CN105437213B - Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform - Google Patents
Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform Download PDFInfo
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- CN105437213B CN105437213B CN201510963935.4A CN201510963935A CN105437213B CN 105437213 B CN105437213 B CN 105437213B CN 201510963935 A CN201510963935 A CN 201510963935A CN 105437213 B CN105437213 B CN 105437213B
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a multi-closed-ring dual-rotary catching and releasing mechanism taking a spatial four-bar mechanism as a platform. The multi-closed-ring dual-rotary catching and releasing mechanism is composed of a static platform, a movable platform and first, second, third and fourth driving branch chains which connect the movable platform with the static platform, wherein the movable platform is the spatial four-bar mechanism; the spatial four-bar mechanism comprises four connecting bars which are connected end to end in order by revolute pairs; the first driving branch chain comprises a fixed connecting bar; the bottom end of the fixed connecting bar is fixedly connected with the static platform; the upper end of the fixed connecting bar is fixedly connected with one end of a first hook hinge; the other end of the first hook hinge is fixedly connected with a center point of a fourth revolute pair; each of the second, third and fourth driving branch chains comprises a lower connecting bar; one end of each lower connecting bar is connected with the static platform; the other end of each lower connecting bar is rotationally connected with the bottom end of an upper connecting bar by a second hook hinge; the top end of the upper connecting bar is rotationally connected with one end of a spherical hinge; the other end of the spherical hinge is fixedly connected with the center point of the revolute pair which is correspondingly arranged on the movable platform. The mechanism disclosed by the invention has two-freedom-degree rotation function and catching and release function and is excellent in rigidity performance.
Description
Technical field
The present invention relates to many closed loops two of the one kind with spatial four-bar mechanism (Bennett mechanisms) as platform rotate pick-and-place machine
Structure, more particularly to a kind of moving platform is integrally capable of achieving two-freedom rotational motion and Bennett mechanisms are capable of achieving pick-and-place operation
Many closed loop handgrips.
Background technology
In recent years, rotate class pick-and-place mechanism and obtain increasing attention in academia and engineer applied field.At present
Existing mechanism only can complete independently rotating operation or pick-and-place operation, it is impossible to by rotational motion and pick-and-place operation combine.It is existing
Pick-and-place operating mechanism is more based on serial mechanism, it is impossible to which the pick-and-place for supporting big weight large scale target object is operated.Due to closing more
Ring mechanism has advantage in terms of rigidity and dynamic property.Therefore, the two rotation pick-and-place machines with Bennett mechanisms as platform are constituted
In order to solve the problems, such as the preferred plan of big weight large sized object pick-and-place.
The content of the invention
It is an object of the invention to overcome the shortcoming of prior art, there is provided one kind has two-freedom turning power and pick-and-place
Ability, the excellent and easy to control many closed loops two with spatial four-bar mechanism as platform of rigidity property rotate pick-and-place mechanism.
A kind of many closed loops two with spatial four-bar mechanism as platform of the present invention rotate pick-and-place mechanism, and it is by silent flatform, dynamic
The described moving platform of platform and connection, the first active branched chain of silent flatform, the second active branched chain, the 3rd active branched chain and the 4th master
Dynamic side chain is constituted, and the moving platform is spatial four-bar mechanism, and described spatial four-bar mechanism includes first connecting rod, and described first connects
Bar one end rotates secondary rotation with second connecting rod one end and be connected by first, the second connecting rod other end by second rotate pair and
Third connecting rod one end rotates connection, and the third connecting rod other end rotates secondary rotation with fourth link one end and is connected by the 3rd,
The fourth link other end rotates secondary rotation with the first connecting rod other end and is connected by the 4th, and first active branched chain includes
Fixed connecting rod, the fixed connecting rod bottom is fixedly connected with the static platform, the fixed small end and first hook hinge one end
It is fixedly connected, the first hook hinge other end rotates secondary central point and is fixedly connected with the 4th, second active branched chain,
3rd active branched chain and the 4th active branched chain have identical frame for movement, second active branched chain, the 3rd active branched chain and
4th active branched chain includes lower link, and described lower link one end rotates the movement of secondary and silent flatform by moving sets or the 5th
Or connection is rotated, the lower link other end is rotated with second hook hinge one end and is connected, and second hook hinge is another
End rotates with upper connecting rod bottom and be connected, and the rotation of the upper connecting rod top and spherical hinge one end is connected, the spherical hinge other end and
The central point of the rotation pair being correspondingly arranged on moving platform is fixedly connected, wherein, the other end of the second active branched chain spherical hinge
The secondary central point of the rotation of correspondence connection first, the other end correspondence connection second of the 3rd active branched chain spherical hinge rotates pair
Central point, the other end correspondence connection the 3rd of the 4th active branched chain spherical hinge rotates secondary central point.
