CN107139162B - Sorting machine people in parallel with double acting platform structure - Google Patents
Sorting machine people in parallel with double acting platform structure Download PDFInfo
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- CN107139162B CN107139162B CN201710438235.2A CN201710438235A CN107139162B CN 107139162 B CN107139162 B CN 107139162B CN 201710438235 A CN201710438235 A CN 201710438235A CN 107139162 B CN107139162 B CN 107139162B
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Classifications
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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 invention discloses a kind of sorting machine people in parallel with double acting platform structure, the parallel connection sorting machine people include: that robot includes four branches between fixed platform, moving platform component and the connection fixed platform and moving platform component.There are four driving devices, four driver circumference to be arranged symmetrically for installation on fixed platform, and moving platform component is made of upper moving platform, lower moving platform, slide rail, movement conversion mechanism and end effector；Three one-movement-freedom-degrees and a rotational freedom of end effector may be implemented in the rotation for controlling four driving devices.Sorting machine people in parallel according to the present invention with double acting platform structure has the characteristics that compact-sized, movement is flexible, control is simple, rigidity and stability are preferable.
Description
Technical field
The present invention relates to mechanism design fields, more particularly, to a kind of sorting machine in parallel with double acting platform structure
People.
Background technique
Early stage is for the packaging, sorting of light-duty production line kinds of goods, combination and disassembles the industrial robot of task by going here and there
Online structure is realized.Serial mechanism is connected in sequence by kinematic pair, is open loop structure, has big working space and high spirit
Activity, but its also have the shortcomings that it is obvious: each kinematic pair error accumulation leads to that end precision is low, rigidity is low, inertia is big, dynamics
Performance is bad.Parallel institution is a kind of closed loop configuration, and moving platform component passes through at least two independent kinematic chains and fixed platform
It is connected.Compared with serial mechanism, parallel institution has many advantages, such as that rigidity is high, precision is high, dynamic performance is good, compact-sized.
The advantages of based on parallel institution, CLAVEL propose the achievable three-dimensional translating being made of three symmetrical branches
Delta parallel mechanism (US4976582) has high-speed motion characteristic, and on the basis of this configuration, ABB AB is had developed
" Flexpicker " parallel robot simultaneously is applied to replace being accomplished manually the rapid sorting behaviour of food etc. in Food Packaging Production Line
Make；For the flexibility and efficiency for further increasing picking action, PIERROT etc. is proposed with four branches, double acting platform component
The H4 parallel institution (US20090019960 and EP1084802) of the achievable SCARA movement of feature；Subsequent Adept company success
It is commercialized, Typical Representative has " Adept Quattrro " parallel robot.
For the advantage and disadvantage of above section design, there is document to be commented on, shortcoming is summarized as follows:
Patent CN202592386 points out three freedom that only there is space to be translatable for Delta mechanism in patent US4976582
Degree, can not achieve the rotation of pick-up angles；Patent CN102161200 points out H4 in patent US20090019960 and EP1084802
Multiple components of mechanism moving platform component are in same plane, so that moving platform part dimension is larger, it is not compact enough and adjacent
Two branches driving moving platform component a component, power transmission effect is bad, be unfavorable for improve mechanism efficiency；Patent
CN101863024, CN102161201 point out that moving platform part dimension is larger in patent US20090019960 and EP1084802,
The enlarger being arranged thereon increases the weight of moving platform component；Patent CN102152306 points out patent US20090019960
One group of opposite side of parallelogram is comparable to moving platform component is driven in EP1084802 component, structure is not compact, living
Not flexible, discontinuity is moved, is unfavorable for improving mechanism efficiency；Patent CN102229141 point out patent US20090019960 and
There are two the components that moving platform component is driven in EP1084802, and both parts are equivalent to one group pair of parallelogram
Side, such driving method is not flexible, and stress condition is uneven, is unfavorable for the smooth operation of mechanism.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.Therefore, the present invention intends to propose one
Kind has the sorting machine people in parallel of double acting platform structure, and the sorting machine people in parallel with double acting platform structure has property
The advantages that energy is excellent, compact-sized and movement is flexible.
