CN106346445B - A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion - Google Patents
A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion Download PDFInfo
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- CN106346445B CN106346445B CN201610466707.0A CN201610466707A CN106346445B CN 106346445 B CN106346445 B CN 106346445B CN 201610466707 A CN201610466707 A CN 201610466707A CN 106346445 B CN106346445 B CN 106346445B
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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 present invention relates to a kind of four-freedom parallel connection robot mechanisms that can realize high-speed motion, including have mutually isostructural four branches between fixed platform, moving platform and fixed platform and moving platform, and every branch is containing there are one active driving devices；The moving platform includes the bindiny mechanism between the first sub-platform, the second sub-platform and two platforms；Fixed platform and the first sub-platform in four branches described in first, second and third chain link, fixed platform and the second sub-platform described in the 4th chain link；Four branches connect to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, and the three-dimensional translating of end effector and one-dimensional rotation in space, which may be implemented, by the movement of four branches moves.Moving platform of the invention is simple in structure, output corner range is larger, need not be aided with enlarger and expand angle range, reduce the quality of moving platform, greatly improve the dynamic response characteristic of mechanism.
Description
Technical field
The invention belongs to industrial robot fields, more particularly to a kind of three translations, one rotation that can realize high-speed motion
Four-freedom parallel connection robot mechanism.
Background technology
Three one rotating parallel robot mechanisms of translation are extensive because having the advantage that does not have of serial machine robot mechanism
Automatic production line applied to fields such as food medicine, modern logistics, electronic information is carried and manufacture assembling work.
Existing patent CN102689305A, CN102642205A, CN103846909A, CN102229141A,
The parallel robot mechanism of achievable three-dimensional translation and one-dimensional rotation disclosed in CN102922511A and CN103753521A, including
Fixed platform, moving platform and four branches for connecting two platforms.Turn around the axis perpendicular to moving platform to realize in said mechanism
Dynamic degree of freedom, effort has been done in the design of moving platform.Patent CN102689305A,
The moving platform of mechanism is designed to two parts of relative motion in CN102642205A, CN103846909A,
And the rotational freedom of end effector is cleverly converted to using two-part relative motion；Patent CN102229141A will be moved
Platform Designing diamondwise structure is changed into output fortune using its opposite amoeboid movement for stretching and compressing diagonally
It is dynamic；Four revolute pairs or prismatic pair in patent CN102922511A between mechanism moving platform and four branches it is parallel to each other and
It is arranged in non-square on the moving platform, effectively avoids the unusual of mechanism；Mechanism is dynamic flat in patent CN103753521A
Platform includes two sub-platforms of the lower connection axis connection of branch adjacent with two groups respectively and what is be equipped between two sub-platforms lead
To mechanism and angle converting mechanism, the angle converting mechanism is that rack translation is converted to the rotation of gear to realize
The rotational freedom of end effector, the mechanism structure is relatively compact, transmission accuracy is higher.But the moving platform of these mechanisms or
Person is complicated, either containing more kinematic pair or applies the larger gear of quality or ball-screw is angularly converted
Or enlarger, it is unfavorable for realizing high-speed motion.
Invention content
It is an object of the invention in view of the shortcomings of the prior art, propose a kind of three translations one that can realize high-speed motion
The four-freedom parallel connection robot mechanism of rotation.
Realize that the technical solution of above-mentioned purpose is:A kind of four-freedom parallel connection robot that can realize high-speed motion
Structure, the mechanism include fixed platform, moving platform and four branches being connected between fixed platform and moving platform；The moving platform packet
The first sub-platform and the second sub-platform are included, the first sub-platform and the second sub-platform are mutually parallel and are horizontally disposed with, the first sub-platform
It is connect by the first revolute pair between the second sub-platform, the axis of first revolute pair is perpendicular to the first sub-platform；End
Actuator is consolidated on the second sub-platform；It is fixed described in the first branch, the second branch and third branch chain link in four branches
Platform and the first sub-platform, fixed platform and the second sub-platform described in the 4th chain link；Four branches include actively driving
Dynamic device and quadrangular mechanism；The active driving device includes motor and drive rod；It is oppositely arranged in the quadrangular mechanism
Two connecting rods it is isometric, four connecting rods pass sequentially through spherical pair connection, and quadrangular mechanism passes through two connecting rods being oppositely arranged point
Not in main drive drive rod and moving platform connect.
The pivot center of a kind of preferred embodiment, the motor is horizontally disposed, and the first branch, third branch and the 4th
Motor rotation axis line in chain is mutually parallel, the motor rotation axis line in motor rotation axis line and the 4th branch in the second branch
Vertically；4th branch is connect with the second sub-platform by the second revolute pair, the axis of the axis of the second revolute pair and the first revolute pair
Line is mutually parallel.
