CN105127980A - Three-horizontal movement one-rotation parallel robot device - Google Patents
Three-horizontal movement one-rotation parallel robot device Download PDFInfo
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- CN105127980A CN105127980A CN201510567133.1A CN201510567133A CN105127980A CN 105127980 A CN105127980 A CN 105127980A CN 201510567133 A CN201510567133 A CN 201510567133A CN 105127980 A CN105127980 A CN 105127980A
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- side chain
- moving platform
- revolute pair
- translation
- rotation
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Abstract
The invention provides a three-horizontal movement one-rotation parallel robot device which is composed of a moving platform, a static platform (0), a branch chain I, a branch chain II, a branch chain III and a branch chain IV for connecting the moving platform (1) and the static platform (0), wherein the branch chain I, the branch chain II, the branch chain III and the branch chain IV are the same. The three-horizontal movement one-rotation parallel robot device is characterized in that one end of a second connection rod (2) on each branch chain is connected with the static platform (0) through a first rotation pair (R11), the other end of each second connection rod (2) is connected with a first short edge rod (5) at one end of a parallelogram composed of four rotation pairs and four rods through a second rotation pair (R12), and the second short edge rod (6) at the other end of the parallelogram is connected with the moving platform (1) through a third rotation pair (R13); the axes of each first rotation pair (R11), the corresponding second rotation pair (R12) and the corresponding third rotation pair (R13) are parallel to one another; furthermore, the four totally same branch chains should be parallel to the axes of the four rotation pairs connected with the moving platform (1). The three-horizontal movement one-rotation parallel robot device has the advantages of being simple in structure, easy to manufacture, high in positioning accuracy and the like.
Description
Technical field
The present invention relates to a kind of actuating unit of parallel robot operator, for robot manipulator etc. provides novel three translation one rotating parallel device people devices.
Background technology
The operator of parallel-connection structure obtains commercial Application, and particularly the Delta operator of implementation space three translation functions, has played good effect in the techniques such as high speed pick-and-place, orientation assemble, carrying, sorting, loading and unloading; And there is the parallel manipulator of three translation one rotating functions, and needing under the occasion adjusting workpiece posture, indispensable especially.For this reason, R.Clavel in 1988 is on the basis of three translation Delta operators, then connect a R-U-P-U-R side chain or S-P-S side chain, constitutes the series-parallel connection operator that has three translation one rotating functions; The patent 200310106012.4 of Yang Ting power in 2003 application, proposes one group of 5 three-translation and one-rotation parallel mechanism, but does not have Development Prototype; 2006 afterwards start, Pierrot etc. have invented four-degree-of-freedom SCARA type (the namely three translations one are rotated) operator of H4, I4, Par4 series in succession, and professor Huang Tian develops the Cross-IV type high speed transfer robot that four-degree-of-freedom three translation one is rotated; And patent 201210435375.1 proposes a kind of parallel institution realizing three translations one and rotate, and have developed model machine.But relative to the Delta operator of three translations, on the one hand, these mechanism structure are complicated, do not obtain good development & application, on the other hand, the new structure and the application that realize three translation one rotating functions all need development.
Therefore, the development of parallel institution that three translations one are rotated and practical, needs to create the new architecture being better than existing mechanism.
Summary of the invention
The object of the invention is will overcome the deficiencies in the prior art and the three-translation and one-rotation parallel mechanism that a class is new is provided, this kind of mechanism have good rigidly, structure comparatively simple, be easy to Precision Machining, and the advantage such as forward kinematics solution is simple.
A kind of three translation one rotating parallel device people devices provided by the invention, by moving platform (1), silent flatform (0) and connect moving platform (1), four articles of identical I side chains of silent flatform (0), the IIth side chain, III side chain, IV side chain form, one end of the connecting rod two (2) on every bar side chain and silent flatform (0) are with revolute pair one (R
11) connect, one end minor face bar one (5) use revolute pair two (R of the other end of connecting rod two (2) and parallelogram be made up of four revolute pairs and four bars
12) connect, other end minor face bar two (6) revolute pair three (R of parallelogram
13) be connected with moving platform (1); The axis of these three revolute pairs one, revolute pair two, revolute pair three is parallel to each other.
Meanwhile, in four articles of side chains such as I side chain, the IIth side chain, III side chain, IV side chain, relative wantonly two side chains can substitute without restricted type S-S-R, S-S-P, S-P-S side chain with any two;
Further, four revolute pairs that every bar side chain connects with silent flatform (0), for drive pair, can substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Accompanying drawing explanation
Accompanying drawing 1 is the structure diagram schematic diagram of one of the embodiment of three translation one rotating parallel device people devices of the present invention;
Accompanying drawing 2 is the structure diagram schematic diagram of the embodiment two of three translation one rotating parallel device people devices of the present invention;
Detailed description of the invention
Give to illustrate further to technology of the present invention below by accompanying drawing and example.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, its technical scheme is such: a kind of three translation one rotating parallel device people devices, be made up of moving platform 1, silent flatform 0 and connection moving platform 1, four articles of identical I side chains of silent flatform 0, the IIth side chain, III side chain, IV side chain, one end of the connecting rod 22 on every bar side chain and silent flatform 0 are with revolute pair one R
11connect, one end minor face bar 1 use revolute pair two R of the other end of connecting rod 22 and parallelogram be made up of four revolute pairs and four bars
12connect, other end minor face bar 26 revolute pair three R of parallelogram
13be connected with moving platform 1; These three revolute pair one R
11, revolute pair two R
12, revolute pair three R
13axis must be parallel to each other; Further, the axis R of four revolute pairs that is connected with moving platform 1 of these four identical side chains
13, R
23, R
33, R
43also must be parallel to each other;
As four the revolute pair R connected with silent flatform 0
11, R
21, R
31, R
41during for driving, moving platform 1 just can be made to realize revolute pair three R on D translation and moving platform 1
13the one-dimensional rotation of axis exports.Four revolute pairs that every bar side chain connects with silent flatform (0), for drive pair, can substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Parallel institution shown in accompanying drawing 2 is embodiments of the invention two, its technical scheme is such: a kind of three translation one rotating parallel device people devices, comprise moving platform 1, silent flatform 0, and connect moving platform 1, the identical I side chain of structure of silent flatform 0, III side chain and two articles without restricted type S-S-R side chain, the structure of I side chain, III side chain and layout thereof, identical with the I side chain of one of embodiment, III side chain, one end of the connecting rod 22 namely on every bar side chain and silent flatform 0 are with revolute pair one R
11connect, one end minor face bar 1 use revolute pair two R of the other end of connecting rod 22 and parallelogram be made up of four revolute pairs and four bars
12connect, other end minor face bar 26 revolute pair three R of parallelogram
13be connected with moving platform 1; These three revolute pair one R
11, revolute pair two R
12, revolute pair three R
13axis be parallel to each other; Further, the axis R of two revolute pairs that is connected with moving platform 1 of these two identical side chains
13with R
33must be parallel to each other; And R end revolute pair four R of S-S-R type side chain
1be connected with silent flatform 0, S end secondary two S of ball of S-S-R type side chain
2be connected with moving platform 1, two connecting rods 7 and 8 secondary S of ball of S-S-R type side chain
1connect.Here, S represents that ball is secondary, and R represents revolute pair.
Further, the revolute pair that every bar side chain connects with silent flatform 0, can substitute with moving sets.
As four the revolute pair R connected with silent flatform 0
11, R
2, R
1, R
31during for driving, moving platform 1 just can be made to realize revolute pair three R on D translation and moving platform 1
13the one-dimensional rotation of axis exports; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Claims (3)
1. a translation one rotating parallel device people device, by moving platform (1), silent flatform (0) and connect moving platform (1), four articles of identical I side chains of silent flatform (0), the IIth side chain, III side chain, IV side chain form, it is characterized in that: one end of the connecting rod two (2) often on bar side chain and silent flatform (0) are with revolute pair one (R
11) connect, one end minor face bar one (5) use revolute pair two (R of the other end of connecting rod two (2) and parallelogram be made up of four revolute pairs and four bars
12) connect, other end minor face bar two (6) revolute pair three (R of parallelogram
13) be connected with moving platform (1); These three revolute pair one (R
11), revolute pair two (R
12), revolute pair three (R
12) axis be parallel to each other; Further, the axis of four revolute pairs that these four identical side chains are connected with moving platform (1) must be parallel to each other.
2. by three translation one rotating parallel device people devices according to claim 1, it is characterized in that: in I side chain, the IIth side chain, III side chain, these four articles of side chains of IV side chain, relative wantonly two side chains can substitute without restricted type S-S-R, S-S-P, S-P-S side chain with any two.
3. by three translation one rotating parallel device people devices described in claim 1 or 2, it is characterized in that: four revolute pairs that every bar side chain connects with silent flatform (0), for drive pair, can substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567133.1A CN105127980A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567133.1A CN105127980A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105127980A true CN105127980A (en) | 2015-12-09 |
Family
ID=54713724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510567133.1A Pending CN105127980A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619385A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot mechanism with low-coupling-degree two-movement-pair movable platform |
| CN105619387A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot device |
| CN106965162A (en) * | 2017-04-28 | 2017-07-21 | 燕山大学 | A kind of how identical rotation output mechanism of single input |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
-
2015
- 2015-09-08 CN CN201510567133.1A patent/CN105127980A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619385A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot mechanism with low-coupling-degree two-movement-pair movable platform |
| CN105619387A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot device |
| CN106965162A (en) * | 2017-04-28 | 2017-07-21 | 燕山大学 | A kind of how identical rotation output mechanism of single input |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
| CN109176471B (en) * | 2018-09-30 | 2023-10-24 | 昆明理工大学 | Four-degree-of-freedom parallel mechanism |
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Application publication date: 20151209 |