Sorting machine people in parallel according to the present invention with double acting platform structure, the parallel connection sorting machine people includes fixed
Platform, four branches, four driving devices and moving platform component, four branches along the circumferentially spaced of the fixed platform,
Four driving devices, which are located on the fixed platform and correspond with the upper end of four branches, to be connected, with driving four
The branch pivots, and the moving platform component is located at below the fixed platform, and the moving platform component includes: upper moving platform,
The lower end of the branch of upper moving platform setting alternate with the two of them of four branches is pivotly connected；It is lower dynamic flat
Platform, the lower moving platform is located at below the upper moving platform and the branch of setting alternate with the wherein another two of four branches
Lower end be pivotly connected；At least one slide rail, the slide rail is located at the upper moving platform and lower move is put down
Extend in one of them of platform and along the vertical direction, the another one and the cunning of the upper moving platform and the lower moving platform
Dynamic guide rail is slideably connected；At least one movement conversion mechanism, the movement conversion mechanism connect the upper moving platform and institute
State lower moving platform, and the movement conversion mechanism includes connecting rod, rack and pinion, one end of the connecting rod and the upper moving platform
Pivotly it is connected, the rack gear is slidably disposed on lower moving platform, and the other end of the connecting rod and the rack gear are pivotable
Ground is connected, and the gear is rotatably arranged on the lower moving platform and engages with the rack gear, end effector, the end
Actuator is located at below the lower moving platform and the output shaft by passing through the lower moving platform is connected with the gear.
Sorting machine people in parallel according to the present invention with double acting platform structure, can be by controlling four driving devices
Control the pivot of four branches, realize moving platform component along X, Y and Z-direction move and upper moving platform and lower moving platform
Along the relative movement of Z axis, wherein upper moving platform and lower moving platform can be turned along the relative movement of Z axis by movement conversion mechanism
End effector is changed into around the rotation along Z axis, making end effector tool, there are three one-movement-freedom-degree and a rotational freedoms, real
The operation such as crawl of existing four-degree-of-freedom, for example, 100 standard grasping movements can be completed per minute, have it is compact-sized,
The features such as movement is flexibly, control is simple, rigidity and stability are preferable, performance is higher, there are wide scientific research and application prospects.
In some embodiments, the lower moving platform, which is equipped with, is parallel to the sliding rail that the tangential direction of the gear extends,
The rack gear is equipped with sliding block, and the sliding block is slidably disposed on the sliding rail, and the other end of the connecting rod and institute
Sliding block is stated pivotably to be connected.
In some embodiments, the lower moving platform is equipped with the guide ledges to raise upward, shape in the guide ledges
At there is a guide groove, there is sliding block on the rack gear, at least part of the sliding block protrudes into the guide groove and can along the guide groove
Sliding, the other end of the connecting rod are pivotably connected with the sliding block.
In some embodiments, the rack gear includes in a rotationally symmetrical arrangement two of central axis about the gear,
The connecting rod includes in a rotationally symmetrical arrangement two of central axis about the gear, and the connecting rod and the rack gear are one by one
It is corresponding.
In some embodiments, the slide rail is formed as the column extended along the vertical direction, the upper moving platform and
The another one of the lower moving platform are equipped with sliding eye, are equipped with axle sleeve in the sliding eye, the slide rail can
It is slidably threaded through in the axle sleeve.
Further, the free end of the slide rail is arranged with end cap, and the end cap and the slide rail are detachable
Connection.
In some embodiments, the branch includes: two first bodies of rod, and two first bodies of rod are arranged and put down up and down
Row setting, first body of rod in top is connected with the driving device, first body of rod being below with it is described
Moving platform component is connected；Two second bodies of rod, two second bodies of rod are arranged in parallel and are connected with two first bodies of rod
Parallelogram frame is formed, the length of second body of rod is greater than the length of first body of rod, the both ends difference of each first body of rod
With two second body of rod mating spherical surfaces；Torsion elasticity part, the torsion elasticity part and first body of rod be arranged in parallel and
Neighbouring first body of rod is arranged, and the torsion elasticity part is in elongation state and both ends and two second bodies of rod are pivotable
Ground is connected, and the torsion elasticity part includes that at least one end of at least one and the branch is equipped with the torsion elasticity part.
In some embodiments, the driving device includes: driver, and the driver is located on the fixed platform；It drives
Swing arm, the actuating arm are radially extended substantially along the fixed platform, and the inner end of the actuating arm is connected with the driver, with
It is pivotable relative to the fixed platform under the drive of the driver, the outer end of the actuating arm and the corresponding branch
Upper end is pivotly connected.
In some embodiments, the fixed platform includes: main platform body；Four mounting plates, four mounting plates are along institute
It states in the circumferentially-spaced outer periphery for being provided with the main platform body of fixed platform, each mounting plate is to far from the platform master
The direction extension of body, the driver and the actuating arm are respectively provided at the circumferential direction along the main platform body of the mounting plate
Both ends, the output shaft of the driver pass through the mounting plate and are connected with the actuating arm.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the schematic diagram of the sorting machine people in parallel according to an embodiment of the present invention with double acting platform structure；
Fig. 2 is the schematic diagram of the moving platform component of parallel connection sorting machine people shown in Fig. 1；
Fig. 3 is the schematic diagram of another angle of moving platform component shown in Fig. 2；
Fig. 4 is the structural schematic diagram of branch shown in Fig. 1；
Fig. 5 is the enlarged drawing at the A that Fig. 4 centre circle shows.
