CN106272362A - A kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution - Google Patents
A kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution Download PDFInfo
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- CN106272362A CN106272362A CN201610874937.0A CN201610874937A CN106272362A CN 106272362 A CN106272362 A CN 106272362A CN 201610874937 A CN201610874937 A CN 201610874937A CN 106272362 A CN106272362 A CN 106272362A
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- hack lever
- connecting shaft
- turntable
- side 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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- Robotics (AREA)
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Abstract
The invention discloses a kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution, including fixed mount, moving platform, the turntable being rotatably connected on fixed mount, first, second, and third side chain that is arranged between described turntable and moving platform；Described three side chains all include nearly hack lever, two parallel and isometric remote hack levers, described 3rd side chain also includes conversion fork, described conversion fork is affixed with fixed mount, one end of described nearly hack lever is connected with turntable or conversion fork, the other end and remote hack lever ball-joint, described remote hack lever and moving platform ball-joint, described moving platform includes main platform and the auxiliary platform that can mutually rotate.This mechanism can realize complete cycle revolution, has the advantage that work space frame volume ratio is big.
Description
Technical field
The present invention relates to a kind of robot mechanism, a kind of four-degree-of-freedom machine realizing complete cycle revolution is man-machine
Structure.
Background technology
In the automatic packaging of industry, encapsulation and the logistic production lines such as electronics, food, medicine, light industry, need by machine
Tool hands captures jobbie from a certain position, the most planar makees on a large scale quickly mobile, and according to given angle and
This crawled object is placed into another location by height.United States Patent (USP) US4392776 (or EP0065859, JP57194888,
ES8307152, EP0065859, IE820902L, IE52774), US5000653 (or WO8700789, EP0232292,
ES2001359, DE35287769), US2005087034 (or EP1525957, JP2005125489, DE10349452),
US6212968 (or DE19934973), European patent EP 0169473 (or JP61109681), Japan Patent JP2003275977,
JP2003275978, JP2003275987, Bulgaria patent BG5129 and Chinese patent CN1779936 etc., all refer to
A kind of Three Degree Of Freedom or four-degree-of-freedom SCARA (Selective Compliance Assemble Robot Arm) humanoid robot.
Master arm one end of such robot is connected with support by revolute pair, and the master arm other end is by rotary pair and the one of slave arm
End connects, and two pivot centers are parallel, so that master arm constitutes two-freedom plane joint serial machine robot mechanism with slave arm；
The other end of slave arm is provided with end effector, and end effector has a revolution degree of freedom and one relative to slave arm
One-movement-freedom-degree, the axis of revolution degree of freedom is parallel with the axis of rotation of master arm and slave arm, hangs down in the direction of one-movement-freedom-degree
Straight in master arm and the plane of movement of slave arm.Each driving means can be directly arranged on the joint of two opposed moving members, also
Can be fixed on pedestal, then by each joint of actuator drives.This type of robot may be implemented in the complete cycle in plane of movement
Revolution, therefore has bigger space, but, owing to using open loop structure, so the inertia of master arm and slave arm is relatively
Greatly, its rigidity and precision are relatively low.
Patent WO 02/22320 discloses a kind of robot with three-dimensional translating using parallel architecture, this mechanism by
Tri-side chain compositions of A, B, C of fixed mount, moving platform and Connection Bracket and moving platform.The master arm of side chain A and B is by same
Two rotating driving means of axle are arranged on fixed mount, provide the driving in horizontal plane for moving platform；The driving of side chain C
Device is fixed on the master arm of side chain A or side chain B, and the active for side chain C provides rotation to drive, and then provides vertical for moving platform
Nogata to driving；Article three, master arm and the slave arm of side chain is connected by spherical hinge；Article three, the slave arm of side chain the most all passes through
Spherical hinge is connected with moving platform, and the spherical hinge being connected with moving platform is distributed on the same line.This kind of layout, not only makes
Platform Designing difficulty, and moving platform needs large-size, further, since the driving means of side chain C be fixed on side chain A and B its
In a master arm on, inertia asymmetric of side chain A and B stress and moving component can be caused, side chain C is the most always at side chain
The centre position of A and B, can cause the asymmetric of rigidity, precision and acceleration.
Summary of the invention
It is an object of the invention to provide a kind of high speed parallel robot mechanism realizing complete cycle revolution.