Another preferred embodiment, the motor rotation axis line in the first branch, the second branch and third branch is horizontally disposed,
Motor rotation axis line in first branch and third branch is mutually parallel, and the motor rotation axis line in the second branch is perpendicular to
Motor rotation axis line in one branch and third branch；Motor rotation axis line in 4th branch is vertically arranged；4th branch with
Second sub-platform is connected
Compared with prior art, the present invention its remarkable advantage is：Moving platform includes only one or two in the present invention
The deficiencies of revolute pair does not use prismatic pair, avoids discontinuity, and frictional force is big, and moving platform does not have use quality
Larger gear or ball-screw is angularly converted or enlarger, reduces the quality of moving platform, greatly improves mechanism
Dynamic response characteristic.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the structural schematic diagram of the embodiment of the present invention 2.
Fig. 3 is the structural schematic diagram of the embodiment of the present invention 3.
Fig. 4 is the structural schematic diagram of the moving platform of the embodiment of the present invention 1.
Fig. 5 is the structural schematic diagram of the moving platform of the embodiment of the present invention 2.
Fig. 6 is the structural schematic diagram of the moving platform of the embodiment of the present invention 3.
Specific implementation mode
In order to further appreciate that present disclosure and feature, the present invention is made in conjunction with attached drawing and preferred embodiment detailed
Illustrate, be not to be construed as the whole of the present invention here or be considered as the limitation or restriction to technical solution of the present invention.
The four-freedom parallel connection robot mechanism of three translations, one rotation of the present invention that can realize high-speed motion, including
There is mutually isostructural four branches between fixed platform, moving platform and fixed platform and moving platform；The moving platform includes
Bindiny mechanism between first sub-platform 8, the second sub-platform 9 and two sub-platforms and the end for being consolidated in the second sub-platform 9 are held
Row device wherein being connected by revolute pair between two sub-platforms, and provides end effector around vertical by the rotation of the second sub-platform 9
In the rotational freedom of the axis of the first sub-platform 8；Fixed platform described in first, second and third chain link and the first sub-platform 8,
Fixed platform and the first sub-platform 8 in four branches described in first, second and third chain link simultaneously form DELTA mechanisms, and
Fixed platform described in four chain links and the second sub-platform 9；4th branch can with the mechanism after the connection of the second sub-platform 9
It is reconstitution strong, it can be achieved that a variety of configurations；Four branches include：Active driving device, quadrangular mechanism and movement
It is secondary；The active driving device can be connecting rod or sliding block；The quadrangular mechanism includes upper and lower two isometric short
Two isometric long connecting rods of connecting rod and left and right, wherein connect into closing ring mechanism between short connecting rod and long connecting rod by spherical pair；
Four branches connect to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, pass through four branches
Movement the three-dimensional translating of end effector and one-dimensional rotation movement in space may be implemented.
The present invention utilizes the DELTA machines formed after the fixed platform and the first sub-platform 8 described in first, second and third chain link
Structure falls three rotational freedoms constraint of the first sub-platform 8；Realize the second sub-platform 9 around vertical using the movement of the 4th branch
In the rotational freedom of the axis of the first sub-platform 8, and in this, as the output of end effector.
The present invention can be connected by the arrangement and the 4th branch for changing the 4th branch with the configuration of the second sub-platform 9
Connecing three one rotational motions of translation of relational implementation mechanism improves the performance of mechanism.
The present invention can also translate a rotational motions by changing the three of the active drive mode implementation mechanism of each branch.
Embodiment 1
As shown in Figure 1 and Figure 4, it is a kind of four-freedom parallel connection robot mechanism of three translations, one rotation, including fixed platform
1, moving platform 7 is separately connected with the first branch I, the second branch II, third branch III and the 4th branch IV, described four branches
Between fixed platform 1 and moving platform 7, and structure having the same；The moving platform 7 includes the first sub-platform 8 and the second son
Platform 9 is connected by revolute pair 12a between two platforms；End effector 11 is consolidated on second sub-platform 9；It is described
Four branches in the first branch I, the second branch II and third branch III connect the fixed platform 1 and the first sub-platform 8, and
It is connect respectively with three connecting pins of the first sub-platform 8；4th branch IV connects the fixed platform 1 and the second sub-platform 9.
Four branches include：Active driving device, quadrangular mechanism and kinematic pair；The active drive
Device includes motor 2 and drive rod 3；The quadrangular mechanism include two isometric upper short connecting rod 4a and lower short connecting rod 4b with
And two isometric left long connecting rod 6a and right long connecting rod 6b, wherein it is upper between short connecting rod 4a and two long connecting rods by spherical pair 5a and
Spherical pair 5b connections, are connected by spherical pair 5c with spherical pair 5d between lower short connecting rod 4b and two long connecting rods, and four connecting rods are at envelope
Close loop mechanism；The upper short connecting rod 4a is connected with the drive rod 3, and turn of the axis of upper short connecting rod 4a and drive rod 3
Shaft line is mutually parallel；Four branches are connect with fixed platform 1 and moving platform 7 respectively forms a Spatial Parallel closed loop
Mechanism may be implemented the three-dimensional translating of end effector 11 and one-dimensional rotation in space by the movement of four branches and move.
The pivot center of the motor is horizontally disposed, and the electricity in the first branch I, third branch III and the 4th branch IV
Machine pivot center is mutually parallel, and the motor rotation axis line in motor rotation axis line and the 4th branch IV in the second branch II hangs down
Directly；Lower short connecting rod 4b4 in 4th branch IV is parallel to the first sub-platform 8, and is connected with connecting rod 10, the connecting rod
10 and second are connected by revolute pair 12b between sub-platform 9, the axis of the revolute pair 12b and the axis phase of revolute pair 12a
It is mutually parallel.
Embodiment 2
As shown in Figure 2 and Figure 5, difference lies in the lower short connecting rod 4b4 in the 4th branch IV is straight with embodiment 1 for the present embodiment
It connected revolute pair 12b to connect with the second sub-platform 9, while keeping other modules constant.After above-mentioned change, the present embodiment
In the second sub-platform 9 suffered by torque will reduce, the mechanical property of mechanism will improve.
Embodiment 3
As shown in Figure 3 and Figure 6, the present embodiment is similar to Example 2, the first branch I, the second branch II, third branch III
And the 4th branch IV structure it is identical and be connected between fixed platform 1 and moving platform 71 one Spatial Parallel close loop mechanism of formation,
Wherein the first branch I, the second branch II and third branch III connect the fixed platform 1 and the second sub-platform 8, the 4th branch IV
Connect the fixed platform 1 and the second sub-platform 9, the motor rotation axis in the first branch I, the second branch II and third branch III
Line is horizontally disposed, and the motor rotation axis line in the first branch I and third branch III is mutually parallel, and the electricity in the second branch II
Motor rotation axis line of the machine pivot center in the first branch I and third branch III.Difference is：In 4th branch IV
Motor rotation axis line be vertically arranged；Lower short connecting rod 4b4 in 4th branch IV is perpendicular to the first sub-platform 8, and directly with
Two sub-platforms 9 are connected.For moving platform 71 containing only there are one revolute pair 12, structure is simpler in the present embodiment.
The present invention can also be changed the type of drive of four branches by the drive form of revolute pair active drive
For the drive form of prismatic pair active drive, all belong to the scope of protection of the present invention within.
Claims (3)
1. a kind of four-freedom parallel connection robot mechanism that can realize high-speed motion, which is characterized in that including fixed platform, move and put down
Platform and four branches being connected between fixed platform and moving platform；
The moving platform includes the first sub-platform and the second sub-platform, and the first sub-platform and the second sub-platform are mutually parallel and level
Setting is connected between the first sub-platform and the second sub-platform by the first revolute pair, the axis of first revolute pair perpendicular to
First sub-platform；End effector is consolidated on the second sub-platform；
In four branches, fixed platform and the first sub-platform described in the first branch, the second branch and third branch chain link, the 4th
Fixed platform and the second sub-platform described in branch chain link；
Four branches include active driving device and quadrangular mechanism；The active driving device includes motor and driving
Bar；Two connecting rods being oppositely arranged in the quadrangular mechanism are isometric, and four connecting rods pass sequentially through spherical pair connection, quadrangle machine
Structure by two connecting rods being oppositely arranged respectively in main drive drive rod and moving platform connect.
2. mechanism as described in claim 1, which is characterized in that the pivot center of the motor is horizontally disposed, and first
Motor rotation axis line in chain, third branch and the 4th branch is mutually parallel, the motor rotation axis line and the 4th in the second branch
Motor rotation axis line in branch is vertical；4th branch is connect with the second sub-platform by the second revolute pair, the second revolute pair
Axis and the axis of the first revolute pair are mutually parallel.
3. mechanism as described in claim 1, which is characterized in that the motor in the first branch, the second branch and third branch turns
Shaft line is horizontally disposed, and the motor rotation axis line in the first branch and third branch is mutually parallel, and the electricity in the second branch
Motor rotation axis line of the machine pivot center in the first branch and third branch；Motor rotation axis line in 4th branch hangs down
Straight setting；4th branch and the second sub-platform are connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610466707.0A CN106346445B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion |
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| CN201610466707.0A CN106346445B (en) | 2016-06-23 | 2016-06-23 | A kind of four-freedom parallel connection robot mechanism that can realize high-speed motion |
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| CN106346445B true CN106346445B (en) | 2018-10-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107486841A (en) * | 2017-09-15 | 2017-12-19 | 大连理工大学 | A kind of SCARA motion parallel connection mechanisms with rectangular workspace |
| CN108656086B (en) * | 2018-06-04 | 2020-04-07 | 北京交通大学 | Variable working space redundancy drive 4UPU-R parallel mechanism |
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| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN102689305B (en) * | 2012-04-20 | 2014-04-16 | 清华大学 | Three-movement one-rotation four-freedom double-movable-platform parallel mechanism |
| CN205058029U (en) * | 2015-10-23 | 2016-03-02 | 广东惠利普智能科技有限公司 | High -speed parallelly connected mechanical hand of four degrees of freedom |
| CN105234924B (en) * | 2015-11-16 | 2017-05-17 | 南京理工大学 | Four-degree-of-freedom parallel mechanism |
| CN105234929B (en) * | 2015-11-16 | 2017-08-29 | 南京理工大学 | A kind of three flat one turn of four-freedom parallel mechanism |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
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