The invention has the beneficial effects as follows：Mechanism has two-freedom turning power and pick-and-place ability, and rigidity property is excellent, control
System is convenient, can be applicable to the pick-and-place operation of heavy objects.
Description of the drawings
Fig. 1 is the first reality that a kind of many closed loops two with spatial four-bar mechanism as platform of the present invention rotate pick-and-place mechanism
The structural representation of mode is applied, it adopts moving sets to drive；
Fig. 2 is real second of a kind of rotation pick-and-place of many closed loops two mechanism with spatial four-bar mechanism as platform of the present invention
The structural representation of mode is applied, it is adopted, and rotation is secondary to be driven.
Reference：The active branched chain 5 of 3 second active branched chain 4 of silent flatform 1 moving platform, 2 first active branched chain the 3rd
Four active branched chains, 6 first connecting rod 7 first rotates secondary 8 second connecting rod 9 second and rotates the secondary rotation of 10 third connecting rod 11 the 3rd
Secondary 12 fourth link 13 the 4th rotates 16 moving sets 17-1 of secondary 14 fixation 15 first hook hinge of connecting rod the 5th and rotates secondary
The moving platform first connecting rod terminal A moving platform second of 20 spherical hinge of 17-2 lower links 18 second hook hinge, 19 upper connecting rod 21
Connecting rod terminal B moving platform third connecting rod end points C moving platform fourth link end points D the first hook hinge fulcrum O
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail.
As shown in drawings a kind of many closed loops two with spatial four-bar mechanism as platform rotate pick-and-place mechanism by silent flatform 1,
The described moving platform of moving platform 2 and connection, the first active branched chain 3 of silent flatform, the second active branched chain 4, the 3rd active branched chain 5 and
4th active branched chain 6 is constituted.
The moving platform 2 is spatial four-bar mechanism, and described spatial four-bar mechanism includes first connecting rod 7, and described first connects
The one end of bar 7 rotates secondary 8 and rotates with the one end of second connecting rod 9 and is connected by first, and the other end of the second connecting rod 9 is rotated by second
Secondary 10 are connected with the rotation of the one end of third connecting rod 11, and the other end of the third connecting rod 11 rotates secondary 12 with fourth link 13 by the 3rd
One end rotates connection, and the other end of the fourth link 13 rotates secondary 14 and rotate with the other end of first connecting rod 7 and is connected by the 4th.Need
It is noted that meet restructural spatial four-bar mechanism (Bennett mechanisms) between each connecting rod, then described first, second,
3rd, can be angled between the secondary pivot center of the 4th rotation, first, second, third, fourth length of connecting rod can be identical,
Also can be different, but need to meet the dimensional requirement of Bennett mechanisms between each connecting rod.It is (detailed with regard to the detailed content of Bennett mechanisms
See " yellow true, Xia Ping, the spiral analysis of fourth China cutting edge of a knife or a sword .Bennett mechanism freedoms. University On The Mountain Of Swallows's journal, 1904,28 (3):1903-
1904.”)
First active branched chain 3 includes fixed connecting rod 15, and the bottom of fixed connecting rod 15 is fixedly connected with silent flatform 1,
The upper end of fixed connecting rod 15 is fixedly connected with the one end of the first hook hinge 16, the other end of the first hook hinge 16 and the 4th
Rotate secondary central point D to be fixedly connected.