Appended drawing reference:
Sorting machine people 100 in parallel,
Fixed platform 1, main platform body 11, mounting plate 12,
Driving device 2, driver 21, actuating arm 22,
Branch 4,
Moving platform component 5, upper moving platform 51,
Lower moving platform 52, guide ledges 521, guide groove 522,
End effector 53, slide rail 54, end cap 541,
Movement conversion mechanism 55, connecting rod 551, rack gear 552, sliding block 5521, gear 553,
Output shaft 56, axle sleeve 57.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The sorting machine people in parallel according to an embodiment of the present invention with double acting platform structure is described below with reference to Fig. 1-Fig. 5
100。
As shown in Figure 1, the sorting machine people 100 in parallel according to an embodiment of the present invention with double acting platform structure, comprising:
The branch 4 of driving device 2, four of fixed platform 1, four and moving platform component 5.
Specifically, four branches 4 be located on fixed platform 1 along the circumferentially spaced of fixed platform 1, four driving devices 2 and
It corresponds and four branches 4 is driven to pivot.That is, four driving devices 2 and four branches 4 correspond, each driving
Device 2 can drive corresponding branch 4 to pivot relative to fixed platform 1.
Moving platform component 5 is located at the lower section of fixed platform 1, moving platform component 5 can include: upper moving platform 51, lower moving platform 52, extremely
A few slide rail 54 and at least one movement conversion mechanism 55 and end effector 53.
Upper moving platform 51 is located at the lower section of fixed platform 1, the branch of upper moving platform 51 setting alternate with the two of them of four branches 4
The lower end of chain 4 is pivotly connected.Lower moving platform 52 is located at the lower section of moving platform 51, lower moving platform 52 and four branches 4 its
The lower end of the branch 4 of the alternate setting of middle another two is pivotly connected.
For convenience of description, as shown in Figure 1, four branches 4 being sequentially distributed of circumferential direction along fixed platform 1 are respectively first
Chain, the second branch, third branch and the 4th branch, upper moving platform 51 can be with the lower end of the first branch and the lower ends of third branch
Pivotly it is connected, lower moving platform 52 can pivotly be connected with the lower end of the lower end of the second branch and the 4th branch.
Preferably, circumferential direction evenly-spaced setting of four branches 4 along fixed platform 1.At this point, the first branch and third branch
Chain opposite can be oppositely arranged on radial the two of fixed platform 1 in the radial both ends of fixed platform 1, the second branch and the 4th branch
End, keeps the movement of robot more balanced, movement effects are more preferable.
Slide rail 54 is located on lower moving platform 52 and extends along the vertical direction, and upper moving platform 51 can with slide rail 54
Slidably it is connected.Thus, it is possible to the relative movement of dynamic upper moving platform 51 and lower moving platform 52 be realized, to change upper 51 He of moving platform
Mobile accuracy and smooth can be improved in the spacing of lower moving platform 52, and slide rail 54 can play guiding role
Property.
It is understood that in the present invention, slide rail 54 can also be arranged in upper moving platform 51 and put down with lower move
Platform 52 is slideably connected.That is, slide rail 54 may be provided in one of them of moving platform 51 and lower moving platform 52
And extend along the vertical direction, the another one of upper moving platform 51 and lower moving platform 52 and slide rail 54 slideably phase
Even.
Movement conversion mechanism 55 connects upper moving platform 51 and lower moving platform 52, and movement conversion mechanism 55 includes connecting rod 551, tooth
Wheel 553 and rack gear 552, wherein one end (such as upper end of connecting rod shown in Fig. 2 551) of connecting rod 551 and upper moving platform 51 can
Pivotally it is connected, rack gear 552 is slidably disposed on lower moving platform 52, the other end of connecting rod 552 (such as company shown in Fig. 2
The lower end of bar 551) pivotly it is connected with rack gear 552, gear 553 is rotatably arranged on lower moving platform 52, gear 553 and tooth
Item 552 engages.
End effector 53 is located at lower 52 lower section of moving platform, and end effector 53 passes through the output shaft across lower moving platform 52
56 are connected with gear 553.
As a result, when the distance between upper moving platform 51 and lower moving platform 52 change, connecting rod 551 can be pivoted, and
And the rack gear 552 being attached thereto is driven to move linearly, then rack gear 552 is engaged with gear 553, pushes gear 553 to rotate, and lead to
Crossing output shaft 56 drives end effector 53 to rotate.End effector 53 can be used for executing the operations such as carrying, pick-and-place and task.
