CN105364918A - Screw rod-driven pseudo-4-DOF parallel robot - Google Patents
Screw rod-driven pseudo-4-DOF parallel robot Download PDFInfo
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- CN105364918A CN105364918A CN201510980257.2A CN201510980257A CN105364918A CN 105364918 A CN105364918 A CN 105364918A CN 201510980257 A CN201510980257 A CN 201510980257A CN 105364918 A CN105364918 A CN 105364918A
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- branched chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention discloses a screw rod-driven pseudo-4-DOF parallel robot which comprises a framework (1), a static platform (2), a rotary driving mechanism, and a 2-DOF parallel mechanism, wherein the 2-DOF parallel mechanism comprises a parallel driving mechanism, a rotation support seat (5), a first motion branch chain, a second motion branch chain, a movable platform (9) and a suction nozzle (10); the longitudinal profile of the rotation support seat takes the shape of a del which comprises a bottom edge and two inclined side edges; one end of the first motion branch chain is connected with an output shaft driven by the first motion branch chain, while the other end of the first motion branch chain is connected with the movable platform to form a rotation set; one end of the second motion branch chain is connected with an output shaft driven by the second motion branch chain, while the other end of the second motion branch chain is connected with the movable platform to form another rotation set. 4-DOF motion of the screw rod-driven pseudo-4-DOF parallel robot can be realized by adopting three driving motors, so that the production cost is greatly reduced; as the pure parallel mechanism is adopted, the screw rod-driven pseudo-4-DOF parallel robot is fast in motion, easy to control, large in movable platform working space, symmetric in distribution, simple in structure, and easy to mount and maintain.
Description
Technical field
The present invention relates to industrial robot field, particularly a kind of pseudo-four-freedom-degree parallel-connection robot of screw rod transmission.
Background technology
At present, in the automatic production line of light industry, food, medicine and electron trade, such as sort, pack, encapsulate, the operation such as welding much utilizes robot to perform.And in numerous robots, the normal parallel robot that adopts realizes multi-faceted rapid movement.Parallel robot, compared with traditional serial manipulator, has following characteristics:
1) kinematic accuracy and repeatable accuracy high;
2) movement velocity is fast, and dynamic response is good;
3) space is taken up an area less;
Due to These characteristics, parallel robot is able to extensive use.But meanwhile, conventional machines people drive motors quantity is equal with robot free degree quantity.For realizing required free degree quantity, enough driving free degree quantity be ensured, just need enough driver parts, this considerably increases the manufacturing cost of robot.This also becomes the problem that those skilled in the art need to solve.
Summary of the invention
Because the above-mentioned defect of prior art, the present invention proposes a kind of pseudo-four-freedom-degree parallel-connection robot of screw rod transmission, the free degree (drive motors) quantity of its driving mechanism is three, attainable freedom of motion quantity is four, and the free degree quantity of driving mechanism is less than its real freedom of motion quantity, makes structure simple, decrease one degree of freedom and associated components, manufacturing cost is greatly reduced, and parallel institution good rigidity, movement velocity is fast.
For achieving the above object, the present invention takes following technical scheme to realize:
A pseudo-four-freedom-degree parallel-connection robot for screw rod transmission, comprises framework, silent flatform, rotary drive mechanism, two-freedom-degree parallel mechanism; Described silent flatform is fixed on framework; Described rotary drive mechanism is fixed on described silent flatform; Described two-freedom-degree parallel mechanism comprises parallel drive mechanism, rotary support seat, the first movement branched chain, the second movement branched chain, moving platform, suction nozzle; The output shaft verticallydownwardly of described rotary drive mechanism connects rotary support seat; The vertical section of described rotary support seat is del, comprises base and two oblique sides; Described parallel drive mechanism comprises the first movement branched chain and drives and the driving of the second movement branched chain; Described first movement branched chain and described second movement branched chain are positioned at same plane; The output shaft that described first movement branched chain one end and described first movement branched chain drive is connected, and the other end is connected with described moving platform and forms revolute; The output shaft that one end and described second movement branched chain of described second movement branched chain drive is connected, the other end and described moving platform connect and compose revolute, moving platform is provided with suction nozzle, the output shaft of rotary drive mechanism is parallel with the central shaft of suction nozzle, and the output shaft of rotary drive mechanism is parallel with the plane residing for the second movement branched chain with the first movement branched chain with the plane that the central shaft of suction nozzle is formed.
