CN206967494U - A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism - Google Patents
A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism Download PDFInfo
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- CN206967494U CN206967494U CN201720725655.4U CN201720725655U CN206967494U CN 206967494 U CN206967494 U CN 206967494U CN 201720725655 U CN201720725655 U CN 201720725655U CN 206967494 U CN206967494 U CN 206967494U
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- moving platform
- pair
- push rod
- revolute pair
- distal end
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Abstract
A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism,Including support,Also include mechanical arm main body and two groups of Three Degree Of Freedom translational parallel connection mechanisms being arranged on support,Mechanical arm main body includes near-end moving platform,Distal end moving platform,Push rod and end effector,Near-end moving platform is connected with one of Three Degree Of Freedom translational parallel connection mechanism,Distal end moving platform is connected with another Three Degree Of Freedom translational parallel connection mechanism,Push rod one end is rotatablely connected by near-end kinematic pair and near-end moving platform,The other end is connected through distal end moving platform with end effector,Connected between push rod and distal end moving platform by the way that distal movement is secondary,Push rod can make the rotational motion of distally moving platform normal by distal movement pair relative to distal end moving platform,With the rotational motion on the trunnion axis parallel with distal end moving platform of edge,And the moving movement with push rod central axial direction.The utility model flexibly, it is light and handy, dynamic response is good, can complete to capture, clamp etc. operating, applied widely.
Description
Technical field
It the utility model is related to a kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism.
Background technology
Serial manipulator has obtained extensively in the industrial production because of the advantages that its working space is big, simple in construction, easily controllable
General application.But in some industries, it is necessary to manipulator can at a high speed, it is steady, accurately carry out and the behaviour such as captured, sorted to object
Make；Difference in view of performing object, the dynamics and security that can be also operated sometimes to end effector have higher requirement.String
Join robot because motor and transmission system are all arranged on moving component, system inertia is big, bad dynamic performance, is not suitable for
The trickle operation of high-speed, high precision is completed, and the security of the lower system of high speed is relatively low, once mechanical arm abjection consequence can't bear to set
Think.
Parallel institution is that moving platform is connected with silent flatform by least two independent kinematic chains, has two or two
The free degree above, and a kind of close loop mechanism driven with parallel way.Compared with serial manipulator, parallel robot have with
Lower advantage：Accumulated error is small, precision is higher；Drive device can be placed in the position on fixed platform or close to fixed platform, motion parts
In light weight, speed is high, and dynamic response is good；Compact-sized, rigidity is high, large carrying capacity, and security is good.Therefore, parallel robot
Higher applications are more wide to be required to equipment rigidity, movement velocity, positioning precision, load capacity or security of system
It is general.
Delta robots are a kind of typical parallel robots, because its high speed, high motor dexterity are in food, medicine etc.
Applied more generally in the sorting work of industry, but it can be only done from a plane to another plane-parallel operation, lack
The weary ability operated in curved surface or nonparallel interplanar, and its end effector only has a revolution free degree, the above because
Element all limits its further genralrlization and application, it is therefore necessary to researches and develops a kind of new parallel robot, is inheriting Delta
Robot at a high speed, it is light-duty, dexterous the advantages that on the basis of, solve to move and operate between non-parallel planes or on curved surface asks
Topic.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism,
Inherit Delta robots at a high speed, it is light-duty, dexterous the advantages that while solve Delta robots can not between non-parallel planes or
The problem of moving and operate on curved surface.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism, including support, in addition to mechanical arm main body and two groups
The Three Degree Of Freedom translational parallel connection mechanism being arranged on support, mechanical arm main body include near-end moving platform, distal end moving platform, push rod and
End effector, near-end moving platform are connected with one of Three Degree Of Freedom translational parallel connection mechanism, distal end moving platform and another
Three Degree Of Freedom translational parallel connection mechanism is connected, and push rod one end is rotatablely connected by near-end kinematic pair with near-end moving platform, the other end is worn
Cross distal end moving platform to be connected with end effector, connected between push rod and distal end moving platform by the way that distal movement is secondary, push rod passes through
The distal movement pair can make the rotational motion of distally moving platform normal relative to distal end moving platform and be put down along being moved with distal end
Rotational motion on the parallel trunnion axis of platform and the moving movement with push rod central axial direction.
The distal movement pair is in series by the first revolute pair, the second revolute pair and prismatic pair, and the first revolute pair is remote
Hold to set on moving platform and formed, the axis of first revolute pair overlaps with the normal of distal end moving platform, the second revolute pair and first
Revolute pair is rotatablely connected, and the axis of second revolute pair is vertical with the normal of distal end moving platform, and push rod is connected with the second revolute pair
Installation forms prismatic pair, and the axis of the prismatic pair overlaps with push rod central axis, and end effector and the second revolute pair are fixed and connected
Connect.