Sorting machine people 100 in parallel according to an embodiment of the present invention with double acting platform structure can pass through control four
A driving device 2 controls the pivots of four branches 4, realize moving platform component 5 along X, Y and Z-direction move and it is upper dynamic flat
The relative movement of platform 51 and lower moving platform 52 along Z axis, wherein upper moving platform 51 and lower moving platform 52 can along the relative movement of Z axis
To be converted into end effector 53 around the rotation along Z axis by movement conversion mechanism 55, making the tool of end effector 53, there are three move
Dynamic freedom degree and a rotational freedom realize that crawl of four-degree-of-freedom etc. operates, for example, can complete per minute 100 times
Standard grasping movement has the characteristics that compact-sized, movement is flexible, control is simple, rigidity and stability are preferable, performance is higher,
There are wide scientific research and application prospects.
In some embodiments, lower moving platform 52 is equipped with sliding rail, and the extending direction of sliding rail is parallel to the tooth top of gear 553
Round tangential direction, rack gear 552 are equipped with sliding block 5521, and sliding block 5521 is slidably disposed on sliding rail, and connecting rod 551 is another
End (such as lower end of connecting rod shown in Fig. 2 551) is pivotably connected with sliding block 5521.In this way, when upper moving platform 51 and lower dynamic
When platform 52 generates relative displacement, connecting rod 551 can push rack gear 552 sliding under the driving of upper moving platform 51 by sliding block 5521
It is dynamic, so that the relative motion by upper moving platform 51 and lower moving platform 52 in the vertical direction, is converted into sliding block 5521 in lower moving platform
Horizontal movement on 52, in short, realizing that by transform linear motion along the vertical direction be linear motion in the horizontal direction.So
Afterwards, it recycles rack gear 552 and gear 553 to engage, is the rotation of gear 553 by the transform linear motion of sliding block 5521 and rack gear 552
Transhipment is dynamic.To realize the rotational freedom of end effector 53.
As shown in Figures 2 and 3, lower moving platform 52 is equipped with the guide ledges 521 to raise upward, shape in guide ledges 521
At there is a guide groove 522, guide groove 522 it is opening up, the extending direction of guide groove 522 is parallel to the tangent line side of the outside circle of gear 553
To with sliding block 5221 on rack gear 552, at least part of sliding block 5221 is protruded into guide groove 522, and sliding block 5221 is along guide groove
Slidably, the other end (such as lower end of connecting rod shown in Fig. 2 551) and sliding block 5521 of connecting rod 551 can for 522 extending direction
It is pivotally attached to.When upper moving platform 51 and lower 52 relative motion along the vertical direction of moving platform, upper moving platform 51 is pushed away by connecting rod 551
Movable slider 5521 slides in guide groove 522, converts moving horizontally for sliding block 5521 for relative motion along the vertical direction.
Further, as shown in figure 3, guide groove 522 in direction is from the bottom up in the shape that gradually closes up, sliding block 5521
Protrude into the part in guide groove 522 and the shape adaptation of guide groove 522.Such as guide groove 522 is perpendicular to the cross section of its extending direction
Trapezoidal and trapezoidal short bottom edge is located at the opening side of guide groove 522, in this manner it is ensured that sliding block 5521 protrudes into inside guide groove 522
Divide and be caught in guide groove 522 always, sliding block 5521, which skids off, when avoiding the spacing between moving platform 51 and lower moving platform 52 excessive leads
Slot 522 guarantees the reliability connected between sliding block 5521 and guide groove 522.
Preferably, on the extending direction along guide groove 522, the closed at one end and other end of guide groove 522 is opened wide, in this way, sliding
Block 5521 can be slid into guide groove 522 by the open end of guide groove 522, easy to assembly.Meanwhile the closed at one end of guide groove 522 can
It is slipped to avoid sliding block 5521 from the end of guide groove 522, to play the maximum displacement in the horizontal direction of limitation sliding block 5521
Effect.
As shown in Figures 2 and 3, in some embodiments of the invention, rack gear 552 may include about in gear 553
In a rotationally symmetrical arrangement two of mandrel line, connecting rod 551 include in a rotationally symmetrical arrangement two of central axis about gear 553,
Connecting rod 551 and rack gear 552 correspond.When upper moving platform 51 and lower moving platform 52 relatively move, upper moving platform 51 can lead to
It crosses two connecting rods 551 while driving two rack gears 552 mobile in horizontal plane, recycle two rack gears 552 while driving gear 553
Rotation guarantees the stationarity that end effector 53 rotates thus, it is possible to balance the stress of gear 553 more.
Certainly, the invention is not limited thereto, and the quantity of rack gear and connecting rod is without being limited thereto, and rack gear and connecting rod also may include surrounding
Gear spaced apart three, four etc..
