CN204546534U - A kind of four-degree-of-freedparallel parallel manipulator - Google Patents

A kind of four-degree-of-freedparallel parallel manipulator Download PDF

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Publication number
CN204546534U
CN204546534U CN201520161560.5U CN201520161560U CN204546534U CN 204546534 U CN204546534 U CN 204546534U CN 201520161560 U CN201520161560 U CN 201520161560U CN 204546534 U CN204546534 U CN 204546534U
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China
Prior art keywords
platform
rod
halfpace
degree
arm
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Expired - Fee Related
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CN201520161560.5U
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Chinese (zh)
Inventor
陈落根
赵振
徐敏珍
黄伟
齐玙珂
郭小宝
余益君
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HANGZHOU WAHAHA GROUP CO Ltd
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HANGZHOU WAHAHA GROUP CO Ltd
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Abstract

The utility model relates to robot, provide a kind of good stability, sorting precision is high, the four-degree-of-freedparallel parallel manipulator of implementation space three-dimensional translating and one-dimensional rotation, solve the manipulator operation stability existed in prior art poor, sorting precision is low, and affect the technical problems such as mechanism efficiency, the moving platform that it is comprised silent flatform and is hung on silent flatform by four arms, moving platform comprises the leading screw of one end with actuator, leading screw corresponding above actuator is connected with, in, lower platform, halfpace is provided with vertical guide post, the two ends of vertical guide post slide through, lower platform, a relative side of upper mounting plate is rotationally connected the medial extremity of connecting rod respectively, the lower platform side of homonymy is rotationally connected the medial extremity of lower link respectively, keep between the outboard end of upper connecting rod and lower link being rotationally connected, the lower end of arm is hinged on the outboard end of connecting rod and lower link and the side of halfpace respectively.

