CN206170068U - Parallel robot device with two kinds of mode of operations - Google Patents
Parallel robot device with two kinds of mode of operations Download PDFInfo
- Publication number
- CN206170068U CN206170068U CN201621189678.XU CN201621189678U CN206170068U CN 206170068 U CN206170068 U CN 206170068U CN 201621189678 U CN201621189678 U CN 201621189678U CN 206170068 U CN206170068 U CN 206170068U
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- side chain
- parallel
- pair
- rotation
- pivot center
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Abstract
Parallel robot device with two kinds of mode of operations, by quiet, move the platform and four side chains are formed, the pair allocation relation of four side chains divide maybe: the axis of the parallel a set of revolute pair of the axis of the revolute pair of side chain no. 1 hookup on moving the platform and three axis is perpendicular, removal deputy guide way on the side chain no. 2 is parallel with the axis of two revolute pairs, side chain no. 3 hookup move, all the axis with the parallel a set of revolute pair of three axis is perpendicular for two revolute pair axis on the quiet platform, removal deputy guide way on the side chain no. 4 is parallel with the axis of two revolute pairs. Article four, it is to prop up the pair allocation relation of chain attachment on quiet platform: pair axis on the side chain no. 3 and two liang of mutually perpendicular in the pair axis of side chain, two, nevertheless with side chain no. 4 on removal deputy guide way parallel, the axis of the revolute pair of one, three hookups of side chain on moving the platform is parallel to each other. The utility model discloses there are three a translations rotation and two translations no. 2 and rotate the use of two kinds of mode of operations confession subscriber selections, can realize a tractor serves several purposes effect.
Description
Technical field
This utility model is related to a kind of performs device of parallel robot manipulator, is that robot manipulator etc. provides one
The new parallel robot device with two kinds of operator schemes.
Background technology
The manipulator of parallel-connection structure has obtained commercial Application, particularly realizes the Delta operations of the translation functions of space three
Handss, have played good effect in the techniques such as high speed pick-and-place, positioning assembling, carrying, sorting, loading and unloading；And have three flat
The parallel manipulator of a rotating function is moved, it is even more indispensable under the occasion for needing to adjust workpiece posture.For this purpose, 1988
R.Clavel is on the basis of three translation Delta manipulators, then connect a R-U-P-U-R side chain or S-P-S side chains, constitutes
One series-parallel connection manipulator with three one rotating functions of translation；The Chinese patent of Yang Ting power applications in 2003
200310106012.4, it is proposed that one group of 5 three-translation and one-rotation parallel mechanism, but without Development Prototype；Open within 2006 later
Begin, Pierrot etc. has invented the four-degree-of-freedom SCARA types of H4, I4, Par4 series in succession（I.e. three translations one are rotated）Manipulator,
Professor Huang Tian develops the Cross- that the translation of four-degree-of-freedom three one is rotatedType high speed transfer robot；And Chinese patent
201210435375.1 propose it is a kind of realize the parallel institution that three translation one is rotated, and have developed model machine.At present, these are in parallel
Mechanism is all mostly to fix a kind of degree of freedom, and only a kind of operator scheme, there is function and fixes, is difficult in adapt to multioperation work
The defects such as the requirement of position, in addition, some mechanisms are caused basic due to complex structure, motion/Dynamic Modeling and solution difficulty
Research imperfection, so that such mechanism does not obtain exploitation well and application.
Therefore, the development of the parallel institution with two kinds of operator schemes and practical, needs are createed better than existing mechanism
New architecture.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art to provide a kind of parallel machine with two kinds of operator schemes
Device people's device.
This utility model is achieved through the following technical solutions.
A kind of parallel robot device with two kinds of operator schemes described in the utility model, by silent flatform（0）, it is dynamic flat
Platform（1）And connection moving platform（1）, silent flatform（0）Four side chains（TheSide chain, the IIth side chain,Side chain,
Chain）Composition, is characterized in that.
TheSide chain rotates pair and constitutes by a side link, five connecting rods and eight, wherein, theSide link on side chain
One（2）One end and silent flatform（0）With rotation secondary（R1）Connection, side link one（2）The other end and connecting rod one（3）Midpoint
With rotation secondary three（R3）Connection, connecting rod one（3）One end and connecting rod two（4）One end with rotating secondary two（R2）Connection, connecting rod one
（3）The other end and connecting rod three（5）One end with rotating secondary four（R4）Connection, connecting rod two（4）The other end and connecting rod four（6）'s
One end rotation secondary seven（R7）Connection, connecting rod three（5）The other end and connecting rod four（6）The other end with rotating secondary five（R5）Connection
Connect, connecting rod four（6）Midpoint and connecting rod five（7）One end with rotating secondary six（R6）Connection, connecting rod five（7）The other end rotate
Secondary eight（R8）With moving platform（1）Connection, and connecting rod one（3）, connecting rod two（4）, connecting rod three（5）With connecting rod four（6）It is secondary by rotating
Two（R2）, rotate secondary four（R4）, rotate secondary five（R5）With rotation secondary seven（R7）Composition parallel-crank mechanism, is connected in moving platform
（1）On rotation pair eight（R8）Pivot center and three diameter parallels one group of rotation pair（R1、R3、R6）Pivot center hang down
Directly.