The technical solution realizing the object of the invention is: a kind of realize complete cycle revolution four-degree-of-freedom machine man-machine
Structure, including first between fixed mount, turntable, turntable drive device, moving platform and connection turntable and moving platform
Chain, the second side chain and the 3rd side chain, wherein,
Described turntable drive device is affixed with fixed mount, and turntable is rotationally connected with fixed mount, and drives with turntable
The drive end of device is affixed；
Described first side chain and the second branched structure are identical, and are distributed in the both sides of the 3rd side chain；
Described first side chain include the first driving means, the first nearly hack lever, connecting shaft on first, two parallel and isometric
First remote hack lever and first time connecting shaft；First driving means is affixed with turntable, and one end of the first nearly hack lever turns with turntable
It is dynamically connected, and affixed with the drive end of the first driving means, on the other end and first of the first nearly hack lever, connecting shaft is affixed；First
Connecting shaft ball-joint on remote hack lever one end and first, the other end be fixed in connecting shaft ball-joint first on moving platform time；
Described second side chain include the second driving means, the second nearly hack lever, connecting shaft on second, two parallel and isometric
Second remote hack lever and second time connecting shaft；Second driving means is affixed with turntable, and one end of the second nearly hack lever turns with turntable
It is dynamically connected, and affixed with the drive end of the second driving means, on the other end and second of the second nearly hack lever, connecting shaft is affixed；Second
Connecting shaft ball-joint on remote hack lever one end and second, the other end be fixed in connecting shaft ball-joint second on moving platform time；
Described 3rd side chain include the 3rd driving means, conversion fork, the 3rd nearly hack lever, connecting shaft on the 3rd, two parallel
And isometric the 3rd remote hack lever, the 3rd support bar and the 3rd time connecting shaft；Conversion fork affixed with turntable, the 3rd driving means and
Conversion fork is affixed, and one end of the 3rd nearly hack lever is rotationally connected with conversion fork, and affixed with the drive end of the 3rd driving means, and the 3rd
On the other end and the 3rd of nearly hack lever, connecting shaft is affixed；Connecting shaft ball-joint on 3rd remote hack lever one end and the 3rd, the other end with
The 3rd time connecting shaft ball-joint being fixed on moving platform；It is connected with support between two the parallel and isometric the 3rd remote hack levers
Bar；
Described moving platform includes that main platform and auxiliary platform, main platform are rotationally connected with auxiliary platform.First side chain and second
Chain is all connected with main platform, and the 3rd side chain is connected with auxiliary platform；
Connect the described first nearly hack lever and the pivot center of turntable, connect the second nearly hack lever and pivot center of turntable
It is parallel to each other, and is mutually perpendicular to the pivot center being connected the 3rd nearly hack lever and conversion fork.
Being connected with internal gear on described main platform, auxiliary platform is rotatably connected to little gear, internal gear engages with little gear,
Both constitute gear pair, and little gear is connected with end effector.
Being connected with round guide on described main platform, auxiliary platform is connected with smooth block, smooth block constitutes guide rail with round guide
Secondary.
Compared with prior art, its remarkable advantage is the present invention: the structure of the present invention can realize four freedom of complete cycle revolution
Degree translation, can meet the requirement of complicated pick-and-place operation, have big work space-frame volume ratio, and complete machine rigidity, precision are good,
There is fair speed and acceleration capabilities, kinesiology and dynamic performance there is axial symmetry.
Accompanying drawing explanation
Fig. 1 is the structural representation of the four-degree-of-freedom robot mechanism of the realized complete cycle revolution of the present invention.
Fig. 2 is the structural representation of moving platform.
Fig. 3 is the structural representation of main platform.
Fig. 4 is the structural representation of auxiliary platform.
Numbering representative implication in figure is:
1, fixed mount, 2, turntable, 3, turntable drive device, 4, internal gear, 5, little gear, 6, main platform, 7, secondary flat
Platform, 8, end effector, 9, smooth block, 10, round guide, the 11, first driving means, the 12, first nearly hack lever, connect on 13, first
Spindle, the 14, first remote hack lever, 15, first time connecting shaft, the 21, second driving means, the 22, second nearly hack lever, connect on 23, second
Spindle, the 24, second remote hack lever, 25, second time connecting shaft, the 31, the 3rd driving means, 32, conversion fork, the 33, the 3rd nearly hack lever,
34, connecting shaft on the 3rd, the 35, the 3rd remote hack lever, 36, support bar, the 37, the 3rd time connecting shaft.
