CN106346444A - Four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation - Google Patents
Four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation Download PDFInfo
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- CN106346444A CN106346444A CN201610465389.6A CN201610465389A CN106346444A CN 106346444 A CN106346444 A CN 106346444A CN 201610465389 A CN201610465389 A CN 201610465389A CN 106346444 A CN106346444 A CN 106346444A
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- moving platform
- side chain
- platform
- connecting rod
- lower moving
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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Abstract
The invention relates to a four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation. The mechanism comprises a fixed platform, a moving platform and four branched chains with same structures between the fixed platform and the moving platform, wherein every branched chain contains an active drive device; the moving platform comprises an upper moving platform, a lower moving platform and a connecting mechanism arranged between the upper moving platform and the lower moving platform; the lower moving platform is a mechanism in a parallelogram shape rotatably connected with four connecting bars through a revolute pair; a first branched chain and a third branched chain of the four branch branched chain is connected to the fixed platform and the upper moving platform, while a second and a fourth branched chain is connected to the fixed platform and the moving platform to form a space parallelly connected mechanism, three-dimensional horizontal movement and one-dimensional rotatory movement of an end effector in the space can be achieved through movement of the four branched chains. The moving platform of the four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation is light in mass, and the mechanism has a simple and compact structure and good dynamic response characteristic.
Description
Technical field
The invention belongs to industrial robot field, more particularly to a kind of three translation one rotations being capable of high-speed motion
Four-freedom parallel connection robot mechanism.
Background technology
Three translation one rotating parallel robot mechanisms do not have the advantage that because having serial machine robot mechanism, extensive
It is applied to the automatic production line carrying in the fields such as food medicine, modern logistics, electronic information and manufacture assembling work.
Disclosed in existing patent cn102689305a, cn103846909a, cn102922511a and cn103753521a
The parallel robot mechanism that achievable three-dimensional translation and one-dimensional rotates, including four of fixed platform, moving platform and connection two platforms
Chain.It is to realize to do in the design of moving platform around the rotational freedom of the axis perpendicular to moving platform in said mechanism
Extensive work.Although patent cn102689305a is different with the moving platform construction of mechanism in patent cn103846909a, essence
On be all the rotational freedom that the relative movement of associated components in described moving platform is changed into end effector；Patent
In cn102922511a, four rotations between mechanism's moving platform and four side chains are secondary or moving sets are parallel to each other and move described
It is in that non-square is arranged on platform, effectively avoid the unusual of mechanism；In patent cn103753521a, mechanism's moving platform includes
The lower connecting shaft of side chain adjacent with two groups connects respectively two sub-platforms and the guiding mechanism being provided between two sub-platforms
And angle converting mechanism, described angle converting mechanism is that the rotation that tooth bar translation is changed into gear is held thus realizing end
The rotational freedom of row device, this mechanism structure is relatively compact, transmission accuracy is higher.But the moving platform complex structure of these mechanisms
And size and weight larger, be unfavorable for realizing high-speed motion.
Content of the invention
Present invention aims to the shortcoming of prior art, a kind of three translations one being capable of high-speed motion are proposed
The four-freedom parallel connection robot mechanism rotating, the moving platform structure of this mechanism is simple and light quality is it is easier to realize high
Speed motion.
The technical scheme realizing above-mentioned purpose is: a kind of four-freedom-degree parallel-connection robot being capable of three translation one rotation
Mechanism, including fixed platform, moving platform and be connected to four side chains between fixed platform and moving platform；Described moving platform includes
Moving platform, lower moving platform and be located at bindiny mechanism between upper moving platform and lower moving platform；Described lower moving platform is included by four
The parallel-crank mechanism of individual connecting rod composition, described four connecting rods pass sequentially through four and rotate secondary connection；Described upper moving platform with
Pass through between lower moving platform to rotate secondary connection, and the axis of described upper moving platform is parallel with two connecting rods flat in lower moving platform；Under
It is provided with end effector with a connecting rod of the axes intersect of upper moving platform in moving platform；Described four side chains all include leading
Dynamic driving means and quadrangular mechanism；Two connecting rods being oppositely arranged in described quadrangular mechanism are isometric, and four connecting rods lead to successively
Cross spherical pair to connect, two connecting rods that quadrangular mechanism passes through to be oppositely arranged are connected with main drive and moving platform respectively；Institute
State in four side chains, the first side chain and the 3rd side chain connect described fixed platform and upper moving platform, and the second side chain and the 4th side chain are even
Connect described fixed platform and lower moving platform.
