CN103350417B - Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation - Google Patents
Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation Download PDFInfo
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- CN103350417B CN103350417B CN201310319805.8A CN201310319805A CN103350417B CN 103350417 B CN103350417 B CN 103350417B CN 201310319805 A CN201310319805 A CN 201310319805A CN 103350417 B CN103350417 B CN 103350417B
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- central plate
- hooke
- hack lever
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Abstract
The invention discloses a parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation. The parallel mechanism comprises a fixing frame and a movable platform. Five drive devices are fixedly connected to the fixing frame. The movable platform comprises a central plate and a rocker vertically penetrating through the center of the central plate. The central plate is connected with the rocker through a hooke hinge in a rotating mode. Two ball head rods are fixed at the upper end of the rocker. Three first branch chains are connected between the fixing frame and the central plate. Two second branch chains are connected between the fixing frame and the two ball head rods. The central plate is driven by the three first branch chains to be in three-dimensional translational motion. The rocker is driven by the two second branch chains to be in two-dimensional rotation relative to the central plate through the hooke hinge. Consequently, the rocker is enabled to have not only three translational motion freedom degrees but also two rotation freedom degrees. The parallel mechanism is simple and compact in structure, exquisitely realizes five freedom degrees through the hooke hinge, reduces mechanism complexity, and can realize high-speed high-precision complex grab easily.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with space five-freedom of robot.
Background technology
The domestic research to space six-degree-of-freedom parallel connection mechanism at present still concentrates on machining or measures the mechanism of purposes, and less for the space six-degree-of-freedom parallel connection mechanism research of the realized high-speed motion being applied to material pick-and-place.
Minority is had to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place in the world.Patent document US20110097184A1 discloses a kind of parallel institution realizing three-dimensional translating and Three dimensional rotation, comprises fixed mount, moving platform, Three Degree Of Freedom wrist and is arranged symmetrically in the described fixed mount side chain identical with the structure of three between moving platform; Described fixed mount is connected with drive unit; Described moving platform is connected with lower connecting axle; Every bar side chain comprises the nearly hack lever far away hack lever parallel with two and drive end, connecting axle, and on described nearly hack lever one end and described fixed mount, drive end is affixed, and the other end is connected with connecting axle; Described two parallel hack lever one end far away respectively with the two ends ball-joint of described upper connecting axle, the other end respectively with described lower connecting axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; Drive end is connected with between described two parallel hack levers far away; Between described connecting axle one end and described hack lever far away, drive end is affixed, the other end and described Three Degree Of Freedom wrist input affixed.The limitation of said mechanism is: the drive end of Three Degree Of Freedom wrist is fixed between two hack levers far away, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, cause this mechanism to be difficult to realize high-speed motion.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of parallel institution realizing three-dimensional translating two-dimensional rotary, there is the feature of light inertia, high power density, can be used for the parallel manipulator with five freedom degrees of high-speed motion.
In order to solve the problems of the technologies described above, a kind of parallel institution realizing three-dimensional translating two-dimensional rotary of the present invention, comprise fixed mount and moving platform, described fixed mount is connected with five drive units, described moving platform comprises central plate and vertically through the rocking bar of central plate center, adopt Hooke's hinge to be rotationally connected between described central plate and described rocking bar, the upper end of described rocking bar is fixed with two ball rods; Be connected with three the first side chains between described fixed mount and central plate, between described fixed mount and described two ball rods, be connected with two the second side chains; Described first side chain by nearly hack lever, upper connecting axle, two to be parallel to each other and the isometric first hack lever far away and lower connecting axle are formed; Described second side chain is made up of nearly hack lever, upper connection spherical hinge, the second hack lever far away and lower connection spherical hinge; In described first side chain, one end of described nearly hack lever is connected by revolute pair with between described fixed mount and affixed with the output of a drive unit, the other end and the described upper connecting axle of described nearly hack lever are affixed, one end of two first hack levers far away respectively with described upper connecting axle ball-joint, the other end of two first hack levers far away respectively with described lower connecting axle ball-joint; Upper connecting axle in every bar first side chain, two parallel and isometric the first hack levers far away and lower connecting axle form a parallelogram sturcutre; In described second side chain, one end of described nearly hack lever is connected by revolute pair with between described fixed mount and affixed with the output of a drive unit, the other end of described nearly hack lever is by one end ball-joint of described upper connection spherical hinge and the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge and described ball rod ball-joint; Described central plate realizes three-dimensional translating under the drive of three the first side chains, thus drive rocking bar to realize three-dimensional translating, described rocking bar realizes the two-dimensional rotary relative to described central plate by under the drive of two the second side chains by Hooke's hinge, thus make existing three translational degree of freedom of rocking bar, there are again two rotational freedoms.