Detailed description of the invention
Below in conjunction with embodiment the present invention done further detailed description:
In conjunction with accompanying drawing 1-4, a kind of four-degree-of-freedom robot mechanism realizing complete cycle revolution of the present invention, including fixed mount
1, turntable 2, turntable drive device 3, moving platform and connect the first side chain between turntable 2 and moving platform, second
Chain and the 3rd side chain,
Described turntable drive device 3 is affixed with fixed mount 1, and described turntable 2 is rotationally connected with fixed mount 1, and with institute
The drive end stating turntable drive device 3 is affixed；
Described first side chain and the second branched structure are identical, and are distributed in the both sides of the 3rd side chain；
Described first side chain include on the first nearly hack lever 12, first of driving means 11, first connecting shaft 13, two parallel and
The remote hack lever 14 of isometric first and first time connecting shaft 15；Described first driving means 11 is affixed with turntable 2, described first near
One end of hack lever 12 is rotationally connected with turntable 2, and affixed with the drive end of the first driving means 11, the first nearly hack lever 12 another
On one end and first, connecting shaft 13 is affixed；Described first remote hack lever 14 one end and connecting shaft 13 ball-joint on described first side chain,
The other end and first time connecting shaft 15 ball-joint being fixed on described moving platform；
Described second side chain include on the second nearly hack lever 22, second of driving means 21, second connecting shaft 23, two parallel and
The remote hack lever 24 of isometric second and second time connecting shaft 25；Described second driving means 21 is affixed with turntable 2, described second near
One end of hack lever 22 is rotationally connected with turntable 2, and affixed with the drive end of the second driving means 21, the second nearly hack lever 22 another
On one end and second, connecting shaft 23 is affixed；Connecting shaft 23 ball-joint on described second remote hack lever 24 one end and described second, another
End and second time connecting shaft 25 ball-joint being fixed on described moving platform；
Described 3rd side chain include the 3rd driving means 31, conversion the nearly hack lever the 33, the 3rd of fork the 32, the 3rd on connecting shaft 34,
Two the parallel and isometric the 3rd remote hack levers 35, support bar 36 and the 3rd time connecting shaft 37；Described conversion fork 32 is solid with turntable 2
Connecing, described 3rd driving means 31 is affixed with conversion fork 32, and one end of the described 3rd nearly hack lever 33 is rotationally connected with conversion fork 32,
And affixed with the drive end of the 3rd driving means 31, on the other end and the 3rd of the 3rd nearly hack lever 33, connecting shaft 34 is affixed；Described
Connecting shaft 34 ball-joint on 3rd remote hack lever 35 one end and the described 3rd, the other end be fixed in the 3rd on described moving platform time
Connecting shaft 37 ball-joint；It is connected with support bar 36 between the 3rd remote hack lever 35 that said two is parallel and isometric；
Described moving platform includes that main platform 6 and auxiliary platform 7, described main platform 6 are rotationally connected with auxiliary platform 7.Described first
Side chain and the second side chain are all connected with main platform, and described 3rd side chain is connected with auxiliary platform 7；
Connect the described first nearly hack lever 12 and the pivot center of turntable 2, connect the described second nearly hack lever 22 and turntable 2
Pivot center be parallel to each other, and be connected the described 3rd nearly hack lever 33 and conversion fork 32 pivot center be mutually perpendicular to.
It is connected with internal gear 4 on described main platform 6, described auxiliary platform 7 is rotatably connected to little gear 5, described internal gear 4
Engaging with little gear 5, both constitute gear pair, and described little gear 5 is connected with end effector 8.
Be connected with round guide 10 on described main platform 6, described auxiliary platform 7 be connected with smooth block 9, described smooth block 9 with
Round guide 10 constitutes guideway.
The structure of the present invention can realize the four-degree-of-freedom translation of complete cycle revolution, can meet the requirement of complicated pick-and-place operation, tool
Having big work space-frame volume ratio, complete machine rigidity, precision are good, have fair speed and acceleration capabilities, and kinesiology is with dynamic
Mechanical property has axial symmetry.