A kind of embodiment, is symmetrical arranged before and after described first side chain and the 3rd side chain, and the second side chain and the 4th side chain are left
The right side is symmetrical arranged.
Further, described active driving device includes motor and drive rod, the company in drive rod and described quadrangular mechanism
Bar connects.
Further, described active driving device includes slide block and guide rail；Described guide rail is each perpendicular to the setting of fixed platform plane.
Another embodiment, is arranged about described first side chain, the second side chain and the 3rd side chain, the second side chain and first
Side chain is disposed side by side on left side, and the 3rd side chain is arranged on right side, and the 4th side chain is arranged on rear side.
Further, described active driving device includes motor and drive rod, the company in drive rod and described quadrangular mechanism
Bar connects.
Further, described active driving device includes slide block and guide rail；Described guide rail is each perpendicular to the setting of fixed platform plane
Compared with prior art, its remarkable advantage is the present invention: using side chain between moving platform and in moving platform
The restriction relation in portion, realizes three translation one rotational motions of parallel institution.This mechanism make use of the height of above-mentioned quadrangular mechanism
The characteristics such as rigidity, effectively increase the stability of whole parallel institution, and between its upper and lower moving platform and inside is only to rotate
Secondary connect, not using moving sets, it is to avoid discontinuity, frictional force is big to wait not enough, and the overall light weight of moving platform
Just, simultaneously present configuration simply compact it is easier to realize high-speed motion.
Brief description
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the embodiment of the present invention 2.
Fig. 3 is the structural representation of the embodiment of the present invention 3.
Fig. 4 is the structural representation of the embodiment of the present invention 4.
Fig. 5 is the moving platform structural representation of Fig. 1 and Fig. 3.
Fig. 6 is the moving platform structural representation of Fig. 2 and Fig. 4.
Specific embodiment
In order to be able to further appreciate that present disclosure and feature, in conjunction with accompanying drawing and preferred embodiment, the present invention is made in detail
Illustrate, be not to be construed as the whole of the present invention here or be considered as the restriction to technical solution of the present invention or restriction.
The four-freedom parallel connection robot mechanism being capable of three translation one rotation of the present invention, including fixed platform, moves
Between platform and fixed platform and moving platform, there are mutually isostructural four side chains；Described moving platform include moving platform,
Lower moving platform and kinematic pair bindiny mechanism；Described lower moving platform includes two isometric short connecting rods of before and after and left and right two etc.
Long long connecting rod, this four connecting rods pass through to rotate secondary connect form parallel-crank mechanism, wherein end effector be consolidated in flat
Have on left connecting rod or the right connecting rod of rotary motion with respect to upper moving platform in row quadrangular mechanism, and by described connecting rod
Rotate the rotational freedom providing end effector around the axis perpendicular to upper moving platform；Described kinematic pair bindiny mechanism includes
Internal four two rotations rotating between the secondary parallel-crank mechanism connecting and upper and lower moving platform of lower moving platform are secondary to be connected
Mechanism；Iff the motion in order to realize parallel institution three translation one rotation, above-mentioned six rotate in secondary bindiny mechanism arbitrarily
Five just can meet requirement, only need to five rotation pair bindiny mechanisms inside described moving platform and just can realize parallel machine
The motion of structure three translation one rotation, it is in order to improve the mechanical property of moving platform and to exist that another one rotates secondary bindiny mechanism
's；In four described side chains, first and third side chain connects described fixed platform and upper moving platform, and second, four side chains connect described
Fixed platform and lower moving platform；Four described side chains can be arranged symmetrically or multiple arrangements such as asymmetric arrangement；
Four described side chains all include: active driving device, quadrangular mechanism and kinematic pair；Described active driving device is permissible
It is connecting rod or slide block；Described quadrangular mechanism includes isometric the growing even of upper and lower two isometric short connecting rods and left and right two
Bar, connects into closing ring mechanism by spherical pair wherein between short connecting rod and long connecting rod；Four described side chains respectively with allocate
Platform and moving platform connect one Spatial Parallel close loop mechanism of formation, can realize end in space by the motion of four side chains
The three-dimensional translating of executor and one-dimensional rotation motion.