The near-end kinematic pair is ball pair.
The near-end kinematic pair is made up of two normal revolute pairs connected and trunnion axis revolute pair, and normal revolute pair is near
Hold to set on moving platform and formed, the axis of the normal revolute pair overlaps with the normal of near-end moving platform, trunnion axis revolute pair and method
Line revolute pair is rotatablely connected, and the axis of the trunnion axis revolute pair is vertical with the normal of near-end moving platform.
The near-end moving platform is between distal end moving platform and support.
The end effector includes fixed connecting base, connecting rod and clamp, fixed connecting base and the in distal movement pair
Two revolute pairs are fixedly connected, and connecting rod one end is rotatablely connected with push rod rotation connection, the other end and clamp, and clamp is also with being fixedly connected
Seat rotation connection.
The end effector is ring flange, and the ring flange is fixedly connected with the second revolute pair in distal movement pair, and
And the ring flange is connected to form screw pair with push rod.
By three translations of two Three Degree Of Freedom translational parallel connection mechanism control machinery arm main bodys, two turn the utility model
A dynamic and opening and closing campaign so that end effector can realize the dexterous motion of high-speed, high precision, and its rigidity of structure is high, dynamic
Respond, whole mechanism does not have motor to be placed on moving platform, the operation such as can complete to capture, clamp, industry, agricultural,
The industry such as daily life and health care has wide practical use.
Brief description of the drawings
Accompanying drawing 1 is schematic perspective view of the present utility model；
Accompanying drawing 2 is overlooking the structure diagram of the present utility model；
Accompanying drawing 3 is mplifying structure schematic diagram at the A in accompanying drawing 2；
Accompanying drawing 4 is the partial structural diagram that distal movement is secondary in the utility model；
Accompanying drawing 5 is the partial structural diagram of end effector in the utility model；
Accompanying drawing 6 is the initial schematic diagram that the utility model completes horizontal motion；
Accompanying drawing 7 is the view that the utility model completes horizontal motion；
Accompanying drawing 8 is the initial schematic diagram that the utility model completes vertical direction motion；
Accompanying drawing 9 is the view that the utility model completes vertical direction motion；
Accompanying drawing 10 is that end effector follows the second revolute pair rotary state schematic diagram in the utility model；
Accompanying drawing 11 is end effector in the utility model around the first revolute pair rotary state schematic diagram.
Accompanying drawing 12 is that the utility model completes showing for end effector opening movement by nearly distal end moving platform differential motion
It is intended to；
Accompanying drawing 13 is that the utility model completes showing for end effector closing motion by nearly distal end moving platform differential motion
It is intended to；
Accompanying drawing 14 is the dimensional structure diagram that the utility model end effector is ring flange；
Accompanying drawing 15 is the enlarged diagram at B in accompanying drawing 14；
Accompanying drawing 16 is the diagrammatic cross-section of accompanying drawing 15.
Embodiment
For feature of the present utility model, technological means and the specific purposes reached, function can be further appreciated that, below
The utility model is described in further detail with embodiment with reference to accompanying drawing.
As shown in accompanying drawing 1,2 and 3, the utility model discloses a kind of six degree of freedom machinery based on translational parallel connection mechanism
Arm, including support 1, in addition to mechanical arm main body and two groups of Three Degree Of Freedom translational parallel connection mechanisms 2 being arranged on support 1, machinery
Arm main body includes near-end moving platform 4, distal end moving platform 3, push rod 7 and end effector 5, near-end moving platform 4 with one of them three
Free degree translational parallel connection mechanism is connected, and distal end moving platform is connected with another Three Degree Of Freedom translational parallel connection mechanism, the one end of push rod 7
Be rotatablely connected by near-end kinematic pair 6 with near-end moving platform 4, the other end is connected through distal end moving platform 3 with end effector 5,
Connected between push rod 7 and distal end moving platform 3 by distal movement pair 8, push rod 7 can be relative to remote by the distal movement pair 8
End moving platform is made the rotational motion of distally moving platform normal and transported along the rotation on the trunnion axis parallel with distal end moving platform
The dynamic and moving movement with push rod central axial direction.Two Three Degree Of Freedom translational parallel connection mechanisms drive near-end dynamic flat respectively
Platform and distal end moving platform realize the motion of three degree of freedom, realize three translational motions in X-axis, Y-axis and Z-direction.This three
Free degree translational parallel connection mechanism has no specific structure, as long as disclosure satisfy that the motion in X-axis, Y-axis and Z-direction.Push rod
Using near-end kinematic pair, the both direction of push rod axis and the edge horizontal direction parallel with near-end moving platform surface can be achieved
Rotational motion.Near-end moving platform is arranged between support and distal end moving platform, i.e., near-end moving platform relative to distal end moving platform and
Speech is closer to support.Near-end moving platform, distal end moving platform are connected with end effector by push rod, realize that motion is transmitted
To end effector.