Claims (3)
1. can realize a four-degree-of-freedom robot mechanism for complete cycle revolution, drive including fixed mount [1], turntable [2], turntable
Dynamic device [3], moving platform and connection turntable [2] and the first side chain of moving platform, the second side chain and the 3rd side chain, its feature
It is,
Described turntable drive device [3] is affixed with fixed mount [1], and described turntable [2] is rotationally connected with fixed mount [1], and
Affixed with the drive end of described turntable drive device [3]；
Described first side chain and the second branched structure are identical, and the two is distributed in the both sides of the 3rd side chain；
Described first side chain include the first driving means [11], the first nearly hack lever [12], connecting shaft [13] on first, two parallel
And the first isometric remote hack lever [14] and first time connecting shaft [15]；Described first driving means [11] is affixed with turntable [2],
One end of described first nearly hack lever [12] is rotationally connected with turntable [2], and affixed with the drive end of the first driving means [11],
On the other end and first of the first nearly hack lever [12], connecting shaft [13] is affixed；Described first remote hack lever [14] one end and described first
Connecting shaft [13] ball-joint on side chain, the other end and first time connecting shaft [15] ball-joint being fixed on described moving platform；
Described second side chain include the second driving means [21], the second nearly hack lever [22], connecting shaft [23] on second, two parallel
And the second isometric remote hack lever [24] and second time connecting shaft [25]；Described second driving means [21] is affixed with turntable [2],
One end of described second nearly hack lever [22] is rotationally connected with turntable [2], and affixed with the drive end of the second driving means [21],
On the other end and second of the second nearly hack lever [22], connecting shaft [23] is affixed；Described second remote hack lever [24] one end and described second
Upper connecting shaft [23] ball-joint, the other end and second time connecting shaft [25] ball-joint being fixed on described moving platform；
Described 3rd side chain includes the 3rd driving means [31], conversion fork [32], the 3rd nearly hack lever [33], connecting shaft on the 3rd
[34], two the parallel and isometric the 3rd remote hack levers [35], support bar [36] and the 3rd time connecting shaft [37]；Described conversion fork
[32] affixed with turntable [2], described 3rd driving means [31] is affixed with conversion fork [32], the described 3rd nearly hack lever [33]
One end and conversion fork [32] are rotationally connected, and affixed with the drive end of the 3rd driving means [31], the 3rd nearly hack lever [33] another
On one end and the 3rd, connecting shaft [34] is affixed；Connecting shaft [34] ball pivot on described 3rd remote hack lever [35] one end and the described 3rd
Connect, the other end be fixed in connecting shaft [37] ball-joint the 3rd on described moving platform time；Said two parallel and isometric
It is connected with support bar [36] between three remote hack levers [35]；
Described moving platform includes main platform [6] and auxiliary platform [7], and described main platform [6] is rotationally connected with auxiliary platform [7], described
First side chain and the second side chain are all connected with main platform, and described 3rd side chain is connected with auxiliary platform [7]；
Connect the described first nearly hack lever [12] and the pivot center of turntable [2], connect the described second nearly hack lever [22] and rotate
The pivot center of platform [2] is parallel to each other, and mutual with the pivot center being connected the described 3rd nearly hack lever [33] and conversion fork [32]
Vertically.
The four-degree-of-freedom robot mechanism realizing complete cycle revolution the most according to claim 1, it is characterised in that described master
Being connected with internal gear [4] on platform [6], described auxiliary platform [7] is rotatably connected to little gear [5], described internal gear [4] is with little
Gear [5] engages, and both constitute gear pair, and described little gear [5] is connected with end effector [8].
The four-degree-of-freedom robot mechanism realizing complete cycle revolution the most according to claim 1, it is characterised in that described master
Being connected with round guide [10] on platform [6], described auxiliary platform [7] is connected with smooth block [9], described smooth block [9] is led with circle
Rail [10] constitutes guideway.
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| CN201610874937.0A CN106272362B (en) | 2016-10-07 | 2016-10-07 | A kind of four-degree-of-freedom robot mechanism of achievable complete cycle revolution |
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| CN201610874937.0A CN106272362B (en) | 2016-10-07 | 2016-10-07 | A kind of four-degree-of-freedom robot mechanism of achievable complete cycle revolution |
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| CN106272362B CN106272362B (en) | 2018-06-12 |
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| CN107803821A (en) * | 2017-11-23 | 2018-03-16 | 南京理工大学 | A kind of high speed parallel robot mechanism with two kinds of operator schemes |
| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
| CN110576432A (en) * | 2019-09-10 | 2019-12-17 | 清华大学 | Four-degree-of-freedom cylindrical coordinate parallel robot with same branched chain structure |
| CN110815277A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Manipulator and gripper integrated mechanism |
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