The present invention is parallel-crank mechanism using lower moving platform and second, four side chains can only constrain and fall down moving platform
The feature of one rotational freedom, remains the rotational freedom around the axis perpendicular to lower moving platform；Using upper and lower moving platform
Parallel arrangement and rotate secondary annexation, realize left and right two long connecting rod in lower moving platform around upper moving platform rotation from
By spending, and the rotation output as end effector.
The present invention can improve the angle range of end effector by changing the arrangement of side chain.
The present invention can be main in the form of the left and right within lower moving platform two long connecting rod is made master connecting-rod and auxiliary connecting rod
Connecting rod is primarily subjected to the rotational freedom acting on and providing end effector of power, and auxiliary connecting rod is mainly auxiliary master connecting-rod and meets
Movement needs.
The present invention can also realize three translation one rotational motions of mechanism by changing the active drive mode of each side chain.
Embodiment 1
As shown in figure 1, being a kind of four-freedom parallel connection robot mechanism of three translation one rotation, including fixed platform 1, moving and putting down
Platform 7, the first side chain, the second side chain, the 3rd side chain and the 4th side chain, four described side chains are connected to and allocate
Between platform 1 and moving platform 7, and there is identical structure；Described moving platform 7 include moving platform 8, lower moving platform 12 and on
Bindiny mechanism between moving platform 8 and lower moving platform 12, its structural representation is as shown in Figure 5；Described lower moving platform 12 is one
Parallel-crank mechanism, wherein first connecting rod 4b4 are parallel with second connecting rod 4b2 and isometric, third connecting rod 11b and fourth link
11a is parallel and isometric, passes through to rotate secondary 10c and rotate secondary between first connecting rod 4b4 and third connecting rod 11b and fourth link 11a
10f connects, and passes through to rotate secondary 10a and rotate secondary 10d even between second connecting rod 4b2 and third connecting rod 11b and fourth link 11a
Connect, four connecting rods form parallel-crank mechanism.End effector 9 is consolidated in parallel-crank mechanism with respect to upper moving platform
8 have on fourth link 11a of rotary motion, and provide end effector 9 around perpendicular to upper by the rotation of fourth link 11a
The rotational freedom of the axis of moving platform 8；Pass through between described upper moving platform 8 and lower moving platform 12 to rotate secondary 10b and rotate secondary
10e connects, and the diameter parallel of upper moving platform is in the axis of first connecting rod 4b4；First side chain and in four articles of described side chains
Three side chains connect described fixed platform 1 and upper moving platform 8, and the second side chain and the 4th side chain connect described fixed platform 1
With lower moving platform 12, and this four side chains are by the way of being arranged symmetrically；Four described side chains all include: active drive dress
Put, quadrangular mechanism and kinematic pair；Described active driving device includes motor 2 and drive rod 3；Taking the first side chain as a example,
Described quadrangular mechanism includes two the 5th isometric connecting rod 4a and six-bar linkage 4b and two isometric seven-link assembly 6a
With the 8th connecting rod 6b, between the wherein the 5th connecting rod 4a and seven-link assembly 6a and the 8th connecting rod 6b, pass through spherical pair 5a and spherical pair 5b
Connect, six-bar linkage 4b is connected by spherical pair 5c and spherical pair 5d between seven-link assembly 6a and the 8th connecting rod 6b, four companies
Bar becomes closing ring mechanism；Drive rod 3 is connected with first connecting rod 4a, the pivot center of described drive rod 3 and the 5th described connecting rod
4a is parallel to each other；Four described side chains are connected one Spatial Parallel closed loop machine of formation respectively with fixed platform 1 and moving platform 7
Structure, can realize the three-dimensional translating of end effector 9 and one-dimensional rotation motion in space by the motion of four side chains.