Preferably, connecting rod 551 has the upper moving platform connecting pin being pivotally connected with upper moving platform 51 and pivots with rack gear 552
The rack gear connecting pin of connection, wherein upper moving platform connecting pin is in substantially parallel relationship to up and down direction extension, and rack gear connecting pin is along substantially flat
Row extends in the direction of rack gear 552, and upper moving platform connecting pin is connected with rack gear connecting pin by arc linkage section.As a result, may be used
To facilitate upper 51 drive link 551 of moving platform, connecting rod 551 is facilitated to push sliding block 5521, to improve the fluency of movement transmitting.
In the present invention, the shape of slide rail 54 is formed as a variety of, in the embodiment shown in fig. 1, slide rail
54 are formed as the column extended along the vertical direction, and upper moving platform 51 is equipped with sliding eye, and slide rail 54 is slidably disposed in cunning
In dynamic hole.It not only firmly installs as a result, it is compact-sized, and also sliding is smooth, and travelling performance is good.
Slide rail 54 shown in FIG. 1 is formed as extending along the vertical direction cylindric, it is to be understood that slide rail
54 shape is not limited to cylindric, and the cross section of slide rail 54 for polygons such as triangle, quadrangles or can not also advise
Then shape etc..In addition, in the present invention, sliding eye is not limited only to be arranged on upper moving platform 51, lower moving platform can also be set
On 52, at this point, the upper end of slide rail 54 can be connected with upper moving platform 51, the lower end of slide rail 54 is threaded through lower moving platform
In 52 sliding eye, it equally may be implemented preferably to move effect.
Further, sorting machine people 100 in parallel may also include axle sleeve 57, and axle sleeve 57 may be provided in sliding eye, and sliding is led
Rail 54 is slideably threaded through in axle sleeve 57.Thus, it is possible to improve reliability of operation, and can be to avoid to upper moving platform 51
Or lower moving platform 52 causes to wear, axle sleeve 57 can be removed individually after serious wear and repair replacement, and maintenance cost is lower.
In the present invention, the quantity of slide rail 54 and axle sleeve 57 is not done specifically limited, can is one, it can also be with
It is multiple.For example, slide rail 54 and axle sleeve 57 respectively include three, three 54 space sets of slide rail are formed as triangle
Shape distribution, the lower end of each slide rail 54 can be fixedly linked with lower moving platform 52, and the upper ends of multiple slide rails 54 can be with
It is connected by horizontally extending connecting plate.
Thus, it is possible to enhance 5 rigidity of moving platform component, make the stronger stabilization of overall structure, and connecting plate can be with
Position-limiting action is played, avoids moving platform 51 and lower 52 relative displacement of moving platform excessive, causes the end of slide rail 54 from cunning
It is removed in dynamic hole, functional reliability further increases.
In addition, as shown in Figures 2 and 3, the end of the free end of slide rail 54 (such as slide rail shown in Fig. 2
Upper end) end cap 541 can also be arranged with, end cap 541 is detachably connected with slide rail 54.In this way, also can use end cap
541 limit upper moving platform 51 and the maximum displacement of lower moving platform 52 along the vertical direction, avoid slipping.
As shown in Figure 1, driving device 2 may include driver 21 and actuating arm 22, driver 21 is located on fixed platform 1, is driven
Swing arm 22 is connected with driver 21, and pivotable relative to fixed platform 1 under the drive of driver 21.Each actuating arm 22 is big
Body is radially extended along fixed platform 1, that is to say, that the extending direction of each actuating arm 22 can pass through the central axis of fixed platform 1
Line, can also without but slightly deflection.The inner end (i.e. adjacent to the one end at the middle part of fixed platform 1) of each actuating arm 22 and driving
Device 2 is connected, and allows actuating arm 22 pivotable relative to fixed platform 1 under the drive of driving device 2, each actuating arm 22
Outer end (one end at the middle part i.e. far from fixed platform 1) be pivotly connected with the upper end of corresponding branch 4.Work as driving as a result,
When device 21 drives actuating arm 22 to pivot, branch 4 can be pivoted under the drive of actuating arm 22 relative to fixed platform 1, easy for installation,
Pivotability is good and movable more flexible.
Optionally, fixed platform 1 may include main platform body 11 and four mounting plates 12, and four mounting plates 12 can be along fixed platform 1
The circumferentially-spaced outer periphery for being provided with main platform body 11 on, each mounting plate 12 to far from main platform body 11 direction extend,
The extending direction of mounting plate 12 can substantially main platform body 11 radial direction.Driver 21 and actuating arm 22 are respectively provided at mounting plate
The 12 circumferential both ends along main platform body 11.That is, in the circumferential direction along main platform body 11, it is right with each mounting plate 12
The driver 21 and actuating arm 22 answered are located at the both ends of mounting plate 12.The output shaft of driver 21 may pass through mounting plate 12 with
Actuating arm 22 is connected, to drive actuating arm 22 to pivot relative to mounting plate 12.Optionally, driver 21 can be driving motor.
