CN101659059A - Three-translating and one-rotating parallel robot mechanism - Google Patents
Three-translating and one-rotating parallel robot mechanism Download PDFInfo
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- CN101659059A CN101659059A CN200910307743A CN200910307743A CN101659059A CN 101659059 A CN101659059 A CN 101659059A CN 200910307743 A CN200910307743 A CN 200910307743A CN 200910307743 A CN200910307743 A CN 200910307743A CN 101659059 A CN101659059 A CN 101659059A
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Abstract
The invention provides a three-translating and one-rotating parallel robot mechanism. The robot mechanism comprises a base, a movable platform and branch chains respectively connected with the base and the movable platform; the branch chain comprises a driving arm which is a swing link and a driven arm which is a parallelogram mechanism and connected with the driving arm; number of branch chains is four, first chain, second chain, third chain and fourth chain respectively; the first chain, the second chain, the third chain and the fourth chain are connected with the base in revolving pairs, the four revolving pairs are placed in a first plane and distributed in a quadrilateral form, meanwhile, rotation center lines of the revolving pairs are parallel to each other; all edges of the parallelogram mechanism connected with the driving arm and the movable platform are perpendicular to the first plane, four edges of the first chain, the second chain, the third chain and the fourth chain incontact with the movable platform are distributed in a hexahedron form. The robot mechanism has the following beneficial effects: a pure parallel mechanism is adopted to reduce weight of moving parts,thus improving speed and precision of the movable platform; the parallel structure is easy to control; then, the parallel structure causes a large work space of the movable platform and is distributed symmetrically; and the movable platform has simple design, very convenient installation and maintenance.
Description
[technical field]
The present invention relates to the industrial robot technical field, particularly a kind of three-translating and one-rotating parallel robot mechanism.
[background technology]
The lower-mobility parallel robot is meant that number of degrees of freedom, is 2,3,4 or 5 parallel robot, and it is applicable to that the requirement of the free degree is less than 6 industrial occasions.Compared to the 6DOF parallel robot, the lower-mobility parallel robot has simple in structure, with low cost and controls characteristics such as easy, so it has good application prospects, is current international research focus.
Generally, in light industry, food, pharmaceutical packing and Electronic Packaging industry, need 4 frees degree, i.e. three translational degree of freedom and a rotational freedom in the time of finishing the pick-and-place operation (Pick-and-Place) in the space.
US5000653, US6212968 have all related to the serial machine people of a kind of SCARA by name (Selective Compliance AssemblyRobot Arm).This robot is in series by four kinematic pair R-R-R-P or P-R-R-R, and the axis of four kinematic pairs is parallel to each other, and can be implemented in the space to move on a large scale, and can realize the revolution of complete cycle.But owing to adopt the open loop cascaded structure, each drive unit directly is installed on the joint of master arm and slave arm, and the movable part quality is bigger, makes its speed, rigidity and precision all be subjected to certain restriction.
US4976582 has invented the parallel robot of a kind of Delta by name, is suitable for carrying lightweight object, and its speed of service can reach 10m/s, and acceleration can reach 10g.Delta mechanism is by three side chains that are symmetrical distribution of fixed platform, moving platform and connection fixed platform and moving platform.Every side chain is made up of master arm and slave arm respectively, master arm links to each other with fixed platform by revolute pair, slave arm is a parallelogram four-bar linkage that is joined end to end and formed by four ball-joints, and the one end links to each other with master arm, and the other end is connected with moving platform.Can realize the high speed three-dimensional translation of moving platform in the space by the swing of controlling three master arms.In addition, can add a R-U-P-U-R side chain between fixed platform and moving platform, drive the gyration of end effector, the moving sets in the side chain is realized by an expansion link motion, is influenced the service life of this rod member and the working space of robot.
US20090019960A1 has related to the parallel robot of a kind of Par4 by name, and this patent is carried out industrialization in Adept company, and its speed of service can reach 10m/s, and peak acceleration can reach 15g.This robot mechanism between fixed platform and moving platform, be connected with four with Delta mechanism in the identical kinematic chain of movement branched chain structure, these four kinematic chains are not directly to be connected in the terminal executing agency, but per two movement branched chain are connected to a moving lever, the motion of the terminal executing agency of the relative movement drives by two moving levers can also utilize gear or belt to increase the angle of revolution of terminal executing agency.The end effector of this Par4 mechanism has along the translation on three directions and winds rotatablely moving perpendicular to silent flatform plane turning cylinder.But the moving platform partial design complexity of this mechanism is unfavorable for installation and maintenance.
In the present patent application technical description, kinematic pair will be used following symbolic representation: P represents moving sets, and R represents revolute pair, and U represents gimbal suspension, and C represents cylindrical pair, and H represents screw pair, and S represents spherical pair, and underscore represents this joint for driving the joint.
[summary of the invention]
In order to solve existing technical problem, the invention provides a kind of three-translating and one-rotating parallel robot mechanism, in the time of the speed of its raising moving platform and precision, simplified the structural design of moving platform, reduce the difficulty of control and the cost of maintenance.
The present invention solves existing technical problem, and a kind of three-translating and one-rotating parallel robot mechanism is provided, the side chain that it comprises pedestal, moving platform and connects described pedestal and described moving platform respectively; Described side chain comprises master arm and the slave arm that links to each other with this master arm, and described master arm is a fork, and described slave arm is a parallel-crank mechanism; The quantity of described side chain is four, and it is respectively first side chain, second side chain, the 3rd side chain and the 4th side chain; Described first to fourth side chain all links to each other with described pedestal with revolute pair, and the rotary centerline of this four revolute pair is parallel to each other, and simultaneously, this four revolute pair first plane that coexists is quadrangle and distributes; The limit that limit that described parallel-crank mechanism links to each other with described master arm and described parallel-crank mechanism link to each other with described moving platform is all perpendicular to described first plane, and contacted four limits of described first to fourth side chain and described moving platform are hexahedron and distribute.
The present invention further improves:
Described parallel-crank mechanism is the quadric chain that head and the tail link to each other with spherical pair successively, and the both sides that this parallel-crank mechanism is relative are fixedly connected on described master arm and described moving platform respectively.
Described parallel-crank mechanism is the quadric chain that head and the tail link to each other with revolute pair successively, and the both sides that this parallel-crank mechanism is relative are connected in described master arm and described moving platform with revolute pair respectively.
Described parallel-crank mechanism plane of living in is perpendicular to described first plane.
Described quadrangle is distributed as distributed rectangular.
Described rotary centerline is perpendicular to described first plane.
The central plane that described moving platform is parallel to described first plane is second plane, and the limit that described parallel-crank mechanism links to each other with described moving platform is perpendicular to described second plane.
Described first side chain, described second side chain, described the 3rd side chain are all identical with described the 4th side chain.
Described master arm comprises rotating driving device, and this rotating driving device is fixed on the described pedestal.
Be provided with on described moving platform that hand is grabbed or sucker.
Compared to prior art, the invention has the beneficial effects as follows: adopt pure parallel-connection structure, reduce heavy moving parts, thereby improve the speed and the precision of moving platform; Secondly, this parallel-connection structure is easy to control; Once more, this parallel-connection structure makes the working space of moving platform big, is distributed symmetrically; At last, moving platform simplicity of design, installation and maintenance are all very convenient.
[description of drawings]
Fig. 1 is the structural representation of three-translating and one-rotating parallel robot mechanism of the present invention;
Fig. 2 is the front schematic view of Fig. 1;
Fig. 3 is the elevational schematic view of Fig. 1;
Fig. 4 is the structural representation of a side chain.
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| First side chain 121 | Second side chain 112 |
| The 3rd side chain 123 | The 4th side chain 124 |
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[specific embodiment]
The present invention is further described below in conjunction with description of drawings and the specific embodiment.
As shown in Figures 1 to 4, a kind of three-translating and one-rotating parallel robot mechanism, it comprises pedestal 11, side chain 12 and moving platform 13, and side chain 12 connects described pedestal 11 and described moving platform 13 respectively, and side chain 12 moves drive moving platform 13 and does corresponding pose variation; Described side chain 12 comprises first side chain 121, second side chain 122, the 3rd side chain 123 and the 4th side chain 124; It all links to each other with described pedestal 11 with a revolute pair described first to fourth side chain (i.e. first side chain 121, second side chain 122, the 3rd side chain 123 and the 4th side chain 124), the rotary centerline of described a plurality of revolute pairs is parallel to each other, and promptly the rotary centerline of these four revolute pairs is parallel to each other.Coexist first plane 111 and be quadrangle and distribute of its four revolute pairs that link to each other with described pedestal 11 of described first to fourth side chain, its four contact positions that link to each other with described moving platform 13 of described first to fourth side chain also are the quadrangle distribution; Described first to fourth side chain includes master arm 125 and slave arm 126, and described master arm 125 links to each other with described slave arm 126; The Plane of rotation of described master arm is parallel to or is positioned at described first plane, when master arm is straight-bar, its Plane of rotation and first plane, 111 coplanes, but, if as required master arm is designed to knee, require the free-ended Plane of rotation of master arm to parallel with first plane 111 this moment, simultaneously, guarantees that described slave arm 126 is parallel-crank mechanism.
In the present invention, parallel-crank mechanism has two kinds of specific embodiment:
First kind: described parallel-crank mechanism is the quadric chain that head and the tail link to each other with spherical pair successively, and the both sides that this parallel-crank mechanism is relative are fixedly connected on described master arm and described moving platform respectively, and these both sides are preferably minor face.Owing to be that spherical pair links to each other, thus this parallel-crank mechanism with after master arm links to each other, rotation can be realized compared to master arm in parallel-crank mechanism plane of living in, itself also can realize deformation this parallel-crank mechanism.
Second kind: described parallel-crank mechanism is the quadric chain that head and the tail link to each other with revolute pair successively, and the both sides that this parallel-crank mechanism is relative are connected in described master arm and described moving platform with revolute pair respectively, and these both sides are preferably minor face.Owing to be that revolute pair links to each other, so this parallel-crank mechanism links to each other with master arm through revolute pair, the rotation of master arm is compared on realization parallel-crank mechanism plane of living in, and simultaneously, this parallel-crank mechanism itself is also realized deformation through revolute pair.
In the present patent application, pedestal 11 can be multiple shape, and moving platform 13 also can be multiple shape, but the tectonic relationship after needing to guarantee side chain 12 and pedestal 11 or moving platform 13 link to each other.Described parallel-crank mechanism plane of living in is perpendicular to described first plane.The described moving platform central plane that is parallel to described first plane is second plane 131, and the limit that described parallel-crank mechanism links to each other with described moving platform is perpendicular to described second plane 131.
Driving control for the ease of each master arm, distributed rectangular is arranged in its distribution of revolute pair that each side chain 12 links to each other with pedestal 11, its rotary centerline is perpendicular to described first plane, further, in order to simplify control, described first side chain 121, described second side chain 122, described the 3rd side chain 123 or described the 4th side chain 124 are arranged to identical in twos, or directly are designed to described first side chain 121, described second side chain 122, described the 3rd side chain 123 and described the 4th side chain 124 just the same.After each master arm, slave arm and moving platform installation cooperation are finished,, realize regulating the motion state of master arm, can change the pose of moving platform, realize required operations such as robot transport through side chain according to parallel institution kinematics and dynamic (dynamical) calculating.
In the present invention, described master arm comprises rotating driving device (technical characterictic known in the art, not shown go out), this rotating driving device is fixed on the described pedestal, owing to be fixed on the pedestal,, make it can further improve movement velocity and precision so reduced the quality of related organization.
In the present invention, preferably with the Plane of rotation and described first plane 111 co-planar designs of described master arm 125, at this moment, i.e. the bearing of trend of slave arm and first Plane intersects move around moving platform on the direction perpendicular to first plane and the direction that is parallel to first plane moves freely, realize three translations, in addition, by the drive of slave arm, it is also free to rotate at the axis direction that winds perpendicular to first plane, on the whole, promptly realized three translations, one rotation.
Among the present invention, the hand of its terminal executing agency is grabbed or sucker, is directly fixed on the moving platform, and simplicity of design by moving of moving platform, is being with executing agency to the desired position, implements predetermined operation.
The present invention adopts pure parallel-connection structure, reduces heavy moving parts, thereby improves the speed and the precision of moving platform; Secondly, this parallel-connection structure is easy to control; Once more, this parallel-connection structure makes the working space of moving platform big, is distributed symmetrically; At last, moving platform simplicity of design, installation and maintenance are all very convenient.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. three-translating and one-rotating parallel robot mechanism, the side chain that it comprises pedestal, moving platform and connects described pedestal and described moving platform respectively; It is characterized in that: described side chain comprises master arm and the slave arm that links to each other with this master arm, and described master arm is a fork, and described slave arm is a parallel-crank mechanism; The quantity of described side chain is four, and it is respectively first side chain, second side chain, the 3rd side chain and the 4th side chain; Described first to fourth side chain all links to each other with described pedestal with revolute pair, and the rotary centerline of this four revolute pair is parallel to each other, and simultaneously, this four revolute pair first plane that coexists is quadrangle and distributes; The limit that limit that described parallel-crank mechanism links to each other with described master arm and described parallel-crank mechanism link to each other with described moving platform is all perpendicular to described first plane, and contacted four limits of described first to fourth side chain and described moving platform are hexahedron and distribute.
2. three-translating and one-rotating parallel robot mechanism according to claim 1, it is characterized in that: the quadric chain that described parallel-crank mechanism links to each other with spherical pair successively for head and the tail, the both sides that this parallel-crank mechanism is relative are fixedly connected on described master arm and described moving platform respectively.
3. three-translating and one-rotating parallel robot mechanism according to claim 1, it is characterized in that: the quadric chain that described parallel-crank mechanism links to each other with revolute pair successively for head and the tail, the both sides that this parallel-crank mechanism is relative are connected in described master arm and described moving platform with revolute pair respectively.