Description

A kind of four-degree-of-freedparallel parallel manipulator
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of good stability, sorting precision is high, the four-degree-of-freedparallel parallel manipulator of implementation space three-dimensional translating and one-dimensional rotation.
Background technology
Along with the high speed development of Automation Industry, in the industries such as electronics, light industry, food and medicine, its operand has the features such as volume is little, lightweight usually, often needs to complete the pick-and-place operations such as carrying, sorting with very high speed.Especially on food, pharmaceuticals industry production line, material is relatively gently little, and needs to avoid polluting, and in order to improve automaticity and ensure product quality, usually needs high speed robot to carry out to carry, the operation such as sorting.
Chinese scholars has also done correlative study to this, propose some relevant types.The representational Delta mechanism (WO8703528A1, US4976582) surely belonging to doctor's Clavel invention of most.This manipulator adopts outer revolute pair to drive and parallelogram branched structure, although the high speed three-dimensional translation of end effector can be realized, between sound platform, be also provided with two ends simultaneously rotate with the single-degree-of-freedom realizing end effector with the scalable rotating shaft of hook hinge.But when this arm end is positioned at working envelope, it is poor that centre provides the Branch Stiffness of rotational freedom to become.
France LIRMM develops the H4 manipulator with three translational degree of freedom and a rotational freedom.This manipulator is made up of four symmetrical movement branched chain and a coilable moving platform, and four movement branched chain drive moving platforms, and make the rotational angle of end effector be several times as much as the mutual changing of the relative positions angle of platform by gears meshing or belt transmission etc.Although it has three translational degree of freedom and a rotational freedom, but due to moving platform poor stability in running, cause its sorting performance accuracy low, simultaneously because the angular magnification organization in structure reduces the transmission accuracy of moving platform, be therefore also unfavorable for improving mechanism efficiency.
Summary of the invention
The utility model mainly provides a kind of good stability, sorting precision is high, the four-degree-of-freedparallel parallel manipulator of implementation space three-dimensional translating and one-dimensional rotation, solve that the manipulator operation stability existed in prior art is poor, sorting precision is low, and affect the technical problem of mechanism efficiency etc.
Above-mentioned technical problem of the present utility model is mainly solved by following technical proposals: a kind of four-degree-of-freedparallel parallel manipulator, the moving platform comprising silent flatform and hung on silent flatform by four arms, described moving platform comprises leading screw and is fixed on the actuator of leading screw lower end, leading screw corresponding above actuator is connected with upper mounting plate, halfpace and lower platform, halfpace is provided with vertical guide post, the two ends of vertical guide post stretch out and slide through corresponding platform and lower platform, a relative side of upper mounting plate is rotationally connected the medial extremity of connecting rod respectively, the lower platform side corresponding with upper connecting rod is rotationally connected the medial extremity of lower link respectively, keep between the outboard end of upper connecting rod and lower link being rotationally connected, the lower end of arm is hinged on the outboard end of connecting rod and lower link and the side of halfpace respectively.Interted by vertical on leading screw, in, lower platform forms moving platform, again upper, in, lower platform interts vertical guide post is set, halfpace is wherein fixed on vertical guide post, on, lower platform passes through the upper of both sides again, lower link is rotatably connected on the lower end of arm, because leading screw is upper, hand of spiral on lower platform is contrary, during use, on arm drives, lower link, on, lower link drives again, lower platform is along on vertical guide post, lower motion, synchronous driving leading screw drives actuator to rotate, the action such as sucker or handgrip is performed by actuator, good operation stability in process, sorting precision is high, and achieve spatial three-dimensional translational and one-dimensional rotation.
As preferably, with described on connecting rod and halfpace corresponding to lower link two sides on be horizontally outward extended with horizontally-guided bar, horizontally-guided bar is slidably connected slip cap, the other end of upper connecting rod and lower link is rotatably connected on corresponding slip cap respectively, and the lower end of arm to be hinged on corresponding slip cap and on halfpace side corresponding between slip cap respectively.By the slip cap that is slidably connected on horizontally-guided bar, the outboard end of upper and lower connecting rod is slidably supported on slip cap, ensure that upper and lower platform remains horizontal support state, thus leading screw traffic direction is consistent corresponding thereto along the direction of the upper and lower slip of vertical guide post to guarantee upper and lower platform, and when moving platform realizes X under the driving of arm, Y, during the translation of Z-direction, drive in actuator rotary course at leading screw, upper due to what be slidably supported on horizontally-guided bar equally, lower link ensure that, lower platform remains horizontal support state, therefore on guaranteeing in translation motion, lower platform there will not be shaking phenomenon, actuator turns is smooth and easy, ensure that stability and the positioning precision of moving platform, simultaneously due to upper, in, the left and right directions of lower platform is by upper, lower link is locked on slip cap, fore-and-aft direction is located by vertically-guided bar again, therefore overall structure good stability, while achieving spatial three-dimensional translational and one-dimensional rotation, the positioning precision that actuator runs and performs when pick-and-place etc. operates is high, good stability, thus improve sorting precision and efficiency, be particularly useful for the high speed carrying of light-duty material, sorting waits pick-and-place operation.
As preferably, the end face of described halfpace is provided with two horizontally-guided bars, and two horizontally-guided bars are located in the same horizontal plane, be provided with trunnion axis corresponding between the slip cap on two horizontally-guided bars, upper connecting rod and lower link are rotatably connected on the trunnion axis of respective side.By arranging two horizontally-guided bars at the one-sided of halfpace, and on the trunnion axis that upper and lower link rotatable is connected between two horizontally-guided bars, the stability of the upper and lower motion of upper and lower platform can be improved, make upper and lower platform remain parallel or translation state relative to halfpace, ensure that the positioning precision of actuator.
As preferably, described upper connecting rod is symmetrical relative to the horizontal central plane of halfpace with lower link.When upper and lower connecting rod is full symmetric distribution, good operation stability.
As preferably, on described upper mounting plate, halfpace and lower platform, there are two vertical guide posts vertical running through, and two vertical guide posts are symmetrically set on upper mounting plate median planes corresponding between two upper connecting rods.When the line of two vertical guide posts and left and right connecting rod is cross-shaped distribution, the good stability of relative position between the platform of upper, middle and lower, ensures the positioning precision of moving platform further.