As shown in Figure 1, main platform body 11 is formed as cube shape, four mounting plates 12 be may be provided in the four of main platform body 11
A edge, two neighboring mounting plate 12 are vertically arranged.It is more convenient manufacture and assembly as a result, and the stability of robot is more
It is good.In certain specific embodiments of the invention, main platform body 11 and mounting plate 12 are integrally formed.Thus, it is possible to further
The stability of robot is improved, production efficiency is improved.
Branch 4 is described further with reference to the accompanying drawing.
As shown in Fig. 1 to 5, branch 4 can include: two first bodies of rod and two second bodies of rod, i.e. the first body of rod 42a and
One body of rod 42b, the second body of rod 42c and the second body of rod 42d.Two first bodies of rod are arranged and are arranged in parallel up and down, and top is in
The first body of rod 42a be connected with driving device 2, when robot has actuating arm 22, the first body of rod 42a in top can be with
It is connected with the outer end of actuating arm 22.The first body of rod 42b being below is connected with moving platform component 5.Two second bodies of rod are parallel
It is arranged and is connected to form parallelogram frame with two first bodies of rod, the length of second body of rod 42c, 42d is greater than first body of rod
The length of 42a, 42b.The both ends of each first body of rod respectively with two the second body of rod mating spherical surfaces.
The first body of rod 42a can be pivoted relative to each other with two second bodies of rod 42c, 42d as a result, when actuating arm 22 is driving
When pivoting under the drive of dynamic device 21, the first body of rod 42a can be mobile with actuating arm 22, and then makes second body of rod 42c, 42d can
To pivot.Not only structural stability is good for the branch 4 of the structure, and branch 4 is not susceptible to reverse, and facilitates manufacture, and cost is relatively low,
Material utilization amount is few, and the weight of robot can be greatly decreased.
Further, branch 4 may also include torsion elasticity part, and torsion elasticity part can be arranged in parallel with first body of rod, and
And torsion elasticity part can be arranged adjacent to first body of rod, that is to say, that torsion elasticity part can be arranged adjacent to the end of branch 4.
Torsion elasticity part is in elongation state, and the both ends of torsion elasticity part are pivotly connected with two second bodies of rod.Resist as a result,
Torsional elasticity part has resilient force to branch 4, can more effectively avoid branch 4 from twisting, the stable structure of robot
Property it is stronger, activity is more flexible reliable.
In the present invention, the quantity of torsion elasticity part is not done specifically limited, torsion elasticity part may include at least one,
For example, one, two, three or more torsion elasticity parts can be set on each branch 4, and at least the one of branch 4
End can be equipped with torsion elasticity part.For example, set on branch 4 in Fig. 4 and embodiment shown in fig. 5 there are two torsion elasticity part, point
Not Wei torsion elasticity part 42e and torsion elasticity part 42f, torsion elasticity part 42e and torsion elasticity part 42f be respectively provided at branch 4
Both ends and neighbouring corresponding first body of rod 42a, 42b setting.It is reversed thus, it is possible to be limited from the both ends of branch 4, branch 4
High stability, shape maintenance are good.
Below with reference to the parallel connection with double acting platform structure of Fig. 1-Fig. 5 description accord to a specific embodiment of that present invention
Sorting machine people 100.
Referring to figs. 1 to shown in Fig. 5, the sorting machine people 100 in parallel with double acting platform structure includes fixed platform 1, moves and put down
Platform component 5 and the first branch, the second branch, third branch, the 4th branch, four branches 4 are connected to fixed platform 1 and move
Between platform component 5, and Spatial closed loop is constituted with fixed platform 1 and moving platform component 5, four branches 4 circumferentially symmetrical cloth
Set relationship.
The structure of moving platform component 5 is as shown in Figures 2 and 3, including upper moving platform 51, lower moving platform 52, end effector
53, two slide rails 54, movement conversion mechanism 55, output shaft 56, axle sleeve 57 and kinematic pair；Wherein, conversion of motion mechanism
55 include: two connecting rods, 551, two rack gears 552,553, two upper end axle beds 554 of gear and two lower end axle beds 555, wherein
Two connecting rods and two rack gears are about gear centre axis rotational symmetry.