Second active branched chain 4, the 3rd active branched chain 5 and the 4th active branched chain 6 have identical frame for movement, described
Second active branched chain, the 3rd active branched chain and the 4th active branched chain include lower link 18, and described one end of lower link 18 passes through
Either the 5th rotation secondary 17-2 is moved or rotated and is connected moving sets 17-1 with silent flatform 1, the other end of the lower link 18 and the
The one end of two hook hinge 19 rotates connection, and the other end of the second hook hinge 19 is rotated with the bottom of upper connecting rod 20 and is connected, described
The top of upper connecting rod 20 rotates with the one end of spherical hinge 21 and is connected, and what is be correspondingly arranged on the other end of the spherical hinge 21 and moving platform 2 turns
Dynamic secondary central point is fixedly connected, wherein, the other end correspondence connection first of the second active branched chain spherical hinge rotates pair
Central point A, the other end correspondence connection second of the 3rd active branched chain spherical hinge rotates secondary central point B, the 4th master
The other end correspondence connection the 3rd of dynamic side chain spherical hinge rotates secondary central point C.
First active branched chain 3 has the two-freedom turning power around the first hook hinge fulcrum O,
Its two pivot centers can instantaneously be decomposed into two axis that first hook hinge has.Second active branched chain 4, the
Three active branched chains 5 and the 4th active branched chain 6 have identical frame for movement, and by moving sets 17-1, (or the 5th rotate secondary 17-
2), lower link 18, the second hook hinge 19, upper connecting rod 20 and spherical hinge 21 are constituted, therefore second active branched chain 4, the 3rd master
The active branched chain 6 of dynamic side chain 5 and the 4th is respectively provided with space six-freedom motion ability, and the respectively space three-dimensional along any axis is moved
Kinetic force and the Three dimensional rotation ability around any axis, to moving platform without effect of contraction.The moving platform mass motion ability with
First active branched chain is identical, you can the two-freedom rotational motion of two axis that realization has around first hook hinge.
The moving platform 1 rotates secondary 8, second connecting rod 9, second and rotates the secondary 10, rotation of third connecting rod the 11, the 3rd by first connecting rod 7, first
Secondary 12, fourth link 13 and the 4th rotates secondary 14 and constitutes.The moving platform itself has a restructural free degree, can be outside
The change of own dimensions is realized under power effect, to realize that the pick-and-place for different size object is operated.
Secondary 17-2 is rotated with described moving sets 17-1 or the 5th to drive as input, described one kind is with Bennett mechanisms
Many closed loops two for platform rotate the achievable two-freedom rotational motion around the first hook hinge fulcrum O of pick-and-place mechanism
And pick-and-place is operated, its pivot center can be decomposed into two axis that first hook hinge has moment.
A kind of many closed loops two with Bennett mechanisms as platform of the present invention rotate pick-and-place mechanism by first, second, third
Constitute with the 4th active branched chain, second, third and the 4th active branched chain have identical frame for movement, provide more preferably for mechanism
Rigidity property.Second, third and the 4th active branched chain rotate secondary driving by moving sets or the 5th, and it is convenient that mechanism drives,
Control is simple, meets the pick-and-place operational requirements of heavy objects.
The above description of this invention is only schematic, rather than restricted, so, embodiments of the present invention
It is not limited to above-mentioned specific embodiment.If one of ordinary skill in the art is enlightened by it, without departing from the present invention
In the case of objective and claimed scope, other changes or modification are made, such as utilized second, third and the 4th master
Moving sets in dynamic side chain replace with the secondary gained mechanism (Fig. 2) of rotation, belong to protection scope of the present invention.