Further, described Hooke's hinge comprises Hooke inner ring and Hooke outer ring, and described Hooke inner ring is connected with Hooke outer ring rotating, described Hooke inner ring and described rocking bar affixed, described Hooke outer ring and described central plate are rotationally connected.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention is simple and compact for structure, without the need to enlarger, utilizes Hooke's hinge to achieve five degree of freedom cleverly, reduces mechanism complexity, decrease heavy moving parts, improve kinematic accuracy, easily realizes capturing at a high speed, and meets the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram that the present invention can realize the parallel institution of three-dimensional translating two-dimensional rotary;
Fig. 2 is the structural representation of moving platform in the present invention;
Fig. 3 is the structural representation of Hooke's hinge in the present invention.
In figure: 1-drive unit, 2-fixed mount, the nearly hack lever of 3-, 4-connects spherical hinge, the upper connecting axle of 5-, 6-second hack lever far away, 6a, 6b-first hack lever far away, connects spherical hinge under 7-, connecting axle under 8-, 9-moving platform, 10-central plate, 11-Hooke inner ring, 12-Hooke outer ring, 13-rocking bar.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is described in further detail.
As shown in Figure 1, a kind of parallel institution realizing three-dimensional translating two-dimensional rotary of the present invention, comprise fixed mount 2 and moving platform 9, described fixed mount 2 is connected with five drive units 1, as depicted in figs. 1 and 2, described moving platform 9 comprises central plate 10 and vertically through the rocking bar 13 of central plate 10 center, as shown in Figure 3, Hooke's hinge is adopted to be rotationally connected between described central plate 10 and described rocking bar 13, described Hooke's hinge comprises Hooke inner ring 11 and Hooke outer ring 12, described Hooke inner ring 11 is rotationally connected with Hooke outer ring 12, described Hooke inner ring 11 is affixed with described rocking bar 13, described Hooke outer ring 12 is rotationally connected with described central plate 10, the upper end of described rocking bar 13 is fixed with two ball rods.
As shown in Figure 1, between described fixed mount 2 and central plate 10, be connected with three the first side chains, between described fixed mount 2 and described two ball rods, be connected with two the second side chains; Described first side chain is parallel to each other by nearly hack lever 3, upper connecting axle 5, two and isometric first hack lever 6a, 6b far away and lower connecting axle 8 are formed; Described second side chain is made up of nearly hack lever 3, upper connection spherical hinge 4, second hack lever 6 far away and lower connection spherical hinge 7.In described first side chain, one end of described nearly hack lever 3 is connected by revolute pair with between described fixed mount 2 and affixed with the output of a drive unit 1, described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it, the other end and the described upper connecting axle 5 of described nearly hack lever 3 are affixed, one end of two first hack lever 6a, 6b far away respectively with the ball-joint of described upper connecting axle 5, the other end of two first hack lever 6a, 6b far away respectively with the ball-joint of described lower connecting axle 8; First hack lever 6a, 6b far away that upper connecting axle in every bar first side chain 5, two is parallel and isometric and lower connecting axle 8 form a parallelogram sturcutre; In described second side chain, one end of described nearly hack lever 3 is connected by revolute pair with between described fixed mount 2 and affixed with the output of a drive unit 1, the other end of described nearly hack lever 3 is by one end ball-joint of described upper connection spherical hinge 4 with the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge 7 and described ball rod ball-joint.
As depicted in figs. 1 and 2, described central plate 10 realizes three-dimensional translating under the drive of three the first side chains, thus drive rocking bar 13 to realize three-dimensional translating, described rocking bar 13 realizes the two-dimensional rotary relative to described central plate 10 by under the drive of two the second side chains by Hooke's hinge, thus make existing three translational degree of freedom of rocking bar 13, there are again two rotational freedoms.
Simultaneously, when parallel manipulator with five freedom degrees motion of the present invention, upper connection spherical hinge in second side chain and lower connection spherical hinge only need a place to provide rotation around the second hack lever 6 far away, Gu when replacing with Hooke's hinge connecting spherical hinge or lower connection spherical hinge, described rocking bar 13 still can drive by two the second side chains the two-dimensional rotary realized under the effect of Hooke's hinge relative to described central plate 10, and then mechanism can realize three translational degree of freedom and three rotational freedoms equally.
Compared with prior art, its difference is in the present invention:
Five side chains in the present invention are divided into two groups, and one group comprises three the first side chains, and another group comprises two the second side chains, and central plate 10 is driven by three the first side chains and realizes three-dimensional translating, thus drives rocking bar 13 to realize three-dimensional translating; Under the drive of two the second side chains, rocking bar 13 realizes the two-dimensional rotary of relative centre plate 10 by Hooke's hinge, thus makes existing three translational degree of freedom of rocking bar 13, has again two rotational freedoms.