As preferably, described arm comprises master arm and is rotatably connected on the slave arm of master arm one end, and the other end of master arm is rotatably connected on silent flatform, and the other end of slave arm is hinged on moving platform.Drive slave arm by master arm, then drive moving platform by slave arm, structure is simple, and motion flexibly steadily.
As more preferably, described slave arm comprises the driven connecting rod of pair of parallel setting, the both sides, end being rotatably connected on master arm of driven connecting rod symmetry, the other end symmetry of driven connecting rod be hinged on moving platform end face, between two driven connecting rods near master arm and moving platform, be respectively equipped with back-moving spring.The slave arm structure of the parallelogram be made up of two driven connecting rods, lightweight, intensity is high, by arranging back-moving spring at its two ends, prevents slave arm from running, double swerve occurring, and improves the positional precision of moving platform.
As preferably, described upper mounting plate and lower platform are respectively equipped with nut, the two ends of leading screw are interted and are screwed on corresponding nut, and the leading screw corresponding with halfpace is provided with bearing, and leading screw keeps being rotationally connected by bearing and halfpace.Leading screw keeps being rotationally connected by bearing and halfpace, when two ends are by keeping between nut and upper and lower platform being rotationally connected, and overall structure good rigidly, stable movement.
As preferably, the horizontally-guided bar that described slip cap outboard end is corresponding is provided with and stops folder.Stopping folder by arranging at the outboard end of horizontally-guided bar, preventing slip cap from deviating from, improve the security reliability of system cloud gray model.
As preferably, described arm is hinged on moving platform by ball pivot symmetry.Hinged by ball pivot, structure is simple, good stability; When arm is symmetrical relative to moving platform, good stability in moving platform running, precision is high.
Therefore, a kind of four-degree-of-freedparallel parallel manipulator of the present utility model has following advantage:
1) adopt the transmission of leading screw and nut to form rotating mechanism, hysterisis error is little, and transmission accuracy is high;
2) adopt vertical and horizontal two guiding mechanisms, improve the stability that mechanism runs;
3) overall structure is symmetrical, and rigidity is better, is beneficial to manipulator high-speed motion;
4) moving platform structure is simple, designs ingenious, convenient manufacture and installation.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of a kind of four-degree-of-freedparallel parallel manipulator of the utility model;
Fig. 2 is the structural representation of moving platform in the utility model.
Detailed description of the invention:
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
Embodiment:
As shown in Figure 1, a kind of four-degree-of-freedparallel parallel manipulator of the present utility model, comprise foursquare silent flatform 1, silent flatform 1 is by being rotationally connected an arm 2 respectively in the middle part of the edge of four edges, arm 2 comprises the master arm 21 be rotatably connected on silent flatform 1 and the slave arm 22 being rotatably connected on master arm 21 lower end, slave arm 22 comprises the driven connecting rod 221 of pair of parallel setting, the both sides being rotatably connected on master arm 21 bottom of driven connecting rod 221 symmetry, the other end of driven connecting rod 221 is hinged on halfpace 33 edge by ball pivot 14 symmetry, a back-moving spring 11 is horizontally set with respectively between two driven connecting rods 221 near master arm 21 and halfpace 33, as shown in Figure 2, moving platform 3 comprises leading screw 31 and is fixed on the actuator 8 of leading screw 31 lower end, on leading screw 31 corresponding above actuator 8 by be coaxially interspersed with upper mounting plate 32 from lower, halfpace 33 and lower platform 34, upper mounting plate 32, halfpace 33 and lower platform 34 are square, halfpace 33 is fixed wtih two vertical guide posts 9, on the split that vertical guide post 9 is positioned at moving platform 3 fore-and-aft direction and leading screw 31 is symmetrical relatively, the two ends of vertical guide post 9 stretch out again and slide through corresponding upper mounting plate 32 and lower platform 34, upper mounting plate 32 side parallel with two vertical guide post 9 lines is rotationally connected one end of connecting rod 4 respectively, upper connecting rod 4 wherein comprises the connecting rod 41 of pair of parallel setting and the cross tube 42 be horizontally set with between two connecting rods 41 and sheer pole 43, the upper end symmetry of connecting rod 41 be rotatably connected on upper mounting plate 32, the lower end symmetry of connecting rod 41 be rotatably connected on halfpace 33, lower platform 34 side corresponding with upper connecting rod 4 is rotationally connected the lower end of lower link 5 respectively, the upper end symmetry of lower link 5 be rotatably connected on halfpace 33, upper connecting rod 4 is symmetrical with the horizontal central plane of in the same size and relative halfpace 33 with the shape of lower link 5, two sides of the halfpace 33 corresponding with upper connecting rod 4 and lower link 5 are horizontally outward extended with two horizontally-guided bars 6 respectively, two horizontally-guided bars 6 are located in the same horizontal plane and are symmetric, horizontally-guided bar 6 is slidably connected respectively slip cap 7, and correspond to homonymy two slip caps 7 between transversely connected to trunnion axis 10, the lower end of upper connecting rod 4 and the upper end of lower link 5 are rotatably connected on the trunnion axis 10 of respective side, the horizontally-guided bar 6 that slip cap 7 outboard end is corresponding all grips stop folder 13, outside the slip cap 7 being located at trunnion axis 10 bearing of trend of ball pivot 14 symmetry and the both sides of halfpace 33 end face at horizontally-guided bar 6 place, the upper mounting plate 32 corresponding with leading screw 31 and lower platform 34 welded to each a nut 12, upper mounting plate 32 and lower platform 34 are screwed in leading screw 31 by nut 12, the leading screw 31 corresponding with halfpace 33 is equipped with bearing, leading screw 31 keeps being rotationally connected by bearing and halfpace 33.
During use, servomotor controls master arm 21 coordination on four arms 2 by controller, along X, Y, the translation of Z-direction, because the front and back of upper mounting plate 32 and lower platform 34 support respectively by vertical guide post 9, left, right respectively by upper connecting rod 4 and lower link 5 symmetric support on the horizontally-guided bar 6 of both sides, therefore upper mounting plate 32 is made relatively to remain parallel in halfpace 33 position with lower platform 34, when master arm 21 drives slip cap 7 along 6 horizontal slip of horizontally-guided bar, upper mounting plate 32 halfpace 33 relative to lower platform 34 is along vertical guide post 9 constant speed synchronous translational, and on the synchronous nut 12 driven on upper mounting plate 32 and lower platform 34, lower motion, and then drive leading screw 31 to drive actuator 8 to rotate, thus ensure be no matter in static state or dynamically in leading screw 31 keep accurate positional precision.
Specific embodiment described herein is only to design of the present utility model explanation for example.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.

