CN106426115A - Rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator - Google Patents
Rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator Download PDFInfo
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- CN106426115A CN106426115A CN201611059614.2A CN201611059614A CN106426115A CN 106426115 A CN106426115 A CN 106426115A CN 201611059614 A CN201611059614 A CN 201611059614A CN 106426115 A CN106426115 A CN 106426115A
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- Prior art keywords
- branched chain
- platform
- connecting shaft
- moving platform
- movement branched
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator. The rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator comprises a fixed rack, a movable platform and four moving branch chains with the same structure, wherein spatial three-dimensional translation of the movable platform is ensured through the four moving branch chains with the same structure; the movable platform comprises a central gear, a platform and an end effector; four guide rails which are of centrally-radial arrangement are arranged on the platform; a sliding block is arranged in each guide rail; the central gear is meshed with four identical arc gears; a guiding groove is formed in the disc surface of each arc gear; the four sliding blocks separately drive the arc gears to move through the guiding grooves; and a rotary shaft is driven to rotate through the gears, so that the end effector has three degrees of translation freedom and one degree of rotation freedom. The movable platform is compact in structure and is symmetrically arranged; movement is flexible; stress is uniform; movement precision is high; the integral structure is good in stability; the structure is simple; manufacture and repair are convenient; and requirement of complex grabbing and releasing operation is met.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of high speed parallel connection with space three-translational one turning power
Manipulator.
Background technology
Patent document US20090019960 and EP1084802 discloses the height that a kind of achievable three-dimensional translation and one-dimensional rotates
Fast parallel institution, fixed frame is connected by four structure identical active branched chain with moving platform, and every side chain includes nearly hack lever
With remote hack lever two parts.The nearly hack lever of active branched chain is connected by the hinge with two revolution frees degree with remote hack lever, nearly hack lever
The other end is moved with fixed frame or rotates and is connected, and the remote hack lever other end passes through only to have the hinge of two revolution frees degree and moves
Platform connects, and moving platform has spatial three-dimensional translational ability；Moving platform is made up of four parts, and two of which part is mutually flat
OK, two other part is connected by turning joint with the part that both of the aforesaid is parallel to each other, by the mutual rotation between part
Achievable end effector is around the rotational freedom of the axis perpendicular to moving platform.Being limited in that of said mechanism：This mechanism
Moving platform comprises four parts, and part driven only has two, and both parts are equivalent to a group pair of parallelogram
Side, such type of drive is dumb, and stressing conditions are uneven, is unfavorable for the smooth operation of mechanism.
Patent document 201010212312.0 discloses a kind of achievable three-dimensional translation and one-dimensional rotation parallel mechanism, four knots
Structure identical movement branched chain is arranged symmetrically between fixed frame and moving platform；Every movement branched chain includes nearly hack lever and remote frame
Bar, described remote hack lever forms parallelogram sturcutre with upper and lower connecting shaft；Described nearly hack lever one end is affixed with drive end, another
End is affixed with upper connecting shaft；Described lower connecting shaft is affixed with moving platform；Described moving platform includes upper mounting plate and lower platform, along described
Upper mounting plate and lower platform utilize guide pin bushing and fairlead to connect, and guide pin bushing and fairlead form screw pair or internal arrangement steering mechanism can
Upper and lower platform is mutually shifted the rotation being converted into the axis perpendicular to moving platform.The limitation of said mechanism is：Moving platform
Upper and lower platform is used moving sets as guiding mechanism, and all of lower connecting shaft, not in approximately the same plane, occurs in motion
Discontinuity, waiting that frictional force is larger is not enough, force transmission effect therefore can be led to poor, the motion of mechanism has some setbacks, using the longevity
Order low problem.
Content of the invention
For above-mentioned prior art, the present invention provides a kind of.The present invention is to solve technical problem present in known technology
And providing a kind of moving platform force transmission effect good, mechanism kinematic is smooth, long service life, and structure is simple, be easy to manufacture, repair,
Safeguard, the parallel institution of achievable spatial three-dimensional translational one-dimensional rotation.