In the present invention, replaced that upper to connect in spherical hinge 4 and lower connection spherical hinge 7 arbitrary by Hooke's hinge, the present invention can realize translational degree of freedom and two rotational freedoms in three directions equally.
Parallel manipulator with five freedom degrees of the present invention avoids enlarger, utilizes Hooke's hinge to achieve five degree of freedom cleverly, its compact conformation, reduce mechanism complexity, decrease heavy moving parts, improve kinematic accuracy, easy realization captures at a high speed, and meets the requirement of complicated pick-and-place operation.
Although invention has been described for composition graphs above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; when not departing from present inventive concept, can also make a lot of distortion, these all belong within protection of the present invention.
Claims (2)
1. can realize a parallel institution for three-dimensional translating two-dimensional rotary, comprise fixed mount (2) and moving platform (9), described fixed mount (2) be connected with five drive units (1), it is characterized in that,
Described moving platform (9) comprises central plate (10) and vertically through the rocking bar (13) of central plate (10) center, adopt Hooke's hinge to be rotationally connected between described central plate (10) and described rocking bar (13), the upper end of described rocking bar (13) is fixed with two ball rods;
Be connected with three the first side chains between described fixed mount (2) and central plate (10), between described fixed mount (2) and described two ball rods, be connected with two the second side chains; Described first side chain by nearly hack lever (3), upper connecting axle (5), two to be parallel to each other and the isometric first hack lever (6a, 6b) far away and lower connecting axle (8) are formed; Described second side chain is made up of nearly hack lever (3), upper connection spherical hinge (4), the second hack lever (6) far away and lower connection spherical hinge (7);
In described first side chain, one end of described nearly hack lever (3) is connected by revolute pair with between described fixed mount (2) and affixed with the output of a drive unit (1), the other end and the described upper connecting axle (5) of described nearly hack lever (3) are affixed, one end of two first hack levers (6a, 6b) far away respectively with the ball-joint of described upper connecting axle (5), the other end of two first hack levers (6a, 6b) far away respectively with the ball-joint of described lower connecting axle (8); Upper connecting axle (5) in every bar first side chain, two parallel and isometric the first hack levers (6a, 6b) far away and lower connecting axle (8) form a parallelogram sturcutre;
In described second side chain, one end of described nearly hack lever (3) is connected by revolute pair with between described fixed mount (2) and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) is by one end ball-joint of described upper connection spherical hinge (4) with the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge (7) and described ball rod ball-joint;
Described central plate (10) realizes three-dimensional translating under the drive of three the first side chains, thus drive rocking bar (13) to realize three-dimensional translating, described rocking bar (13) passes through the two-dimensional rotary of the relatively described central plate (10) of realization of Hooke's hinge under the drive of two the second side chains, thus make existing three translational degree of freedom of rocking bar (13), there are again two rotational freedoms.
2. can realize the parallel institution of three-dimensional translating two-dimensional rotary according to claim 1, it is characterized in that, described Hooke's hinge comprises Hooke inner ring (11) and Hooke outer ring (12), described Hooke inner ring (11) and Hooke outer ring (12) are rotationally connected, described Hooke inner ring (11) is affixed with described rocking bar (13), and described Hooke outer ring (12) and described central plate (10) are rotationally connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310319805.8A CN103350417B (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310319805.8A CN103350417B (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
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| CN103350417A CN103350417A (en) | 2013-10-16 |
| CN103350417B true CN103350417B (en) | 2015-03-04 |
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| CN201310319805.8A Expired - Fee Related CN103350417B (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105234926B (en) * | 2015-11-16 | 2017-03-29 | 南京理工大学 | A kind of five-freedom parallel structure of achievable three-dimensional translating two-dimensional rotary |
| CN105234928B (en) * | 2015-11-16 | 2017-05-17 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN106826767B (en) * | 2017-03-01 | 2023-05-09 | 东莞松山湖机器人产业发展有限公司 | Six-degree-of-freedom parallel mechanism based on grabbing parallel structure |
| CN112719949A (en) * | 2020-12-24 | 2021-04-30 | 枣庄北航机床创新研究院有限公司 | Posture adjusting swing table for blade machining and mounting method |
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| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| CN202702238U (en) * | 2012-07-20 | 2013-01-30 | 大连佳林设备制造有限公司 | Parallel sorting robot |
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Patent Citations (5)
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| FR2940925A1 (en) * | 2009-01-14 | 2010-07-16 | Jean Marie Chenu | Parallel type handling robot for packaging chocolate squares, has rail extending in displacement plane secant with working plane and inclined in displacement plane such that projection of rail on working plane defines side of polygon |
| CN202702238U (en) * | 2012-07-20 | 2013-01-30 | 大连佳林设备制造有限公司 | Parallel sorting robot |
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| CN203460171U (en) * | 2013-07-25 | 2014-03-05 | 天津大学 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
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| CN103350417A (en) | 2013-10-16 |
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