sets between connecting rod V 7 and the connecting rod VII 10, form moving sets between connecting rod VI 8 and the connecting rod VIII 11.Be flexible member 9-1, can extend equably or compress, be connected between the moving sets of connecting rod V 7, connecting rod VI 8, connecting rod VII 10,11 formation of connecting rod VIII, to guarantee.Connecting rod V 7, connecting rod VI 8, connecting rod VII 10, the 11 moving sets displacements of connecting rod VIII equate, keep parallel-crank mechanism.Article three, side chain is being kept on the basis of parallel-crank mechanism, and one side of parallelogram allows to change, and can enlarge like this working space of moving platform.
Because drive motors is installed on the frame, and be symmetrically arranged in the frame both sides, this mechanism structurally has good symmetry, mechanism is in motion process, the inertia of drive motors is little on the dynamic performance impact, connecting rod quality is little, and moving platform can bear larger acceleration, helps the high speed transport operation.
This mechanism only contains revolute pair, do not contain manufacturing and the higher kinematic pairs of maintenance cost such as ball pair, Hooke hinge, moving sets, but this mechanism only needs the just driving mechanism motion of two drive motors, the high speed carrying parallel robot cost of being made by this mechanism is low, simple and reliable for structure, be easy to control.
Claims (5)
1. two-degrees-of-freedom translation parallel robot mechanism that is used for the high speed transport operation, formed by frame (1), moving platform (2) and three side chains, article first and second, side chain is identical, formed by three parallel revolute pairs of axis, wherein be made as driving pair with direct-connected two revolute pairs of frame (1), drive motors is installed, and first and second side chains are arranged in the frame both sides, and symmetrical in frame central; Connecting rod I, III (3,5) and connecting rod II, IV (4,6) form connection frame and moving platform (2) forms first and second side chains; Connecting rod V, VI (7,8) connection frames (1) and moving platform (2) form parallel-crank mechanism, consist of the 3rd side chain, it is characterized in that: described the 3rd side chain is driven side chain, parallel-crank mechanism constraint moving platform (2) is done translation, article first and second, side chain is driven side chain, the rotational freedom of constraint moving platform.
2. a kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation according to claim 1 is characterized in that: between described frame (1) and the connecting rod, between connecting rod and the connecting rod, all connect with turning joint between connecting rod and the moving platform.
3. a kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation according to claim 1, it is characterized in that: also be provided with the 4th side chain between described frame (1) and the moving platform (2), rack-mounted drive motors rotates by the end effector (10) that rotating shaft (9) drives on the moving platform (2), and two-degree of freedom translation and the single-degree-of-freedom of constraint moving platform rotate.
4. a kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation according to claim 1, it is characterized in that: described connecting rod V, VI (7,8), rotating shaft (9) and frame (1) form first parallel-crank mechanism of the 3rd side chain, connecting rod VII, VIII (10,11), rotating shaft (9) and moving platform (2) form second parallel-crank mechanism of the 3rd side chain, the common edge of two parallel-crank mechanisms is rotating shaft (9), and two parallel-crank mechanism constraint moving platforms (2) are done translation.
5. a kind of two-degrees-of-freedom translation parallel robot mechanism for the high speed transport operation according to claim 1, it is characterized in that: described connecting rod V, VI, VII, VIII (7,8,10,11) and frame (1), moving platform (2) forms parallel four limit mechanisms and consists of the 3rd side chain, form moving sets between connecting rod V (7) and the connecting rod VII (10), form moving sets between connecting rod VI (8) and the connecting rod VIII (11), flexible member (9-1) can extend or compress equably, be connected to the connecting rod V, VII (7,10) and the connecting rod VI, VIII (8,11) between the moving sets that forms, make the connecting rod V, VII (7,10) and the connecting rod VI, VIII (8,11) the moving sets displacement equates, one side of parallelogram can change, and enlarges the working space of moving platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320122048 CN203245873U (en) | 2013-03-18 | 2013-03-18 | Two-degree-of-freedom translational parallel robot mechanism for high-speed transportation |
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| CN 201320122048 CN203245873U (en) | 2013-03-18 | 2013-03-18 | Two-degree-of-freedom translational parallel robot mechanism for high-speed transportation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112000A (en) * | 2013-03-18 | 2013-05-22 | 万新光学集团有限公司 | Two-degree-of-freedom translation parallel robot mechanism for high-speed transport operation |
| CN103600344A (en) * | 2013-11-12 | 2014-02-26 | 南京理工大学 | Two-degree-of-freedom plane translational parallel mechanism with passive hinges to be spherical hinges |
| CN103950026A (en) * | 2014-04-15 | 2014-07-30 | 长春宝钢钢材贸易有限公司 | Simple servo-drive link-type mechanical arm |
| CN104097198A (en) * | 2013-04-08 | 2014-10-15 | 丹阳市亚邦精密机械有限公司 | Parallel mechanism |
| CN104385281A (en) * | 2014-07-28 | 2015-03-04 | 天津大学 | Zero calibrating method for two-degree-freedom high speed parallel robot |
| CN104589342A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven high-speed two-dimensional translational manipulator |
| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
-
2013
- 2013-03-18 CN CN 201320122048 patent/CN203245873U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112000A (en) * | 2013-03-18 | 2013-05-22 | 万新光学集团有限公司 | Two-degree-of-freedom translation parallel robot mechanism for high-speed transport operation |
| CN104097198A (en) * | 2013-04-08 | 2014-10-15 | 丹阳市亚邦精密机械有限公司 | Parallel mechanism |
| CN103600344A (en) * | 2013-11-12 | 2014-02-26 | 南京理工大学 | Two-degree-of-freedom plane translational parallel mechanism with passive hinges to be spherical hinges |
| CN103950026A (en) * | 2014-04-15 | 2014-07-30 | 长春宝钢钢材贸易有限公司 | Simple servo-drive link-type mechanical arm |
| CN104385281A (en) * | 2014-07-28 | 2015-03-04 | 天津大学 | Zero calibrating method for two-degree-freedom high speed parallel robot |
| CN104385281B (en) * | 2014-07-28 | 2016-07-06 | 天津大学 | A kind of Zero calibration method of two-freedom high speed parallel robot |
| CN104589342A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven high-speed two-dimensional translational manipulator |
| CN104589342B (en) * | 2015-01-24 | 2015-11-18 | 江西省机械科学研究所 | V belt translation is two translation manipulators at a high speed |
| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN107139163B (en) * | 2017-06-12 | 2020-04-14 | 中国矿业大学 | Parallel mechanism type transfer robot |
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Granted publication date: 20131023 |