In order to solve above-mentioned technical problem, a kind of flat one turn parallel connection at a high speed of rocking bar dislocation type four side chain three proposed by the present invention
Manipulator, including fixed frame, moving platform and four structure identical movement branched chain；It is connected with four on described fixed frame
Driving means；Article four, structure identical movement branched chain in spatial distribution between described fixed frame and moving platform；Every motion
Side chain all includes nearly hack lever and two parallel and isometric remote hack levers, and one end of described nearly hack lever is affixed with described driving means,
Described driving means provide a rotational freedom for described nearly hack lever, and the other end of described nearly hack lever is connected with connecting shaft,
Same one end of described two parallel remote hack levers two ends ball-joint with described upper connecting shaft respectively, described two parallel remote framves
The other end of bar respectively with connecting shaft ball-joint once；Described lower connecting shaft, described upper connecting shaft are parallel remote with described two
Hack lever constitutes a parallelogram sturcutre；Article four, the lower connecting shaft of movement branched chain is all affixed with described moving platform；Article four, structure phase
Same movement branched chain ensures that moving platform realizes spatial three-dimensional translational；Described moving platform includes rotary shaft, and described rotary shaft is connected with
Central gear, it is rotatably connected to a platform and an affixed end effector, described platform equipped with according to rotating shaft axis is
Four guide rails of the radial layout in center, are respectively equipped with a slide block, described slide block is along place guide rail in each guide rail
Mobile, the upper end of four slide blocks is connected with the lower connecting shaft in four structure identical movement branched chain respectively；In four guide rails, press
It is divided into two groups according to two neighboring one group, same group of guide rail is respectively equipped with gripper shoe on adjacent side, and described gripper shoe sets
There is the locating shaft parallel with rotating shaft axis, described central gear is engaged with four identical arc gear wheels, four identical arcs
Shape gear is passed through rotation pair respectively and is connected with four locating shafts, and the card of each arc gear wheel is respectively provided with a guiding
Groove；The output end of four driving means imparts power to four movement branched chain, and movement branched chain imparts power to slide block, drives
Described slide block slides in described guide rail, and described four slide blocks drive four arc gear wheels to rotate by gathering sill respectively；, then
Axle is rotated by gear drive to rotate, so that the end effector affixed with described rotary shaft has three translations freely
Degree and a rotational freedom.
In the present invention, described four arc gear wheels are interlocked with central gear and engage.
Compared with prior art, the invention has the beneficial effects as follows：
The present invention has the advantages and positive effects that：The shape being arranged symmetrically using four arc gear wheels in moving platform structure
Formula, makes full use of the power of driving means, realizes high-speed motion；Moving platform compact conformation, motion is flexible, uniform force, motion
High precision, overall structure stability is good, and structure is simple, is easy to manufacture, repairs, and can meet the requirement of complicated pick-and-place operation.
Brief description
Fig. 1 is the overall structure diagram of manipulator of the present invention；
Fig. 2 is the schematic top plan view of moving platform structure in the present invention；
Fig. 3 is the schematic side view of moving platform structure in the present invention.
In figure：1- driving means, 2- fixed frame, the nearly hack lever of 3-, the upper connecting shaft of 4-, the remote hack lever of 5a, 5b-, 6- moving platform,
Connecting shaft under 7-, the not a half Knucle-gear of 8-, 9- slide block, 10- guide rail, 11- rotary shaft, 12- end effector.
Specific embodiment
With specific embodiment, technical solution of the present invention is described in further detail below in conjunction with the accompanying drawings, described is concrete
Embodiment only explains to the present invention, not in order to limit the present invention.