Further, described first movement branched chain comprises the first active screw mandrel, the first active sliding block and the first follower lever; First active screw mandrel is located on an oblique side of rotary support seat; First active sliding block one end with described first initiatively screw mandrel be connected and form screw pair, the other end connects one end connected formation revolute pair of described first follower lever by turning cylinder, and the other end of the first follower lever to be connected with moving platform by turning cylinder and to form revolute pair.
Further, the second movement branched chain comprises: the second active screw mandrel, the second active sliding block and the second follower lever; Second active screw mandrel is located on another oblique side of rotary support seat; Second active sliding block one end with described second initiatively screw mandrel be connected and form screw pair, the other end connects one end connected formation revolute pair of described second follower lever by turning cylinder, and the other end of the second follower lever to be connected with moving platform by turning cylinder and to form revolute pair.
Further, described first follower lever has two, and/or described second follower lever has two.
Further, two first follower levers and described first active sliding block, moving platform join end to end, in same plane, form parallel-crank mechanism; Two second follower levers and described second active sliding block and moving platform join end to end, in same plane, form parallel-crank mechanism.
Further, on the base of the output shaft of described elbow reductor as the output shaft verticallydownwardly connection rotary support seat of rotary drive mechanism.
Further, the plane residing for two turning cylinders that the first active sliding block is connected with one end of described two first follower levers is parallel to ground.
The pseudo-four-freedom-degree parallel-connection robot of screw rod transmission of the present invention can realize the motion of four frees degree by three drive motors, object can be captured, do the translation of three degree of freedom and the rotation of one degree of freedom, owing to adopting pure parallel institution, be easy to control, moving platform working space is large, be distributed symmetrically, simplicity of design, is easy to installation and maintenance.The particularity of this mechanism, make structure simple, decrease one degree of freedom and associated components, manufacturing cost is greatly reduced, the good rigidity of parallel institution, movement velocity is fast.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is the structural representation of the pseudo-four-freedom-degree parallel-connection robot of a kind of screw rod transmission of the present invention;
Fig. 2 is the axis schematic diagram of the pseudo-four-freedom-degree parallel-connection robot of a kind of screw rod transmission of the present invention;
Fig. 3 is the motion schematic diagram of the pseudo-four-freedom-degree parallel-connection robot of a kind of screw rod transmission of the present invention.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
As shown in Figure 1, the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission of the present invention comprises framework 1, silent flatform 2, rotary drive mechanism, two-freedom-degree parallel mechanism; Framework 1 is the platform of fixed position, and silent flatform 2 is fixed on framework 1, is also the platform of fixed position; Described rotary drive mechanism comprises elbow reductor 3 and the first drive motors 4, and described elbow reductor 3 is arranged on silent flatform 2, and drive motors 4 is connected with elbow reductor 3, for driving elbow reductor 3; Described two-freedom-degree parallel mechanism comprises parallel drive mechanism, rotary support seat 5, first movement branched chain, the second movement branched chain, moving platform 9, suction nozzle 10.The vertical section of described rotary support seat 5 is del, comprises base and two oblique sides; The output shaft of described elbow reductor 3, as the output shaft A1 of rotary drive mechanism, on the base of this output shaft A1 verticallydownwardly connection rotary support seat 5, rotates to drive rotary support seat 5 horizontal 360-degree.
First movement branched chain is identical with the second movement branched chain structure, is installed in parallel between rotary support seat 5 and moving platform 9.In the present embodiment, the first movement branched chain and the second movement branched chain are positioned at same plane.First movement branched chain comprises: the first active screw mandrel 6, first active sliding block 7 and two first follower levers 8; First active screw mandrel 6 is located on an oblique side of rotary support seat 5; First active sliding block 7 one end is connected with described first active screw mandrel 7 and forms screw pair, the other end connects one end connected formation revolute pair of described two first follower levers 8 by turning cylinder A2, turning cylinder A3, and the other end of two first follower levers 8 is connected with moving platform 9 by turning cylinder A4, turning cylinder A5 and forms revolute pair.Two first follower levers 8 and described first active sliding block 7, and moving platform 9 joins end to end, in same plane, form parallel-crank mechanism.
In like manner, the second movement branched chain comprises: the second active screw mandrel 13, second active sliding block 12 and two second follower levers 11; Second active screw mandrel 13 is located on another oblique side of rotary support seat 5; Second active sliding block 12 one end is connected with described second active screw mandrel 13 and forms screw pair, the other end connects one end connected formation revolute pair of described two second follower levers 11 by turning cylinder A8, turning cylinder A9, and the other end of two second follower levers 11 is connected with moving platform 9 by turning cylinder A5, turning cylinder A6 and forms revolute pair.Two second follower levers 11 and described second active sliding block 12, and moving platform 9 joins end to end, in same plane, form parallel-crank mechanism.
Described parallel drive mechanism comprises the first movement branched chain and drives and the driving of the second movement branched chain, respective output shaft level.Described first movement branched chain drives and comprises the second drive motors and the second reductor, and described second movement branched chain drives and comprises the 3rd drive motors and the 3rd reductor.Described first movement branched chain is identical with the second movement branched chain structure, and in parallel mutually, and be connected with the first active screw mandrel 6, second active screw mandrel 13 respectively, driving first active screw mandrel 6, second initiatively screw mandrel 13 carries out transmission.
Moving platform 9 is connected to two groups of parallel-crank mechanisms, and these two groups of parallel-crank mechanisms are parallel institutions.Moving platform 9 is provided with suction nozzle 10, the output shaft A1 of rotary drive mechanism 3 is parallel with the central shaft A7 of suction nozzle 10, and the output shaft A1 of rotary drive mechanism is parallel with the plane residing for the second movement branched chain with the first movement branched chain with the plane that the central shaft A7 of suction nozzle 10 is formed; According to designing requirement, turning cylinder A2, plane residing for turning cylinder A3 are parallel to ground all the time, this ensures that there suction nozzle central shaft A7 all the time perpendicular to ground.
Four-degree-of-freedom movement step is sketched as follows according to Fig. 4:
Step one: the first movement branched chain is extremely parallel with plane N A-NB-NC-ND with the Plane Rotation at the second movement branched chain place, is carried to a some ND from crawl point NA through some NB and some NC by object;
Step 2: by the Plane Rotation certain angle at the first movement branched chain and the second movement branched chain place, this angle is exactly the crawl point NA of object and the angle of set-point NI;
Step 3: object is put down from a NE and is placed in a NF, then the first movement branched chain is extremely parallel with plane N E-NG-NH-NI with the Plane Rotation at the second movement branched chain place, then be promoted to a NE from NF crawl object;
Step 4: robot object is carried to set-point NI from a NE through some NG and some NH,
So far, object is just carried to from crawl point NA and is placed on a NI, namely achieves the motion of four-degree-of-freedom.
In sum, the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission of the present invention can realize the motion of four frees degree by three drive motors, object can be captured, do the translation of three degree of freedom and the rotation of one degree of freedom, owing to adopting pure parallel institution, be easy to control, moving platform working space is large, be distributed symmetrically, simplicity of design, be easy to installation and maintenance.The particularity of this mechanism, make structure simple, decrease one degree of freedom and associated components, manufacturing cost is greatly reduced, the good rigidity of parallel institution, movement velocity is fast.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (7)
1. a pseudo-four-freedom-degree parallel-connection robot for screw rod transmission, is characterized in that: comprise framework (1), silent flatform (2), rotary drive mechanism, two-freedom-degree parallel mechanism; Described silent flatform (2) is fixed on framework (1); Described rotary drive mechanism is fixed on described silent flatform (2); Described two-freedom-degree parallel mechanism comprises parallel drive mechanism, rotary support seat (5), the first movement branched chain, the second movement branched chain, moving platform (9), suction nozzle (10); The output shaft verticallydownwardly of described rotary drive mechanism connects rotary support seat (5); The vertical section of described rotary support seat is del, comprises base and two oblique sides; Described parallel drive mechanism comprises the first movement branched chain and drives and the driving of the second movement branched chain; Described first movement branched chain and described second movement branched chain are positioned at same plane; The output shaft that described first movement branched chain one end and described first movement branched chain drive is connected, and the other end is connected with described moving platform (9) and forms revolute; The output shaft that one end and described second movement branched chain of described second movement branched chain drive is connected, the other end and described moving platform (9) connect and compose revolute, moving platform (9) is provided with suction nozzle (10), the output shaft of rotary drive mechanism is parallel with the central shaft of suction nozzle, and the output shaft of rotary drive mechanism is parallel with the plane residing for the second movement branched chain with the first movement branched chain with the plane that the central shaft of suction nozzle is formed.
2. the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission according to claim 1, is characterized in that: described first movement branched chain comprises the first active screw mandrel (6), the first active sliding block (7) and the first follower lever (8); First active screw mandrel (6) is located on an oblique side of rotary support seat (5); First active sliding block (7) one end is connected with described first active screw mandrel (7) and forms screw pair, the other end is connected by one end that turning cylinder connects described first follower lever (8) and forms revolute pair, and the other end of the first follower lever (8) to be connected with moving platform (9) by turning cylinder and to form revolute pair.
3. the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission according to claim 2, is characterized in that: the second movement branched chain comprises: the second active screw mandrel (13), the second active sliding block (12) and the second follower lever (11); Second active screw mandrel (13) is located on another oblique side of rotary support seat (5); Second active sliding block (12) one end is connected with described second active screw mandrel (13) and forms screw pair, the other end is connected by one end that turning cylinder connects described second follower lever (11) and forms revolute pair, and the other end of the second follower lever (11) to be connected with moving platform (9) by turning cylinder and to form revolute pair.
4. the pseudo-four-freedom-degree parallel-connection robot of the screw rod transmission according to Claims 2 or 3, is characterized in that: described first follower lever (8) has two, and/or described second follower lever (11) has two.
5. the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission according to claim 4, it is characterized in that: two first follower levers (8) join end to end with described first active sliding block (7), moving platform (9), in same plane, form parallel-crank mechanism; Two second follower levers (11) join end to end with described second active sliding block (12) and moving platform (9), in same plane, form parallel-crank mechanism.
6. the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission according to claim 5, is characterized in that: the output shaft of described elbow reductor (3) connects on the base of rotary support seat (5) as the output shaft verticallydownwardly of rotary drive mechanism.
7. the pseudo-four-freedom-degree parallel-connection robot of screw rod transmission according to claim 6, is characterized in that: the plane residing for two turning cylinders that the first active sliding block is connected with one end of described two first follower levers is parallel to ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510980257.2A CN105364918A (en) | 2015-12-23 | 2015-12-23 | Screw rod-driven pseudo-4-DOF parallel robot |
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| CN201510980257.2A CN105364918A (en) | 2015-12-23 | 2015-12-23 | Screw rod-driven pseudo-4-DOF parallel robot |
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Cited By (5)
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| CN105923160A (en) * | 2016-05-16 | 2016-09-07 | 安庆米锐智能科技有限公司 | Clamping device for logistics unmanned aerial vehicle |
| CN107618695A (en) * | 2017-10-23 | 2018-01-23 | 安徽工程大学 | A kind of toothbrush captures feeding packing apparatus |
| CN109434812A (en) * | 2018-12-26 | 2019-03-08 | 哈工大机器人（合肥）国际创新研究院 | A kind of light-duty grabbing device and its application based on parallel institution |
| CN110154002A (en) * | 2019-06-17 | 2019-08-23 | 无锡超通智能制造技术研究院有限公司 | A kind of planar two-DOF mechanism |
| CN108818501B (en) * | 2018-06-27 | 2021-04-20 | 大连理工大学 | Novel two-branch chain SCARA motion parallel mechanism |
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Address after: 215000 Suzhou Industrial Park, Jiangsu, Suzhou Exhibition Road, No. 8 Applicant after: Jiangsu Harbin Industrial Robot Co. Ltd. Shanghai Du Address before: 3, 215000, China Science and technology industrial square, 8 Industrial Road, Suzhou Industrial Park, Suzhou, Jiangsu Applicant before: SUZHOU HAGONG HAIDU INDUSTRIAL ROBOT CO., LTD. |
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Application publication date: 20160302 |