Embodiment 2
As shown in Figure 2 and Figure 6, similar to Example 1, mechanism include fixed platform 1, moving platform 71, the first side chain, second
Side chain, the 3rd side chain and the 4th side chain, the wherein first side chain and the 3rd side chain connect described fixed platform 1 and upper
Moving platform 8, the second side chain and the 4th side chain connect described fixed platform 1 and lower moving platform 12, and this four links
Structure is identical.The present embodiment is with the difference of embodiment 1, and the second side chain is changed into and the by positioned opposite with the 4th side chain
One side chain is arranged side by side, and t shape structure is changed in the end of the front second connecting rod 4b2 in lower moving platform 12, keeps other moulds simultaneously
Block is constant.The kinesiology degradation of mechanism, the present embodiment when becoming rectangle mechanism for avoiding the moving platform in embodiment 1 to move
Using the mode of four side chain asymmetric arrangement, after above-mentioned change, the in the lower moving platform 12 in the present embodiment the 4th connects
Bar 11a will expand with respect to the slewing area of upper moving platform 8, and that is, the turning power of end effector 9 will strengthen.
Embodiment 3
As shown in Figure 3 and Figure 5, similar to Example 1, mechanism include fixed platform 1, moving platform 7, the first side chain, second
Chain, the 3rd side chain and the 4th side chain, the wherein first side chain and the 3rd side chain connect described fixed platform 1 and upper dynamic
Platform 8, the second side chain and the 4th side chain connect described fixed platform 1 and lower moving platform 12, and this four branched structures
Identical.The difference from embodiment 1 for the present embodiment is: the active driving device of described four side chains all employs moving sets master
The dynamic drive form driving, described moving sets move on guide rail, and described guide rail is evenly distributed on the surrounding of fixed platform 1.
It is embodied in and on concrete structure is: the slide block 31 of its first side chain is connected with the 5th connecting rod 4a of described quadrangular mechanism, and
Move on guide rail 21, and guide rail 21 is fixed on fixed platform 1.
Embodiment 4
As shown in Figure 4 and Figure 6, similar to Example 2, mechanism include fixed platform 1, moving platform 71, the first side chain, second
Side chain, the 3rd side chain and the 4th side chain.The difference from embodiment 2 for the present embodiment is: the master of described four side chains
Dynamic driving means all employ the drive form of moving sets active drive, and described moving sets move on guide rail.
Claims (7)
1. a kind of be capable of three translation one rotation four-freedom parallel connection robot mechanism it is characterised in that: include fixed platform,
Moving platform and be connected to four side chains between fixed platform and moving platform；
Described moving platform includes moving platform, lower moving platform and is located at the bindiny mechanism between upper moving platform and lower moving platform；
Described lower moving platform includes the parallel-crank mechanism being made up of four connecting rods, and described four connecting rods pass sequentially through four and rotate pair
Connect；Pass through rotation pair between described upper moving platform and lower moving platform to be connected, and the axis of described upper moving platform and lower moving platform
In flat two connecting rods parallel；It is provided with end effector with a connecting rod of the axes intersect of upper moving platform in lower moving platform；
Described four side chains all include active driving device and quadrangular mechanism；Two being oppositely arranged in described quadrangular mechanism
Connecting rod is isometric, and four connecting rods pass sequentially through spherical pair and connect, quadrangular mechanism pass through two connecting rods being oppositely arranged respectively with master
Driving means and moving platform connect；In described four side chains, the first side chain and the 3rd side chain described fixed platform of connection and upper moving are put down
Platform, the second side chain and the 4th side chain connect described fixed platform and lower moving platform.