As shown in figure 1, a kind of flat one turn of high-speed parallel manipulator of rocking bar dislocation type four side chain three proposed by the present invention, including
Fixed frame 2, moving platform 6 and four structure identical movement branched chain；Four driving means are connected with described fixed frame 2
1；Article four, structure identical movement branched chain in spatial distribution between described fixed frame 2 and moving platform 6；Every side chain is by nearly frame
Bar 3, upper connecting shaft 4, remote hack lever 5a, remote hack lever 5b and lower connecting shaft 7 are constituted.Described remote hack lever 5a is parallel with remote hack lever 5b and waits
Long, one end of described nearly hack lever 3 is affixed with described driving means 1, and described driving means 1 provide one to turn for described nearly hack lever 3
The dynamic free degree, the other end of described nearly hack lever 3 is affixed with described upper connecting shaft 4, two parallel isometric remote hack lever 5as' and 5b
With one end two ends ball-joint with described upper connecting shaft 4 respectively, the other end of two parallel isometric remote hack lever 5a and 5b is respectively
With the ball-joint of described lower connecting shaft 7；Described lower connecting shaft 7, described upper connecting shaft 4 and described two parallel remote hack lever 5a, 5b
Constitute a parallelogram sturcutre；Article four, the lower connecting shaft 7 of movement branched chain is all affixed with described moving platform 6；Article four, structure phase
Same movement branched chain ensures that moving platform 6 realizes spatial three-dimensional translational.
As shown in Figures 2 and 3, described moving platform 6 includes rotary shaft 11, the platform with four guide rails 10, four slide blocks
9th, four arc gear wheels 8 and end effector 12.Top-down in described rotary shaft 11 it is connected with central gear and end is held
Row device 12.And be connected with the rotation of described platform, four guide rails 10 are installed radially according to centered on the axis of rotary shaft 11
On the platform, respectively it is equipped with an above-mentioned slide block 9 in each guide rail 10, described slide block 9 moves along place guide rail 10
Move it is ensured that slide block 9 is only along the single degree of freedom of guide rail 10, moved with four structure identicals respectively in the upper end of four slide blocks 9
Lower connecting shaft 7 in side chain is connected；In four guide rails 10, it is divided into two groups according to two neighboring one group, same group of guide rail 10 is in phase
Be respectively equipped with gripper shoe on adjacent side, in described gripper shoe, each rotation connects an arc gear wheel 8, described central gear simultaneously with
Four identical arc gear wheels 8 engage.Heretofore described arc gear wheel 8, is engaged with the staggered of central gear respectively.Each
One gathering sill is respectively provided with the card of arc gear wheel 8；.
The output end of four driving means 1 imparts power to four movement branched chain, and movement branched chain imparts power to slide
Block 9, drives described slide block 9 to slide in described guide rail 10, and described four slide blocks 9 lead to gathering sill respectively and drive four arc gear wheels
8 rotations, rotary shaft 11 engages, in four arc gear wheels 8 and central gear, the rotation realized under drive around own axes, thus
Drive the end effector 12 affixed with described rotary shaft 11 around own axis, manipulator of the present invention may finally make end
Actuator 12 has three translational degree of freedom and a rotational freedom.
Using the moving platform of said structure, it is arranged symmetrically, compact conformation, reduce mechanism complexity, can be more conveniently
Realize rotary motion, with when flexibility stronger, easily realize capturing at a high speed, it designs ingenious uniqueness, and structure is simple, mechanism stable
Property good, motion flexibly, uniform force, precision is higher, long service life.It is easy to manufacture, repairs, safeguard, and meet complicated pick-and-place
The requirement of operation.
Although above in conjunction with figure, invention has been described, the invention is not limited in above-mentioned specific embodiment party
Formula, above-mentioned specific embodiment is only schematically, rather than restricted, and those of ordinary skill in the art is at this
Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to the guarantor of the present invention
Within shield.