IIth side chain is made up of a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pairs, its
In, the IIth side chain upper slide bar one（8）One end and silent flatform（0）With moving sets one（P1）Connection, slide bar one（8）The other end with
Connecting rod six（9）One end with rotating secondary nine（R9）Connection, connecting rod six（9）The other end and connecting rod seven（10）One end it is secondary with rotating
Ten（R10）Connection, connecting rod seven（10）Other end ball pair one（S1）With moving platform（1）Connection, and moving sets one（P1）Lead
Rail, rotation secondary nine（R9）Pivot center, rotate secondary ten（R10）Pivot center three be parallel to each other.
TheSide chain rotates pair and constitutes by a side link, three connecting rods and five, wherein, theConnect on side chain
Hack lever two（11）One end and silent flatform（0）With rotation secondary 11（R11）Connection, side link two（11）The other end and connecting rod eight
（12）One end with rotating secondary 12（R12）Connection, connecting rod eight（12）The other end and connecting rod nine（13）One end it is secondary with rotating
13（R13）Connection, connecting rod nine（13）The other end and connecting rod ten（14）One end with rotating secondary 14（R14）Connection, connecting rod
Ten（14）The other end with rotating secondary 15（R15）With moving platform（1）Connection, and rotate pair 11（R11）With rotation secondary 15
（R15）Pivot center with one group of rotation pair of three diameter parallels（R12、R13、R14）Pivot center it is vertical.
4.Branched structure is by a slide bar, two connecting rods, a moving sets, two rotation pairs and a ball pair groups
Into, wherein, theSide chain upper slide bar two（15）One end and silent flatform（0）With moving sets two（P2）Connection, slide bar two（15）'s
The other end and connecting rod 11（16）One end with rotating secondary 16（R16）Connection, connecting rod 11（16）The other end and connecting rod ten
Two（17）One end with rotating secondary 17（R17）Connection, connecting rod 12（17）Other end ball pair two（S2）With moving platform（1）
Connection, and moving sets two（P2）Guide rail, rotate secondary 16（R16）Pivot center, rotate secondary 17（R17）Pivot center
Three is parallel to each other.
It is connected in silent flatform（0）The position relation of four kinematic pairs be：TheRotation pair one on side chain（R1）'s
Moving sets two on pivot center, the IIth side chain（P2）Guide rail andRotation secondary 11 on side chain（R11）Rotary shaft
It is mutually perpendicular to two-by-two between line three, and theMoving sets two on side chain（P2）Guide rail andRotation pair on side chain
11（R11）Pivot center be parallel to each other；It is connected in moving platform（1）The position relation of four kinematic pairs be：TheOn side chain
Rotation pair eight（R8）Pivot center andSecondary 15 are rotated on side chain（R15）Pivot center it is parallel, on the IIth side chain
Ball pair one（S1）The centre of sphere andSide chain upper sphere pair two（S2）Centre of sphere line perpendicular toSecondary 15 are rotated on side chain
（R15）Pivot center.
Further, the IIth side chain andThe moving sets coupled with silent flatform on side chain and its adjacent rotated pair can use
One cylindrical pair is substituting；And two moving sets coupled with silent flatform can be substituted with parallel-crank mechanism；TheSide chain
On parallel-crank mechanism can be substituted with a moving sets；IIth side chain andSide chain can use SPS, SSP, SRS,
RSS side chains are substituting.
This utility model provides the new parallel institution for being suitable for different operating station of a class, this parallel robot device
Rotate with three translations one and rotate two kinds of different operator schemes with two translations two, it is possible to provide two different operating stations supply user
Selection is used, and realizes the effect of a tractor serves several purposes.
Description of the drawings
Accompanying drawing 1 is the structural representation of this utility model one embodiment.
Specific embodiment
Technology of the present utility model is given below by accompanying drawing and example is further illustrated.
Parallel institution shown in accompanying drawing 1 can be one of embodiment of the present utility model, and its technical scheme is such：It is a kind of
Parallel robot device with two kinds of operator schemes, by silent flatform 0, moving platform 1 and connection moving platform 1, silent flatform 0 four
Bar side chain（TheSide chain, the IIth side chain,Side chain,Side chain）Composition, is characterized in that.