2. mechanism as claimed in claim 1 is it is characterised in that be symmetrical arranged before and after described first side chain and the 3rd side chain, and
Two side chains are symmetrical set with the 4th side chain.
3. mechanism as claimed in claim 2, it is characterised in that described active driving device includes motor and drive rod, drives
Bar is connected with the connecting rod in described quadrangular mechanism.
4. mechanism as claimed in claim 2 is it is characterised in that described active driving device includes slide block and guide rail；Described lead
Rail is each perpendicular to the setting of fixed platform plane.
5. mechanism as claimed in claim 1 is it is characterised in that set about described first side chain, the second side chain and the 3rd side chain
Put, the second side chain and the first side chain are disposed side by side on left side, and the 3rd side chain is arranged on right side, and the 4th side chain is arranged on rear side.
6. mechanism as claimed in claim 5, it is characterised in that described active driving device includes motor and drive rod, drives
Bar is connected with the connecting rod in described quadrangular mechanism.
7. mechanism as claimed in claim 5 is it is characterised in that described active driving device includes slide block and guide rail；Described lead
Rail is each perpendicular to the setting of fixed platform plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610465389.6A CN106346444B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610465389.6A CN106346444B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation |
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| CN106346444B CN106346444B (en) | 2018-11-13 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
| CN106956249A (en) * | 2017-05-11 | 2017-07-18 | 重庆邮电大学 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
| CN106976070A (en) * | 2017-05-25 | 2017-07-25 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
| CN106985134A (en) * | 2017-05-11 | 2017-07-28 | 重庆邮电大学 | It is a kind of that there is the 3-freedom parallel mechanism for being hinged moving platform |
| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
| CN108081248A (en) * | 2018-01-23 | 2018-05-29 | 陕西科技大学 | A kind of single motor driving precision is to bit platform |
| CN108500962A (en) * | 2018-06-07 | 2018-09-07 | 天津科技大学 | A kind of four-degree-of-freedom high speed parallel robot and its control method |
| CN108656079A (en) * | 2018-04-13 | 2018-10-16 | 上海大学 | A kind of parallel institution of three flat one turn of four-degree-of-freedoms |
| CN110695962A (en) * | 2019-09-03 | 2020-01-17 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
| CN106956249A (en) * | 2017-05-11 | 2017-07-18 | 重庆邮电大学 | It is a kind of that there is the four-freedom parallel mechanism for being hinged moving platform |
| CN106985134A (en) * | 2017-05-11 | 2017-07-28 | 重庆邮电大学 | It is a kind of that there is the 3-freedom parallel mechanism for being hinged moving platform |
| CN106976070A (en) * | 2017-05-25 | 2017-07-25 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
| CN106976070B (en) * | 2017-05-25 | 2019-06-18 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
| CN107225559B (en) * | 2017-05-25 | 2019-07-26 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA movement |
| CN108081248A (en) * | 2018-01-23 | 2018-05-29 | 陕西科技大学 | A kind of single motor driving precision is to bit platform |
| CN108081248B (en) * | 2018-01-23 | 2023-12-08 | 陕西科技大学 | Single motor drive precision alignment platform |
| CN108656079A (en) * | 2018-04-13 | 2018-10-16 | 上海大学 | A kind of parallel institution of three flat one turn of four-degree-of-freedoms |
| CN108500962A (en) * | 2018-06-07 | 2018-09-07 | 天津科技大学 | A kind of four-degree-of-freedom high speed parallel robot and its control method |
| CN110695962A (en) * | 2019-09-03 | 2020-01-17 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism |
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