Claims (1)
1. a kind of many closed loops two with spatial four-bar mechanism as platform rotate pick-and-place mechanism, and it is by silent flatform, moving platform and connection
Described moving platform, the first active branched chain of silent flatform, the second active branched chain, the 3rd active branched chain and the 4th active branched chain structure
Into, it is characterised in that:The moving platform is spatial four-bar mechanism, and described spatial four-bar mechanism includes first connecting rod, described the
One connecting rod one end rotates secondary rotation with second connecting rod one end and is connected by first, and the second connecting rod other end is rotated by second
Secondary rotation with third connecting rod one end is connected, and the third connecting rod other end rotates secondary rotation with fourth link one end and connects by the 3rd
Connect, the fourth link other end rotates secondary rotation with the first connecting rod other end and is connected by the 4th, first active branched chain
Including fixed connecting rod, the fixed connecting rod bottom is fixedly connected with the static platform, the fixed small end and the first hook hinge
One end is fixedly connected, and the first hook hinge other end rotates secondary central point and is fixedly connected with the 4th, and described second actively
Side chain, the 3rd active branched chain and the 4th active branched chain have identical frame for movement, and second active branched chain, the 3rd actively prop up
Chain and the 4th active branched chain include lower link, and described lower link one end rotates secondary and silent flatform by moving sets or the 5th
Mobile or rotation connection, the lower link other end is rotated with second hook hinge one end and is connected, second hook hinge
The other end is rotated with upper connecting rod bottom and is connected, and the upper connecting rod top rotates with spherical hinge one end and is connected, and the spherical hinge is another
End be correspondingly arranged on moving platform rotate pair central point be fixedly connected, wherein, the second active branched chain spherical hinge it is another
The secondary central point of one end correspondence the first rotation of connection, the other end correspondence connection second of the 3rd active branched chain spherical hinge is rotated
Secondary central point, the other end correspondence connection the 3rd of the 4th active branched chain spherical hinge rotates secondary central point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510963935.4A CN105437213B (en) | 2015-12-17 | 2015-12-17 | Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963935.4A CN105437213B (en) | 2015-12-17 | 2015-12-17 | Multi-closed-ring dual-rotary catching and releasing mechanism taking spatial four-bar mechanism as platform |
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| Publication Number | Publication Date |
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| CN105437213A CN105437213A (en) | 2016-03-30 |
| CN105437213B true CN105437213B (en) | 2017-05-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108312288A (en) * | 2017-12-12 | 2018-07-24 | 芜湖市夏氏世家家具有限公司 | A kind of Wrapping apparatus |
| CN108326889A (en) * | 2018-02-02 | 2018-07-27 | 浙江工业大学 | One kind grabbing clamping manipulator device |
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| CN101659059A (en) * | 2009-09-25 | 2010-03-03 | 深圳职业技术学院 | Three-translating and one-rotating parallel robot mechanism |
| KR101023671B1 (en) * | 2005-02-17 | 2011-03-25 | 푼다시온 파트로닉 | High-speed parallel robot with four degrees of freedom |
| CN104626201A (en) * | 2014-12-24 | 2015-05-20 | 北京航天测控技术有限公司 | Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism |
| CN104647358A (en) * | 2015-01-20 | 2015-05-27 | 江南大学 | 3T and 1R four-degree-of-freedom complete decoupling hybrid mechanism |
| CN204525455U (en) * | 2015-03-13 | 2015-08-05 | 洛阳理工学院 | A kind of variable topological four-freedom parallel mechanism |
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2015
- 2015-12-17 CN CN201510963935.4A patent/CN105437213B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101023671B1 (en) * | 2005-02-17 | 2011-03-25 | 푼다시온 파트로닉 | High-speed parallel robot with four degrees of freedom |
| CN101659059A (en) * | 2009-09-25 | 2010-03-03 | 深圳职业技术学院 | Three-translating and one-rotating parallel robot mechanism |
| CN104626201A (en) * | 2014-12-24 | 2015-05-20 | 北京航天测控技术有限公司 | Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism |
| CN104647358A (en) * | 2015-01-20 | 2015-05-27 | 江南大学 | 3T and 1R four-degree-of-freedom complete decoupling hybrid mechanism |
| CN204525455U (en) * | 2015-03-13 | 2015-08-05 | 洛阳理工学院 | A kind of variable topological four-freedom parallel mechanism |
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Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |