CN102975197A - Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom - Google Patents
Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom Download PDFInfo
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- CN102975197A CN102975197A CN2012105136761A CN201210513676A CN102975197A CN 102975197 A CN102975197 A CN 102975197A CN 2012105136761 A CN2012105136761 A CN 2012105136761A CN 201210513676 A CN201210513676 A CN 201210513676A CN 102975197 A CN102975197 A CN 102975197A
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Abstract
The invention discloses a parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom. The parallel manipulator comprises a fixed mount, a movable platform and five branched chains, wherein the branched chains are arranged between the fixed mount and the movable platform, are arranged in a centrally symmetric way, and have the same structure; the movable platform comprises five angle plates and five groups of connecting rods; the angle plates are used for connecting the five groups of connecting rods into planar closed ring-shaped structures in sequence, so that five groups of planar parallelogram structures are formed; an angle dividing mechanism is arranged between two groups of connecting rods; the entire movable platform performs three-dimensional translation and two-degree-of-freedom deformation movement in an own plane under the driving actions of the branched chains and the movement limiting actions of the angle dividing mechanism and the five groups of planar parallelogram structures; and deformation movement is transformed into two-degree-of-freedom rotation of a robot wrist through a two-degree-of-freedom rotating mechanism. The parallel manipulator has the advantages of uniform stress, long service life, high rigidity and stability of an entire structure, easiness in realizing high-speed movement, and capability of meeting the requirement of complex gripping and placing operation.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with spatial three-dimensional translational two-dimensional rotary free degree of robot.
Background technology
Present domestic five-freedom parallel structure is applied to the fields such as machining, measurement, spraying, assembling more, can realize the high-speed motion parallel manipulator with five freedom degrees and still lack in high-speed material pick-and-place field.Majority adopts Serial manipulators or is connected in series the two degrees of freedom rotary head to realize the operation of material pick-and-place take three-translational parallel connection mechanism as body.Its limitation has been to increase quality and the inertia of mechanism kinematic parts, affects the dynamic property of mechanism, causes this mechanism to be difficult to realize high-speed motion.
Summary of the invention
The present invention provides a kind of moving platform force transmission effect good for solving the technical problem that exists in the known technology, and long service life and design can realize the parallel manipulator of the three-dimensional translating two-dimensional rotary free degree cleverly.
In order to solve the problems of the technologies described above, the technical scheme that the parallel manipulator of the three-dimensional translating two-dimensional rotary free degree of the present invention is achieved is: comprise fixed mount, moving platform and be arranged between described fixed mount and the moving platform and five side chains that structure is identical that are centrosymmetric and arrange; Described fixed mount is connected with respectively five drive units; Every side chain comprises the hack lever far away that nearly hack lever is parallel and isometric with two, and an end of described nearly hack lever and the output shaft of one of them drive unit are affixed, and the described nearly hack lever other end is connected with connecting axle; One end of described two parallel hack levers far away respectively with described upper connecting axle ball-joint, the other end of described two parallel hack levers far away respectively with the lower connecting axle ball-joint that is arranged on the described moving platform; Described lower connecting axle, described upper connecting axle and described two parallel hack levers far away on every side chain consist of a parallelogram; Described moving platform comprises five gussets and five groups of connecting rods, and described five gussets are linked in sequence into plane closed hoop structure with five groups of connecting rods respectively; Wherein, every group of connecting rod comprises the rod member that two length is identical and be arranged in parallel, and the two ends of two rod members connect to form one group of plane parallel quadrilateral structure with two adjacent gussets with revolute pair respectively; Thus, in described moving platform, be formed with five groups of plane parallel quadrilateral structures; The lower connecting axle of every side chain is separately fixed on the gusset; Wherein two two groups of adjacent connecting rods and the stiff end that is positioned at described plane two rod members closed hoop structure or outer the same side are provided with a pair of intermeshing subangle gear, the rotating shaft of each subangle gear is fixed on the gusset between this two adjacent groups connecting rod, and above-mentioned two rod members, a gusset and intermeshing subangle gear consist of a subangle mechanism; Under the driving effect of five side chains, and under the movement limit effect of described subangle mechanism and described five groups of plane parallel quadrilateral structures, can make described moving platform integral body in the space, realize three-dimensional translating, and moving platform is from do the two degrees of freedom amoeboid movement in a plane; Also comprise a two degrees of freedom rotating mechanism, described two degrees of freedom rotating mechanism is comprised of two wire drawings, two crossbeam connecting rods and a two degrees of freedom robot wrist; One end of described two wire drawings is connected with two gussets respectively, the other end of described two wire drawings respectively with two power shaft solderless wrapped connections of described two degrees of freedom robot wrist; Be adjacent position and relative with the gusset at described subangle mechanism place with two gussets that two wire drawings connect; One end of two crossbeam connecting rods is connected with described two degrees of freedom robot wrist with revolute pair respectively, and the other end of described two crossbeam connecting rods is connected with a gusset with revolute pair respectively; Two gussets that are connected with two crossbeam connecting rods are alternate position and adjacent with the gusset at described subangle mechanism place; Be separately installed with one independently, be used for making the elastic device of wire drawing tensioning between two power shafts of described two degrees of freedom robot wrist and two the crossbeam connecting rods; When described moving platform was planar done the two degrees of freedom amoeboid movement, every wire drawing was for two free robot wrists' power shaft provides a power input, made described two degrees of freedom robot wrist realize that two degrees of freedom rotates.
Compared with prior art, the invention has the beneficial effects as follows:
Because the moving platform structure in the parallel manipulator of the three-dimensional translating two-dimensional rotary free degree of the present invention has utilized the subangle gear to cooperate, and used the effect of contraction of many groups parallelogram sturcutre, thereby the extra dof in the restriction moving platform structure, make moving platform become a plane pentagonal configuration, and guarantee that this structure remains and in one plane do the two degrees of freedom amoeboid movement.Article five, be positioned at same plane with fixed five the lower connecting axles of five gussets of this mechanism's moving platform in the side chain, drive five side chains by drive unit, and then drive five gussets motions, moving platform produces Three Degree Of Freedom thereupon and moves and the two degrees of freedom amoeboid movement.This moving platform motion flexibly, and is stressed even, the kinematic accuracy height.Parallel manipulator based on the above-mentioned three-dimensional translating two-dimensional rotary free degree, at moving platform a kind of robot wrist structure is installed, mode by the silk transmission rotatablely moves the two degrees of freedom that the two degrees of freedom amoeboid movement of moving platform is converted into actuator, owing to do not use moving sets in the parallel manipulator of the three-dimensional translating two-dimensional rotary free degree of the present invention, the deficiencies such as discontinuity, frictional force is large, service life is low have been avoided, its integrally-built rigidity and good stability, easily realize high-speed motion, and satisfy the requirement of complicated pick-and-place operation.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the parallel manipulator of the three-dimensional translating two-dimensional rotary free degree of the present invention;
Fig. 2 is the schematic diagram that the two degrees of freedom rotating mechanism is installed on the moving platform
Among the figure:
The nearly hack lever of 1-drive unit 2-fixed mount 3-
Connecting axle under the upper connecting axle 5a of 4-, the 5b-hack lever 6-far away
7-moving platform 8a ~ 8e-gusset 9a ~ 9e-connecting rod
10a ~ 10e-connecting rod 11a ~ 11b wire drawing 12a, 12b gear
13,14-crossbeam connecting rod 15-robot wrist
The specific embodiment
Below in conjunction with the specific embodiment the present invention is described in further detail.
As shown in Figure 1, the parallel manipulator of a kind of three-dimensional translating two-dimensional rotary of the present invention free degree comprises fixed mount 2, moving platform 7 and is arranged between described fixed mount 2 and the moving platform 7 and five side chains that structure is identical that are centrosymmetric and arrange; Described fixed mount 2 is connected with respectively five drive units 1.
Every side chain comprises the hack lever far away that nearly hack lever 3 is parallel and isometric with two, and an end of described nearly hack lever 3 and the output shaft of one of them drive unit 1 are affixed, and described nearly hack lever 3 other ends are connected with connecting axle 4; One end of described two parallel hack levers far away respectively with described upper connecting axle 4 ball-joints, the other end of described two parallel hack levers far away respectively with lower connecting axle 6 ball-joints that are arranged on the described moving platform 7; Described lower connecting axle 6, described upper connecting axle 4 and described two parallel hack levers far away on every side chain consist of a parallelogram.
As shown in Figure 2, described moving platform 7 comprises five gusset 8a ~ 8e and five groups of connecting rod 9a ~ 9e and 10a ~ 10e, and described five gusset 8a ~ 8e are linked in sequence into plane closed hoop structure with five groups of connecting rod 9a ~ 9e and 10a ~ 10e respectively; Wherein, every group of connecting rod, 9a in Fig. 2 and 10a be as example, comprises two length is identical and be arranged in parallel rod member 9a and 10a, and the two ends of two rod member 9a and 10a connect to form one group of plane parallel quadrilateral structure with two adjacent gusset 8a and 8b with revolute pair respectively; Thus, in described moving platform 7, be formed with five groups of plane parallel quadrilateral structures.As depicted in figs. 1 and 2, the lower connecting axle 6 of every side chain is separately fixed on the gusset 8a ~ 8e; Wherein among two adjacent two groups of connecting rod 9a and 10a and 9e and the 10e and be positioned at two rod members described plane closed hoop structure or outer the same side, two rod member 9a in the outside and the stiff end of 9e have been shown among Fig. 2 have been provided with a pair of intermeshing subangle gear 12a and 12b, the rotating shaft of each subangle gear 12a and 12b is fixed on the gusset 8a between this two adjacent groups connecting rod, and above-mentioned two rod member 9a and 9e, a gusset 8a and intermeshing subangle gear 12a and 12b consist of a subangle mechanism; Under the driving effect of five side chains, and under the movement limit effect of described subangle mechanism and described five groups of plane parallel quadrilateral structures, can make described moving platform 7 integral body in the space, realize three-dimensional translating, and moving platform 7 is from do the two degrees of freedom amoeboid movement in a plane.；
Also comprise a two degrees of freedom rotating mechanism among the present invention, described two degrees of freedom rotating mechanism is comprised of two wire drawing 11a and 11b, two crossbeam connecting rods 13,14 and two degrees of freedom robot wrists 15; The end of described two wire drawing 11a and 11b is connected with two gusset 8c and 8d respectively, the other end of described two wire drawing 11a ~ 11b respectively with two power shaft solderless wrapped connections of described two degrees of freedom robot wrist 15; Two gusset 8c that connect with two wire drawing 11a ~ 11b and 8d are adjacent position and relative with the gusset 8a at described subangle mechanism place; Two crossbeam connecting rods 13, an end of 14 are connected with described two degrees of freedom robot wrist 15 with revolute pair respectively, and described two crossbeam connecting rods 13,14 the other end respectively usefulness revolute pair are connected with 8e with a gusset 8b; Two gusset 8b that are connected with two crossbeam connecting rods 13,14 and 8e are alternate position and adjacent with the gusset 8a at described subangle mechanism place; Be separately installed with one independently, be used for making the elastic device of wire drawing tensioning between two power shafts of described two degrees of freedom robot wrist 15 and two the crossbeam connecting rods 13,14, this elastic device can adopt the torque spring structure; When described moving platform 7 was planar done the two degrees of freedom amoeboid movement, every wire drawing 11a and 11b be for two free robot wrists' power shaft provides a power input, makes described two degrees of freedom robot wrist 15 realize that two degrees of freedom rotate.
The present invention compared with prior art, its difference is:
(1) moving platform 7 is connected to form by five groups of connecting rod 9a ~ 9e and 10a ~ 10e by five gusset 8a ~ 8e, and five groups of connecting rod 9a ~ 9e are linked in sequence into plane closed hoop structure with 10a ~ 10e with five gusset 8a ~ 8e; The two ends of every group of connecting rod connect to form one group of plane parallel quadrilateral structure with adjacent two gussets with revolute pair respectively, and then are formed with five groups of plane parallel quadrilateral structures in moving platform 7;
(2) therein in a pair of two groups of adjacent connecting rods, be positioned at the affixed a pair of intermeshing subangle gear of link of the described plane rod member closed hoop structure or outer the same side and gusset, thereby consisted of a subangle mechanism by two rod members, a gusset and a pair of intermeshing subangle gear.
(3) under the effect of contraction of subangle mechanism and five plane parallel quadrilateral structures, reasonably retrained the free degree of moving platform, make it can in the moving platform plane, realize the two degrees of freedom amoeboid movement, connection in the moving platform between a rod member and the gusset is revolute pair and connects, discontinuity when having avoided using moving sets, the deficiency such as frictional force large and service life is low.
(4) design of moving platform makes this robot mechanism can realize easily that Three Degree Of Freedom high-speed mobile and the two degrees of freedom of actuator rotatablely move among the present invention, and flexibility is strong during motion.
The parallel manipulator of the three-dimensional translating two-dimensional rotary free degree of the present invention, the rigidity of structure and good stability, motion is flexible, and it is stressed that evenly precision is higher, and long service life easily realizes high-speed motion, and satisfies the requirement of complex object pick-and-place operation.
Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (1)
1. the parallel manipulator of a three-dimensional translating two-dimensional rotary free degree comprises fixed mount (2), moving platform (7) and is arranged between described fixed mount (2) and the moving platform (7) and five side chains that structure is identical that are centrosymmetric and arrange; Described fixed mount (2) is connected with respectively five drive units (1);
Every side chain comprises the hack lever far away that nearly hack lever (3) is parallel and isometric with two, and the output shaft of an end of described nearly hack lever (3) and one of them drive unit (1) is affixed, and described nearly hack lever (3) other end is connected with connecting axle (4); One end of described two parallel hack levers far away respectively with described upper connecting axle (4) ball-joint, the other end of described two parallel hack levers far away respectively with lower connecting axle (6) ball-joint that is arranged on the described moving platform (7); Described lower connecting axle (6), described upper connecting axle (4) and described two parallel hack levers far away on every side chain consist of a parallelogram;
It is characterized in that:
Described moving platform (7) comprises five gussets and five groups of connecting rods, and described five gussets are linked in sequence into plane closed hoop structure with five groups of connecting rods respectively; Wherein, every group of connecting rod comprises the rod member that two length is identical and be arranged in parallel, and the two ends of two rod members connect to form one group of plane parallel quadrilateral structure with two adjacent gussets with revolute pair respectively; Thus, in described moving platform (7), be formed with five groups of plane parallel quadrilateral structures;
The lower connecting axle (6) of every side chain is separately fixed on the gusset (8);
Wherein two two groups of adjacent connecting rods and the stiff end that is positioned at described plane two rod members closed hoop structure or outer the same side are provided with a pair of intermeshing subangle gear, the rotating shaft of each subangle gear is fixed on the gusset between this two adjacent groups connecting rod, and above-mentioned two rod members, a gusset and intermeshing subangle gear consist of a subangle mechanism;
Under the driving effect of five side chains, and under the movement limit effect of described subangle mechanism and described five groups of plane parallel quadrilateral structures, described moving platform (7) is whole realizes three-dimensional translating in the space, and moving platform (7) is from do the two degrees of freedom amoeboid movement in a plane;
Also comprise a two degrees of freedom rotating mechanism, described two degrees of freedom rotating mechanism is comprised of two wire drawings, two crossbeam connecting rods and a two degrees of freedom robot wrist (15); One end of described two wire drawings is connected with two gussets respectively, the other end of described two wire drawings respectively with two power shaft solderless wrapped connections of described two degrees of freedom robot wrist (15); Be adjacent position and relative with the gusset at described subangle mechanism place with two gussets that two wire drawings connect;
One end of two crossbeam connecting rods uses respectively revolute pair to be connected with described two degrees of freedom robot wrist (15), and the other end of described two crossbeam connecting rods is connected with a gusset with revolute pair respectively; Two gussets that are connected with two crossbeam connecting rods are alternate position and adjacent with the gusset at described subangle mechanism place;
Be separately installed with one independently, be used for making the elastic device of wire drawing tensioning between two power shafts of described two degrees of freedom robot wrist (15) and two the crossbeam connecting rods;
When described moving platform (7) self was planar done the two degrees of freedom amoeboid movement, every wire drawing was for two free robot wrists' power shaft provides a power input, made described two degrees of freedom robot wrist (15) realize that two degrees of freedom rotates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105136761A CN102975197A (en) | 2012-12-04 | 2012-12-04 | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom |
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| CN2012105136761A CN102975197A (en) | 2012-12-04 | 2012-12-04 | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom |
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Cited By (6)
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| CN104742115A (en) * | 2015-01-19 | 2015-07-01 | 北京航空航天大学 | Two-freedom-degree flexibility parallel alignment device provided with remote rotation center |
| CN106660202A (en) * | 2014-05-19 | 2017-05-10 | 蒙彼利埃大学 | Pod for a parallel robot for controlling an object |
| CN107127741A (en) * | 2017-07-10 | 2017-09-05 | 勃肯特（北京）机器人技术有限公司 | Four-shaft parallel movable disk and four-shaft parallel robot |
| CN107953316A (en) * | 2017-12-29 | 2018-04-24 | 勃肯特（天津）机器人技术有限公司 | Slidingtype movable disk and four-shaft parallel robot |
| CN111713257A (en) * | 2020-07-03 | 2020-09-29 | 浙江理工大学 | Spherical cutter type self-propelled famous and high-quality tea plucking machine |
| CN114918903A (en) * | 2022-05-19 | 2022-08-19 | 南京理工大学 | Three-dimensional translation and two-dimensional rotation five-degree-of-freedom parallel mechanism |
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| CN114918903A (en) * | 2022-05-19 | 2022-08-19 | 南京理工大学 | Three-dimensional translation and two-dimensional rotation five-degree-of-freedom parallel mechanism |
| CN114918903B (en) * | 2022-05-19 | 2024-03-19 | 南京理工大学 | Three-plane two-to-five-degree-of-freedom parallel mechanism |
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Application publication date: 20130320 |