TheSide chain rotates pair and constitutes by a side link, five connecting rods and eight, wherein, theSide link on side chain
One 2 one end is coupled with silent flatform 0 with a secondary R1 is rotated, and the other end of side link 1 is used with the midpoint of connecting rod 1 and rotates secondary three
R3 couples, and one end and one end of connecting rod 24 of connecting rod 1 rotate secondary two R2 and couple, the other end and the connecting rod 35 of connecting rod 1
One end coupled with secondary four R4 connection, the other end seven R7 secondary with the rotation of one end of connecting rod 46 of connecting rod 24 is rotated, connecting rod 35
The other end and the other end of connecting rod 46 rotate secondary five R5 and couple, the midpoint of connecting rod 46 and one end rotation of connecting rod 57
Six R6 of pair couple, and the other end of connecting rod 57 rotates secondary eight R8 and couples with moving platform 1, and connecting rod 1, connecting rod 24, connecting rod 35
Parallel-crank mechanism is constituted by rotating secondary two R2, rotating secondary four R4, rotate secondary five R5 and rotate secondary seven R7 with connecting rod 46,
The pivot center of secondary eight R8 of rotation being connected on moving platform 1 and one group of rotation secondary R1, the rotation of R3, R6 of three diameter parallels
Axis is vertical.
IIth side chain is made up of a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pairs, its
In, one end of the IIth side chain upper slide bar 1 is coupled with silent flatform 0 with the P1 of moving sets one, the other end and the connecting rod 69 of slide bar 1
One end coupled with secondary nine R9 connection, the other end ten R10 secondary with the rotation of one end of connecting rod 7 10 of connecting rod 69 is rotated, connecting rod
7 10 other end ball one S1 of pair couples with moving platform 1, and the guide rail of the P1 of moving sets one, rotate secondary nine R9 pivot center,
The pivot center three for rotating secondary ten R10 is parallel to each other.
TheSide chain rotates pair and constitutes by a side link, three connecting rods and five, wherein, theFrame linking on side chain
One end of bar 2 11 is coupled with silent flatform 0 with 11 R11 of pair are rotated, and the other end of side link 2 11 is used with one end of connecting rod 8 12
12 R12 of pair connections are rotated, the other end of connecting rod 8 12 rotates 13 R13 of pair and couples with one end of connecting rod 9 13, connecting rod nine
13 other end rotates 14 R14 of pair and couples with one end of connecting rod 10, other end rotation 15 R15 of pair of connecting rod 10
Couple with moving platform 1, and rotate 11 R11 of pair with rotation 15 R15 of pair pivot center with one group of three diameter parallels
Rotate secondary R12, R13, R14 pivot center it is vertical.
4.Branched structure is by a slide bar, two connecting rods, a moving sets, two rotation pairs and a ball pair groups
Into, wherein, theOne end of side chain upper slide bar 2 15 is coupled with silent flatform 0 with the P2 of moving sets two, the other end of slide bar 2 15 with
Used with one end of connecting rod 12 and turned with 16 R16 of pair connections, the other end of connecting rod 11 is rotated in one end of connecting rod 11
Dynamic pair 17 R17 connections, other end ball two S2 of pair of connecting rod 12 couple with moving platform 1, and the guide rail of the P2 of moving sets two,
The pivot center for rotating 16 R16 of pair, the pivot center three for rotating 17 R17 of pair are parallel to each other.
The position relation for being connected in four kinematic pairs of silent flatform 0 is：TheThe rotation of the secondary R1 of rotation on side chain
The guide rail of the P2 of moving sets two on axis, the IIth side chain andThe pivot center three of rotation 11 R11 of pair on side chain it
Between be mutually perpendicular to two-by-two, andThe guide rail of the P2 of moving sets two on side chain andRotation 11 R11's of pair on side chain turns
Shaft line is parallel to each other；The position relation for being connected in four kinematic pairs of moving platform 1 is：TheSecondary eight R8's of rotation on side chain
Pivot center andOn side chain rotate 15 R15 of pair pivot center it is parallel, the centre of sphere of ball one S1 of pair on the IIth side chain and
TheThe centre of sphere line of the S2 of side chain upper sphere pair two is perpendicular toThe pivot center of 15 R15 of pair is rotated on side chain.
Further, the IIth side chain andThe moving sets coupled with silent flatform on side chain and its adjacent rotated pair can use
One cylindrical pair is substituting；And two moving sets coupled with silent flatform, can be substituted with parallel-crank mechanism.