As shown in figs. 4 and 5, the distal movement pair 8 is gone here and there by the first revolute pair 81, the second revolute pair 82 and prismatic pair 83
Connection is formed, and the first revolute pair 81 sets formation, axis and the distal end moving platform 3 of first revolute pair 81 on the moving platform of distal end
Normal overlaps, and the second revolute pair 82 and first rotates 81 secondary rotation connections, axis and the distal end moving platform 3 of second revolute pair 82
Normal it is vertical, the revolute pair 82 of push rod 7 and second is installed in series to form prismatic pair 83, the axis of the prismatic pair 83 and push rod center
Axis is overlapped, and end effector is fixedly connected with the second revolute pair.The first revolute pair, the second revolute pair and movement more than
It is secondary so that push rod can accurately make the rotation around distal end moving platform normal direction, and distal end is moved relative to distal end moving platform
The rotation of plateau levels direction of principal axis, and the movement in push rod its center axis direction, so as to form the motion of three degree of freedom,
It is further driven to end effector and makes three-degree-of-freedom motion., can be by far by the restriction relation of the push rod and distal end moving platform
Three axle translations of end moving platform are delivered to end effector, make the end effector that the movement in corresponding three directions occur.
The near-end kinematic pair 6 is ball pair.Or near-end kinematic pair is by the normal revolute pair and trunnion axis turn of two series connection
Dynamic secondary composition, normal revolute pair set formation, the axis of the normal revolute pair and the method for near-end moving platform on near-end moving platform
Line is overlapped, and trunnion axis revolute pair is rotatablely connected with normal revolute pair, the axis of the trunnion axis revolute pair and the method for near-end moving platform
Line is vertical.Ensure that push rod can make both direction relative to near-end moving platform and rotate（Push rod axis, near-end moving platform level side
To）Motion.
As shown in Figure 3, the end effector 5 includes fixed connecting base 51, connecting rod 52 and clamp 53, fixed connecting base
51 are fixedly connected with the second revolute pair 82 in distal movement pair 8, and the one end of connecting rod 52 and push rod 7 are rotatablely connected, the other end and folder
The rotation connection of pincers 53, clamp 53 are also rotatablely connected with fixed connecting base 51.Pass through the fixation of fixed connecting base and the second revolute pair
Connection, and push rod extends there through, and the structural strength and stability of end effector is effectively increased, so as to ensure output campaign
It is steady reliable.Using push rod along the movable of its own central axis, so as to drive the opening and closing of clamp to act.Again
Rotated using the both direction of push rod, the rotation of the both direction of clamp can also be driven.
In addition, end effector can also be other structures form, by near-end moving platform and distal end moving platform along prismatic pair
The differential motion in direction is converted into rotation of the end effector around mobile secondary axis, so as to realize that the space that three translations three rotate is complete
The free degree is moved, and adapts to the demand of different occasions.As shown in accompanying drawing 14-16, end effector is ring flange 9, the ring flange with
The second revolute pair 82 connection in distal movement pair 8 forms revolute pair, and now ring flange can rotate around push rod axis direction.
The ring flange 9 is connected to form screw pair with push rod 7, then near-end moving platform 4 and distal end moving platform 3 are along push rod central axial direction
Differential motion is coordinated by push rod 7 and screw pair is delivered to ring flange, it is rotated around same axis, realizes three translations three
The full free degree motion in space of rotation.
As shown in accompanying drawing 6-9, near-end moving platform and distal end moving platform are driven in X by two Three Degree Of Freedom translational parallel connection mechanisms
Axle, the translational motion in three directions of Y-axis and Z axis, and then using the restriction relation of push rod and distal end moving platform, by distal end moving platform
Three axle translations be delivered to end effector, make the motion on three degree of freedom corresponding to the end effector.
As shown in accompanying drawing 10 and 11, near-end kinematic pair makes near-end moving platform be connected with push rod, and matches somebody with somebody with distal movement parafacies
Close, promote push rod, so as to by two moving platforms, with upper and lower two kinematic pairs（Near-end kinematic pair and the second revolute pair）Line
The differential motion of two orthogonal directions in perpendicular plane, two rotations of end effector are changed into, are rotated certainly for two
By spending.