The assembly relation of each part in moving platform component 5 are as follows: upper end axle bed 554 and upper moving platform 51 fasten, upper end axle bed
554 are connect with connecting rod 551 by revolute pair, and connecting rod 551 is connect with lower end axle bed 555 by revolute pair, and lower end axle bed 555 fastens
On the sliding block of rack gear 552；Axle sleeve 57 and upper moving platform 51 fasten, and slide rail 54 and lower moving platform 52 fasten, axle sleeve 57 with
Slide rail 54 is connected by sliding pair；Rack gear 552 is engaged with gear 553, and gear 553 and output shaft 56 fasten, output shaft 56
It is connect with lower moving platform 52 by revolute pair；Output shaft 56 and end effector 53 fasten.
First branch, the second branch, third branch, the 4th branched structure are identical, by taking the first branch as an example, are formed as parallel
The branch 4 of quadrangle component rotates under the drive for the actuating arm 22 being connected with driver 21.Wherein, the assembly of each components is closed
System are as follows: the output shaft of driver 21 and the front end (i.e. inner end shown in Fig. 1) of actuating arm 22 fasten, the end of actuating arm 22
(i.e. outer end shown in Fig. 1) (i.e. the first body of rod 42a is connected by revolute pair with one end of branch 4.
Wherein, the structure of branch 4 (Fig. 5 is shown in partial structurtes amplification), including the first body of rod 42a, first body of rod as shown in Figure 4
42b, the second body of rod 42c and the second body of rod 42d, anti-torsional elasticity part 42e, anti-torsional elasticity part 42f；The assembly relation of each part are as follows:
The both ends of first body of rod 42a pass through mating spherical surfaces, the second body of rod 42c with the upper end of the second body of rod 42c and the second body of rod 42d respectively
Pass through mating spherical surfaces, the anti-both ends torsional elasticity part 42e difference with the both ends of the first body of rod 42b respectively with the lower end of the second body of rod 42d
Cooperated with the middle upper end of the second body of rod 42c and the second body of rod 42d by revolute pair, in the second body of rod 42c and the second body of rod 42d
Lower end and the both ends of anti-torsional elasticity part 42f are cooperated by revolute pair, and anti-torsional elasticity part 42e, anti-torsional elasticity part 42f are in assembly
Pretensioned state.
In the present embodiment, actuating arm 22 can be used as the driving large arm of robot, and first body of rod 42a, 42b can be used as machine
The forearm quarter butt of people, second body of rod 42c, 42d can be used as the forearm stock of robot, anti-torsional elasticity part 42e, 42f can be used as
The forearm cross bar of robot.
Control the rotation for the driver 21 being connected with the first branch, the second branch, third branch, the 4th branch, Ke Yitong
It overdrives arm 22 and branch 4 transmits motion to moving platform component 5, realize the whole shifting along X, Y and Z-direction of moving platform component 5
The relative movement of dynamic and upper moving platform 51 and lower moving platform 52 along Z-direction；Upper moving platform 51 and lower moving platform 52 are along Z-direction
Relative movement the rotation in the direction about the z axis of end effector 53 is converted by movement conversion mechanism.Therefore, end effector 53
The movement of four-degree-of-freedom pick-and-place may be implemented.
In the above description, X, Y can be understood as in the horizontal plane and the orthogonal both direction in direction, Z-direction
Or the direction of Z axis can be understood as vertical direction.
Other of four-degree-of-freedom high speed parallel robot 100 according to an embodiment of the present invention are constituted and are operated for ability
Be for the those of ordinary skill in domain it is known, be not described in detail herein.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected, can also be communication；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (8)
1. a kind of sorting machine people in parallel with double acting platform structure, which is characterized in that it is described parallel connection sorting machine people include
Fixed platform, four branches, four driving devices and moving platform component, four branches are along the circumferentially-spaced of the fixed platform
It opens, four driving devices, which are located on the fixed platform and correspond with the upper end of four branches, to be connected, with driving
Four branches pivot, and the moving platform component is located at below the fixed platform, and the moving platform component includes:
Upper moving platform, the lower end of the branch of upper moving platform setting alternate with the two of them of four branches is pivotly
It is connected；
Lower moving platform, the lower moving platform are located at below the upper moving platform and alternate with the wherein another two of four branches
The lower end of the branch of setting is pivotly connected；
At least one slide rail, the slide rail be located in one of them of the upper moving platform and the lower moving platform and
Extend along the vertical direction, the another one of the upper moving platform and the lower moving platform and the slide rail slideably phase
Even；
At least one movement conversion mechanism, the movement conversion mechanism connect the upper moving platform and the lower moving platform, and institute
Stating movement conversion mechanism includes connecting rod, rack and pinion, and one end of the connecting rod is pivotly connected with the upper moving platform, institute
It states rack gear to be slidably disposed on lower moving platform, the other end of the connecting rod is pivotly connected with the rack gear, the gear
It is rotatably arranged on the lower moving platform and is engaged with the rack gear,
The rack gear includes in a rotationally symmetrical arrangement two of central axis about the gear, and the connecting rod includes about described
In a rotationally symmetrical arrangement two of the central axis of gear, and the connecting rod and the rack gear correspond,
End effector, the end effector is located at below the lower moving platform and the output by passing through the lower moving platform
Axis is connected with the gear.
2. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that described lower dynamic
Platform, which is equipped with, is parallel to the sliding rail that the tangential direction of the gear extends, and the rack gear is equipped with sliding block, and the sliding block can be slided
It is located on the sliding rail dynamicly, and the other end of the connecting rod is pivotably connected with the sliding block.
3. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that described lower dynamic
Platform is equipped with the guide ledges to raise upward, and guide groove is formed in the guide ledges, has sliding block on the rack gear, described
At least part of sliding block protrudes into the guide groove and along the guide groove slidably, the other end of the connecting rod and the cunning
Block is pivotably connected.
4. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that the sliding
Guide rail is formed as the column extended along the vertical direction, and the another one of the upper moving platform and the lower moving platform, which are equipped with, to be slided
Dynamic hole, the sliding eye is interior to be equipped with axle sleeve, and the slide rail is slideably threaded through in the axle sleeve.
5. the sorting machine people in parallel according to claim 4 with double acting platform structure, which is characterized in that the sliding
The free end of guide rail is arranged with end cap, and the end cap is detachably connected with the slide rail.
6. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that the branch
Include:
Two first bodies of rod, two first bodies of rod arrange and are arranged in parallel up and down, first body of rod in top with
The driving device is connected, and first body of rod being below is connected with the moving platform component；
Two second bodies of rod, two second bodies of rod are arranged in parallel and are connected to form parallel four side with two first bodies of rod
Shape frame, the length of second body of rod are greater than the length of first body of rod, the both ends of each first body of rod respectively with two described the
Bipole body mating spherical surfaces；
Torsion elasticity part, the torsion elasticity part and first body of rod are arranged in parallel and neighbouring first body of rod is arranged, institute
State that torsion elasticity part is in elongation state and both ends are pivotly connected with two second bodies of rod, the torsion elasticity part packet
At least one end for including at least one and the branch is equipped with the torsion elasticity part.
7. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that the driving
Device includes:
Driver, the driver are located on the fixed platform；
Actuating arm, the actuating arm are radially extended substantially along the fixed platform, the inner end of the actuating arm and the driver
It is connected, with pivotable relative to the fixed platform under the drive of the driver, the outer end of the actuating arm and corresponding institute
The upper end for stating branch is pivotly connected.
8. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that described to allocate
Platform includes:
Main platform body；
Four mounting plates, the circumferentially-spaced outer periphery that is provided with the main platform body of four mounting plates along the fixed platform
On, each mounting plate extends to the direction far from the main platform body, and the driver and the actuating arm are respectively provided at
The circumferential both ends along the main platform body of the mounting plate, the output shaft of the driver pass through the mounting plate with it is described
Actuating arm is connected.
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| CN201710438235.2A CN107139162B (en) | 2017-06-12 | 2017-06-12 | Sorting machine people in parallel with double acting platform structure |
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| CN201710438235.2A CN107139162B (en) | 2017-06-12 | 2017-06-12 | Sorting machine people in parallel with double acting platform structure |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032520A (en) * | 2017-11-10 | 2018-05-15 | 广西大学 | A kind of expandable 3D printing parallel institution of working space |
| CN108081248B (en) * | 2018-01-23 | 2023-12-08 | 陕西科技大学 | Single motor drive precision alignment platform |
| CN108940901A (en) * | 2018-10-19 | 2018-12-07 | 广州铁路职业技术学院（广州铁路机械学校） | Two-dimensional parallel sorting machine people's apparatus and system |
| CN109531543B (en) * | 2018-12-21 | 2022-08-30 | 清华大学 | Four-freedom parallel robot with double-acting platform structure |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
| CN110653794B (en) * | 2019-09-10 | 2021-10-01 | 烟台清科嘉机器人联合研究院有限公司 | Double-acting platform parallel mechanism with four spatial degrees of freedom and robot |
| WO2022134512A1 (en) * | 2020-12-22 | 2022-06-30 | 辰星（天津）自动化设备有限公司 | Five-axis robot motion platform and five-axis robot thereof |
| CN113606466B (en) * | 2021-10-08 | 2022-01-04 | 成都理工大学 | Portable binocular photogrammetry device |
| CN114454152A (en) * | 2022-02-21 | 2022-05-10 | 清华大学 | Rope-driven stacking robot |
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