Claims (10)

1. a four-degree-of-freedparallel parallel manipulator, the moving platform (3) comprising silent flatform (1) and hung on silent flatform (1) by four arms (2), it is characterized in that: described moving platform (3) comprises leading screw (31) and is fixed on the actuator (8) of leading screw (31) lower end, the leading screw (31) that actuator (8) top is corresponding is connected with upper mounting plate (32), halfpace (33) and lower platform (34), halfpace (33) is provided with vertical guide post (9), the two ends of vertical guide post (9) stretch out and slide through corresponding platform (32) and lower platform (34), a relative side of upper mounting plate (32) is rotationally connected medial extremity respectively that go up connecting rod (4), lower platform (34) side corresponding with upper connecting rod (4) is rotationally connected the medial extremity of lower link (5) respectively, keep being rotationally connected between the outboard end of upper connecting rod (4) and lower link (5), the lower end of arm (2) is hinged on the outboard end of connecting rod (4) and lower link (5) and the side of halfpace (33) respectively.
2. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterized in that: with described on connecting rod (4) and halfpace (33) corresponding to lower link (5) two sides on be horizontally outward extended with horizontally-guided bar (6), horizontally-guided bar (6) is slidably connected slip cap (7), the other end of upper connecting rod (4) and lower link (5) is rotatably connected on corresponding slip cap (7) respectively, and the lower end of arm (2) is hinged on halfpace (33) side corresponding between the upper and slip cap (7) of corresponding slip cap (7) respectively.
3. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, it is characterized in that: on the end face of described halfpace (33), be provided with two horizontally-guided bars (6), and two horizontally-guided bars (6) are located in the same horizontal plane, be provided with trunnion axis (10) corresponding between the slip cap (7) on two horizontally-guided bars (6), upper connecting rod (4) and lower link (5) are rotatably connected on the trunnion axis (10) of respective side.
4. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, is characterized in that: described upper connecting rod (4) is symmetrical with the horizontal central plane of lower link (5) relative halfpace (33).
5. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, it is characterized in that: on described upper mounting plate (32), halfpace (33) and lower platform (34), there are two vertical guide posts (9) vertical running through, two vertical guide posts (9) are symmetrically set on upper mounting plate (32) median plane corresponding between two upper connecting rods (4).
6. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, it is characterized in that: described arm (2) comprises master arm (21) and is rotatably connected on the slave arm (22) of master arm (21) one end, the other end of master arm (21) is rotatably connected on silent flatform (1), and the other end of slave arm (22) is hinged on moving platform (3).
7. a kind of four-degree-of-freedparallel parallel manipulator according to claim 6, it is characterized in that: described slave arm (22) comprises the driven connecting rod (221) of pair of parallel setting, the both sides, end being rotatably connected on master arm (21) that driven connecting rod (221) is symmetrical, the other end symmetry of driven connecting rod (221) be hinged on moving platform (3) end face, between two driven connecting rods (221) near master arm (21) and moving platform (3), be respectively equipped with back-moving spring (11).
8. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, it is characterized in that: on described upper mounting plate (32) and lower platform (34), be respectively equipped with nut (12), the two ends of leading screw (31) are interted and are screwed on corresponding nut (12), the leading screw (31) corresponding with halfpace (33) is provided with bearing, and leading screw (31) keeps being rotationally connected by bearing and halfpace (33).
9. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, is characterized in that: be provided with on the horizontally-guided bar (6) that described slip cap (7) outboard end is corresponding and stop folder (13).
10. a kind of four-degree-of-freedparallel parallel manipulator according to claim 1 and 2, is characterized in that: described arm (2) is by symmetrical being hinged on moving platform (3) of ball pivot (14).
CN201520161560.5U 2015-03-23 2015-03-23 A kind of four-degree-of-freedparallel parallel manipulator Expired - Fee Related CN204546534U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108656079A (en) * 2018-04-13 2018-10-16 上海大学 A kind of parallel institution of three flat one turn of four-degree-of-freedoms
CN112723260A (en) * 2020-12-23 2021-04-30 侯艳权 Lifting device for be used for maintenance transformer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108656079A (en) * 2018-04-13 2018-10-16 上海大学 A kind of parallel institution of three flat one turn of four-degree-of-freedoms
CN112723260A (en) * 2020-12-23 2021-04-30 侯艳权 Lifting device for be used for maintenance transformer

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