As shown in accompanying drawing 12 and 13, when push rod by Three Degree Of Freedom translational parallel connection mechanism drive towards distal end moving platform side
To during movement, connecting rod is relatively rotated with push rod, and connecting rod is shunk close to push rod, drives clamp to open.When push rod is towards support
When direction is moved, connecting rod relatively rotates with push rod, and connecting rod expands away from push rod, jaws close.So as to realize of clamp
Close, be a rotational freedom.
It should be noted that these are only preferred embodiment of the present utility model, it is new to be not limited to this practicality
Type, although the utility model is described in detail with reference to embodiment, for those skilled in the art, it is still
Technical scheme described in previous embodiment can be modified, or equivalent substitution is carried out to which part technical characteristic,
But it is all within the spirit and principles of the utility model, any modification, equivalent substitution and improvements made etc., it should be included in
Within the scope of protection of the utility model.
Claims (7)
1. a kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism, including support, it is characterised in that also including mechanical arm master
Body and two groups of Three Degree Of Freedom translational parallel connection mechanisms being arranged on support, mechanical arm main body includes near-end moving platform, distal end is moved and put down
Platform, push rod and end effector, near-end moving platform are connected with one of Three Degree Of Freedom translational parallel connection mechanism, distal end moving platform with
Another Three Degree Of Freedom translational parallel connection mechanism connects, push rod one end is rotatablely connected by near-end kinematic pair and near-end moving platform,
The other end is connected through distal end moving platform with end effector, is connected between push rod and distal end moving platform by the way that distal movement is secondary,
Push rod by the distal movement pair can be made relative to distal end moving platform distally moving platform normal rotational motion and along with
Rotational motion on the parallel trunnion axis of distal end moving platform and the moving movement with push rod central axial direction.
2. the sixdegree-of-freedom simulation according to claim 1 based on translational parallel connection mechanism, it is characterised in that the distal end
Kinematic pair is in series by the first revolute pair, the second revolute pair and prismatic pair, and the first revolute pair sets shape on the moving platform of distal end
Into the axis of first revolute pair is overlapped with the normal of distal end moving platform, and the second revolute pair is rotatablely connected with the first revolute pair, should
The axis of second revolute pair is vertical with the normal of distal end moving platform, and push rod and the second revolute pair are installed in series to form prismatic pair, should
The axis of prismatic pair is overlapped with push rod central axis, and end effector is fixedly connected with the second revolute pair.
3. the sixdegree-of-freedom simulation according to claim 2 based on translational parallel connection mechanism, it is characterised in that the near-end
Kinematic pair is ball pair.
4. the sixdegree-of-freedom simulation according to claim 2 based on translational parallel connection mechanism, it is characterised in that the near-end
Kinematic pair is made up of two normal revolute pairs connected and trunnion axis revolute pair, and normal revolute pair sets shape on near-end moving platform
Into, the axis of the normal revolute pair is overlapped with the normal of near-end moving platform, and trunnion axis revolute pair is rotatablely connected with normal revolute pair,
The axis of the trunnion axis revolute pair is vertical with the normal of near-end moving platform.
5. the sixdegree-of-freedom simulation based on translational parallel connection mechanism according to any one of claim 1-4, its feature exist
In the near-end moving platform is between distal end moving platform and support.
6. the sixdegree-of-freedom simulation according to claim 5 based on translational parallel connection mechanism, it is characterised in that the end
Actuator includes fixed connecting base, connecting rod and clamp, and fixed connecting base is fixedly connected with the second revolute pair in distal movement pair,
Connecting rod one end is rotatablely connected with push rod rotation connection, the other end and clamp, and clamp is also rotatablely connected with fixed connecting base.
7. the sixdegree-of-freedom simulation according to claim 5 based on translational parallel connection mechanism, it is characterised in that the end
Actuator is ring flange, and the ring flange is fixedly connected with the second revolute pair in distal movement pair, and the ring flange and push rod
Connection forms screw pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720725655.4U CN206967494U (en) | 2017-06-21 | 2017-06-21 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720725655.4U CN206967494U (en) | 2017-06-21 | 2017-06-21 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN206967494U true CN206967494U (en) | 2018-02-06 |
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ID=61409277
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720725655.4U Withdrawn - After Issue CN206967494U (en) | 2017-06-21 | 2017-06-21 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081760A (en) * | 2017-06-21 | 2017-08-22 | 东莞爱创机器人科技有限公司 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
-
2017
- 2017-06-21 CN CN201720725655.4U patent/CN206967494U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081760A (en) * | 2017-06-21 | 2017-08-22 | 东莞爱创机器人科技有限公司 | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism |
| WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
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Granted publication date: 20180206 Effective date of abandoning: 20230509 |
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Granted publication date: 20180206 Effective date of abandoning: 20230509 |