Claims (2)
1. the flat one turn of high-speed parallel manipulator of a kind of rocking bar dislocation type four side chain three, including fixed frame (2), moving platform (6) with
And four structure identical movement branched chain；Four driving means (1) are connected with described fixed frame (2)；Article four, structure is identical
Movement branched chain in spatial distribution between described fixed frame (2) and moving platform (6)；Every movement branched chain all includes nearly hack lever
(3) with two parallel and isometric remote hack levers (5a, 5b), one end of described nearly hack lever (3) is affixed with described driving means (1),
Described driving means (1) are that described nearly hack lever (3) provides a rotational freedom, and the other end of described nearly hack lever (3) is connected with
Upper connecting shaft (4), same one end two ends ball with described upper connecting shaft (4) respectively of described two parallel remote hack levers (5a, 5b)
Hinged, the other end of described two parallel remote hack levers (5a, 5b) respectively with connecting shaft once (7) ball-joint；Described lower connection
Axle (7), described upper connecting shaft (4) constitute a parallelogram sturcutre with described two parallel remote hack levers (5a, 5b)；Article four, transport
The lower connecting shaft (7) of dynamic side chain is all affixed with described moving platform (6)；Article four, structure identical movement branched chain ensures moving platform (6)
Realize spatial three-dimensional translational；
It is characterized in that：
Described moving platform (6) includes rotary shaft (11), and described rotary shaft (11) is above top-down to be connected with central gear, rotation
It is connected with a platform and be connected with an end effector (12), equipped with according to centered on rotary shaft (11) axis on described platform
Four guide rails (10) of radial layout, are respectively equipped with a slide block (9), described slide block (9) in each guide rail (10)
Mobile along place guide rail (10), the upper end of four slide blocks (9) respectively with four structure identical movement branched chain in lower connecting shaft
(7) it is connected；In four guide rails (10), it is divided into two groups according to two neighboring one group, same group of guide rail (10) is on adjacent side
It is respectively equipped with gripper shoe, described gripper shoe is provided with the locating shaft with rotary shaft (11) diameter parallel, described central gear engagement
There are four identical arc gear wheels (8), four identical arc gear wheels (8) are passed through rotation pair respectively and are connected with four locating shafts,
One gathering sill is respectively provided with each arc gear wheel (8)；Described four slide blocks (9) pass through gathering sill and described four arcs
Gear (8) is slidably connected,；
The output end of four driving means (1) imparts power to four movement branched chain, and movement branched chain imparts power to slide block
(9), described slide block (9) is driven to slide in described guide rail (10), slide block (9) drives arc gear wheel to produce and rotates, and then passes through
Gear drive is rotated axle (11) and rotates, so that the end effector (12) affixed with described rotary shaft (11) has three
Translational degree of freedom and a rotational freedom.
2. according to claim 1 the flat one turn of high-speed parallel manipulator of rocking bar dislocation type four side chain three it is characterised in that described
Four arc gear wheels are interlocked with central gear and engage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059614.2A CN106426115B (en) | 2016-11-24 | 2016-11-24 | The flat one turn of high-speed parallel manipulator of four branch of rocking bar dislocation type three |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059614.2A CN106426115B (en) | 2016-11-24 | 2016-11-24 | The flat one turn of high-speed parallel manipulator of four branch of rocking bar dislocation type three |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426115A true CN106426115A (en) | 2017-02-22 |
| CN106426115B CN106426115B (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611059614.2A Expired - Fee Related CN106426115B (en) | 2016-11-24 | 2016-11-24 | The flat one turn of high-speed parallel manipulator of four branch of rocking bar dislocation type three |
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| CN (1) | CN106426115B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110815184A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| US20090019960A1 (en) * | 2005-02-17 | 2009-01-22 | Vincent Nabat | High-speed parallel robot with four degrees of freedom |
| CN102632501A (en) * | 2012-04-12 | 2012-08-15 | 天津大学 | Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator |
| CN102975203A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | High-speed five-degree of freedom parallel manipulator |
-
2016
- 2016-11-24 CN CN201611059614.2A patent/CN106426115B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| US20090019960A1 (en) * | 2005-02-17 | 2009-01-22 | Vincent Nabat | High-speed parallel robot with four degrees of freedom |
| CN102632501A (en) * | 2012-04-12 | 2012-08-15 | 天津大学 | Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator |
| CN102975203A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | High-speed five-degree of freedom parallel manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110480603B (en) * | 2019-08-08 | 2022-07-01 | 中国民航大学 | Multi-degree-of-freedom parallel manipulator with 8M-shaped base |
| CN110815184A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism |
| CN110815184B (en) * | 2019-11-13 | 2022-04-19 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism |
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| CN106426115B (en) | 2019-03-19 |
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Granted publication date: 20190319 Termination date: 20201124 |