4. according to claim 2 or 3 described three-translating and one-rotating parallel robot mechanisms, it is characterized in that: described parallel-crank mechanism plane of living in is perpendicular to described first plane.
5. three-translating and one-rotating parallel robot mechanism according to claim 4 is characterized in that: described quadrangle is distributed as distributed rectangular.
6. three-translating and one-rotating parallel robot mechanism according to claim 4 is characterized in that: described rotary centerline is perpendicular to described first plane.
7. three-translating and one-rotating parallel robot mechanism according to claim 4, it is characterized in that: the central plane of described moving platform is second plane, described second plane parallel is in described first plane, and the limit that described parallel-crank mechanism links to each other with described moving platform is perpendicular to described second plane.
8. three-translating and one-rotating parallel robot mechanism according to claim 7 is characterized in that: described first side chain, described second side chain, described the 3rd side chain are all identical with described the 4th side chain.
9. three-translating and one-rotating parallel robot mechanism according to claim 8 is characterized in that: described master arm comprises rotating driving device, and this rotating driving device is fixed on the described pedestal.
10. three-translating and one-rotating parallel robot mechanism according to claim 9 is characterized in that: be provided with on described moving platform that hand is grabbed or sucker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009103077432A CN101659059B (en) | 2009-09-25 | 2009-09-25 | Three-translating and one-rotating parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009103077432A CN101659059B (en) | 2009-09-25 | 2009-09-25 | Three-translating and one-rotating parallel robot mechanism |
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| CN101659059A true CN101659059A (en) | 2010-03-03 |
| CN101659059B CN101659059B (en) | 2011-05-18 |
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Cited By (14)
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| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN104908060A (en) * | 2015-06-03 | 2015-09-16 | 燕山大学 | Five-degree-of-freedom parallel-series bionic shoulder joint |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
| CN105234927A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-freedom-degree all-symmetric parallel mechanism with three supporting chains |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105437213A (en) * | 2015-12-17 | 2016-03-30 | 天津大学 | Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform |
| CN106346446A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Parallelly connected double action robot mechanism with four freedoms and large work space |
| CN109773757A (en) * | 2019-03-08 | 2019-05-21 | 河北工业大学 | Delta robot |
| CN110559081A (en) * | 2019-09-10 | 2019-12-13 | 清华大学 | In vivo additive repair system and in vivo repair device |
| CN112621728A (en) * | 2020-12-28 | 2021-04-09 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
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| CN100348379C (en) * | 2005-10-28 | 2007-11-14 | 天津大学 | Space tritranslation parallel connection mechanism containing steel wire parallelogram fork chain structure |
| CN100411826C (en) * | 2005-11-11 | 2008-08-20 | 华南理工大学 | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions |
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- 2009-09-25 CN CN2009103077432A patent/CN101659059B/en not_active Expired - Fee Related
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| CN101863024B (en) * | 2010-06-29 | 2011-11-09 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN103264386B (en) * | 2013-04-19 | 2015-09-30 | 南京理工大学 | Three Degree Of Freedom high-speed translation motion parallel connection mechanism |
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN104908060B (en) * | 2015-06-03 | 2016-05-18 | 燕山大学 | Five degree of freedom the bionical shoulder joint of connecting |
| CN104908060A (en) * | 2015-06-03 | 2015-09-16 | 燕山大学 | Five-degree-of-freedom parallel-series bionic shoulder joint |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
| CN105127999B (en) * | 2015-10-09 | 2017-11-10 | 常州大学 | One kind three translates rotating parallel device people's grasping and release device |
| CN105234927A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-freedom-degree all-symmetric parallel mechanism with three supporting chains |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105437213B (en) * | 2015-12-17 | 2017-05-10 | 天津大学 | Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform |
| CN105437213A (en) * | 2015-12-17 | 2016-03-30 | 天津大学 | Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform |
| CN106346446A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Parallelly connected double action robot mechanism with four freedoms and large work space |
| CN106346446B (en) * | 2016-06-23 | 2018-11-13 | 南京理工大学 | A kind of double acting platform parallel robot mechanism of the big working space of four-degree-of-freedom |
| CN109773757A (en) * | 2019-03-08 | 2019-05-21 | 河北工业大学 | Delta robot |
| CN109773757B (en) * | 2019-03-08 | 2024-03-19 | 河北工业大学 | Delta robot |
| CN110559081A (en) * | 2019-09-10 | 2019-12-13 | 清华大学 | In vivo additive repair system and in vivo repair device |
| CN112621728A (en) * | 2020-12-28 | 2021-04-09 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
| CN112744395A (en) * | 2021-01-27 | 2021-05-04 | 温州职业技术学院 | Flexible spider hand for blister package medicine board |
| CN115805583A (en) * | 2022-12-28 | 2023-03-17 | 天津理工大学 | Parallel robot |
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