When rotate 11 R11 of pair pivot center with rotate 15 R15 of pair pivot center be parallel to each other and rotate pair one
When the pivot center of R1 is parallel with the pivot center for rotating 12 R12 of pair, the mechanism is in singular position, and now mechanism is instantaneous
Degree of freedom is 5, and now moving platform 1 can realize D translation and around the rotation for rotating 15 R15 of pair and rotation 14 R14 of pair
The rotation output of axis rotation；But after rotation 11 R11 of pair turn an angle, the mechanism is changed into the rotating machine of three translation one
Structure；After rotation 11 R11 of pair is pinned, the mechanism is changed into the rotating mechanism of two translation two；Therefore the mechanism has two kinds of different behaviour
Operation mode selects to use for user.When the mechanism is in singular position, if after rotation 11 R11 of pair turn an angle, driving
Move two moving sets P1, P2 and two rotate secondary R1, R12, so that it may make moving platform 1 realize D translation and around rotation secondary 15
The one-dimensional rotation output of R15 axis；If pin rotate 11 R11 of pair, drive two moving sets P1, P2 and two rotation secondary R1,
R12, so that it may make moving platform 1 realize perpendicular to the two-dimension translational for rotating secondary 12 R12 axis directions and around the secondary 15 R15 axles of rotation
The two-dimensional rotary output of line and the secondary 14 R14 axis directions of rotation.
Claims (5)
1. a kind of parallel robot device with two kinds of operator schemes, by silent flatform, moving platform and couples dynamic and static platform
Four side chain compositions, is characterized in that：First side chain is by a side link, a parallel-crank mechanism, a connecting rod and eight
The secondary composition of rotation, wherein, one group of rotation pair of the rotation being connected on moving platform secondary pivot center and three diameter parallels
Pivot center is vertical；Second side chain is made up of a slide bar, two connecting rods, moving sets, two rotation pairs and a ball pairs,
Wherein, the guide rail of moving sets is parallel with the pivot center that two rotate pair；3rd side chain is by a side link, three connecting rods and five
It is individual to rotate secondary composition, wherein, the turns auxiliary shaft line being connected on moving platform and the turns auxiliary shaft line being connected on silent flatform with
The secondary pivot center of one group of rotation of three diameter parallels is vertical；4th branched structure is by a slide bar, two connecting rods, a shiftings
Dynamic secondary, two rotation pairs and a ball pair composition, wherein, the guide rail of moving sets is parallel with the pivot center that two rotate pair；Connection
The turns auxiliary shaft line being connected on the moving sets guide rail and the 3rd side chain of the turns auxiliary shaft line of the first side chain of silent flatform, the second side chain
It is mutually perpendicular to two-by-two, and the turns auxiliary shaft line that silent flatform is connected on the moving sets guide rail on the 4th side chain and the 3rd side chain is mutual
It is parallel；It is connected on first side chain on the secondary pivot center of the rotation of moving platform and the 3rd side chain and is connected in the rotation pair of moving platform
Pivot center be parallel to each other.
2. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that side chain two, side chain
The moving sets coupled with silent flatform on four and its adjacent rotated pair can be substituted with a cylindrical pair.
3. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that side chain two, side chain
The moving sets coupled with silent flatform on four can be substituted with parallel-crank mechanism.
4. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that on side chain one
Parallel-crank mechanism can be substituted with a moving sets.
5. the parallel robot device with two kinds of operator schemes according to claim 1, is characterized in that side chain two, side chain
Four can be substituted with SPS, SSP, SRS, RSS side chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621189678.XU CN206170068U (en) | 2016-10-28 | 2016-10-28 | Parallel robot device with two kinds of mode of operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621189678.XU CN206170068U (en) | 2016-10-28 | 2016-10-28 | Parallel robot device with two kinds of mode of operations |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170068U true CN206170068U (en) | 2017-05-17 |
Family
ID=58681398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621189678.XU Withdrawn - After Issue CN206170068U (en) | 2016-10-28 | 2016-10-28 | Parallel robot device with two kinds of mode of operations |
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| Country | Link |
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| CN (1) | CN206170068U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363608A (en) * | 2016-10-28 | 2017-02-01 | 南昌大学 | Parallel robot device with two operation modes |
| CN107263454A (en) * | 2017-08-16 | 2017-10-20 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
-
2016
- 2016-10-28 CN CN201621189678.XU patent/CN206170068U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363608A (en) * | 2016-10-28 | 2017-02-01 | 南昌大学 | Parallel robot device with two operation modes |
| CN106363608B (en) * | 2016-10-28 | 2018-12-04 | 南昌大学 | There are two types of the parallel robot devices of operation mode for tool |
| CN107263454A (en) * | 2017-08-16 | 2017-10-20 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20181204 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20181204 |
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