CN110815184B - Four-freedom-degree high-speed parallel robot mechanism - Google Patents
Four-freedom-degree high-speed parallel robot mechanism Download PDFInfo
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- CN110815184B CN110815184B CN201911108234.7A CN201911108234A CN110815184B CN 110815184 B CN110815184 B CN 110815184B CN 201911108234 A CN201911108234 A CN 201911108234A CN 110815184 B CN110815184 B CN 110815184B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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Abstract
The invention discloses a four-degree-of-freedom high-speed parallel robot mechanism, which comprises a static platform, a movable platform, four branched chains, an end effector, a sliding guide mechanism and a motion transformation mechanism, wherein the four branched chains are connected between the static platform and the movable platform in parallel; the end effector is connected with the movable platform through a revolute pair; each branched chain comprises a driving arm, a driven arm component and a guide block which are connected in sequence; a sliding guide mechanism and a motion conversion mechanism are arranged between the guide block and the movable platform as well as between the guide block and the end effector; the sliding guide mechanism is used for limiting the movement of the movement conversion mechanism, so that one guide block can translate relative to the end effector; the motion translation mechanism is used for converting translation of one guide block relative to the end effector into rotation of the end effector. The invention can realize the three-translation and one-rotation operation of the end effector of the mechanism.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a four-degree-of-freedom high-speed parallel robot mechanism.
Background
In the industries of food, light industry, medicine and the like, operations such as sorting, packaging, inserting and the like are generally required to be completed at high speed, and corresponding operation objects generally have the characteristics of small volume and light weight. The four-degree-of-freedom high-speed parallel robot equipment has the characteristics of high speed and high dynamic characteristics, is very suitable for the operation scenes, and therefore, the four-degree-of-freedom high-speed parallel robot equipment is widely applied to the industries.
The existing patents CN103753521A and CN107962551A can both realize a four-degree-of-freedom parallel robot mechanism with three-dimensional translation and one-dimensional rotation, and the mechanism includes a static platform, a dynamic platform, and four branched chains of the same mechanism connecting the static platform and the dynamic platform. The mechanism is characterized in that the movable platform is provided with a plurality of movable end effectors, and the movable platform is provided with a plurality of movable end effectors. In patent CN102922511A, the movable platform is driven by four actively driven kinematic pairs to move, so as to realize three-dimensional translational motion and one-dimensional rotational motion in space. In practical applications, the patented mechanism is affected by the physical dimensions of the rod, and its ability to rotate will be drastically reduced in the marginal portions of the workspace. Patent CN107962551A is a three-four-degree-of-freedom dual-purpose parallel robot, which connects a static platform and a fixed platform through four branched chains with the same structure, and the mechanism has two motion modes of three translational degrees of freedom and four rotational degrees of freedom, so that the motion mode of the high-speed parallel mechanism is not further simplified, but only one movable platform of the mechanism cannot improve the rotation angle capability of the mechanism with the help of an amplifying mechanism, so that the rotation range of the end effector is small.
Disclosure of Invention
The invention aims to provide a four-degree-of-freedom high-speed parallel robot mechanism to realize three-translation and one-rotation operation of a mechanism end effector.
The technical solution for realizing the purpose of the invention is as follows:
a four-freedom-degree high-speed parallel robot mechanism comprises a static platform, a movable platform, four branched chains, an end effector, a sliding guide mechanism and a motion transformation mechanism, wherein the four branched chains and the end effector are connected between the static platform and the movable platform in parallel; the end effector is connected with the movable platform through a revolute pair;
each branched chain comprises a driving arm, a driven arm component and a connecting block; the driving arm, the driven arm component and the connecting block are sequentially connected between the static platform and the movable platform; the driven arm assembly comprises an upper connecting rod, a lower connecting rod and two driven rods which are connected in parallel between the upper connecting rod and the lower connecting rod and have the same structure; two ends of the two driven rods are respectively hinged with the upper connecting rod and the lower connecting rod; the upper connecting rod and the lower connecting rod are equal in length;
one end of the driving arm is connected with the static platform through a revolute pair, the other end of the driving arm is connected with an upper connecting rod in the driven arm component, and the axis of the upper connecting rod is parallel to the axis of the revolute pair of the driving arm; a sliding guide mechanism and a motion conversion mechanism are arranged between one of the four connecting blocks and the movable platform and the end effector; the sliding guide mechanism is used for limiting the movement of the connecting block, so that the connecting block can move in a translation manner relative to the movable platform; the motion conversion mechanism is used for converting the translational motion of the connecting block relative to the movable platform into the rotation of the end effector.
Compared with the prior art, the invention has the following remarkable advantages: the four-degree-of-freedom parallel robot mechanism drives the sliding block of the movable platform to move by the rotation of the active arm, and the movement is converted into the rotation of the end effector by the motion conversion mechanism, so that the three-translation and one-rotation operation of the end effector can be realized, and the end effector can easily obtain larger rotation capacity.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 3 is a schematic structural diagram of embodiment 3 of the present invention.
Fig. 4 is a schematic structural diagram of embodiment 4 of the present invention.
Fig. 5 is a schematic structural view of the movable platform of embodiment 1.
Fig. 6 is a schematic structural view of the movable platform of embodiment 2.
Fig. 7 is a schematic structural view of the movable platform of embodiment 3.
Fig. 8 is a schematic structural view of the movable platform of embodiment 4.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
The invention relates to a four-degree-of-freedom high-speed parallel robot mechanism, which comprises a static platform 1, a movable platform 2, four branched chains, an end effector 12, a sliding guide mechanism and a motion conversion mechanism, wherein the four branched chains are connected between the static platform 1 and the movable platform 2 in parallel; the end effector 12 is connected with the movable platform 2 through a revolute pair;
each branched chain comprises a driving arm 5, a driven arm assembly 8 and a connecting block 6; the driving arm 5, the driven arm assembly 8 and the connecting block 6 are connected in sequence; the driven arm assembly 8 comprises an upper connecting rod 8b, a lower connecting rod 8a and two driven rods 8c and 8d which are connected in parallel between the upper connecting rod 8b and the lower connecting rod 8a and have the same structure; two ends of the two driven rods 8c and 8d are respectively hinged with the upper connecting rod 8b and the lower connecting rod 8 a; the length of the upper connecting rod 8b is equal to that of the lower connecting rod 8 a;
one end of the driving arm 5 is connected with the static platform 1 through a revolute pair, the other end of the driving arm is connected with an upper connecting rod 8b in the driven arm component 8, and the axis of the upper connecting rod 8b is parallel to the rotation axis of the driving arm 5; a sliding guide mechanism and a motion transformation mechanism are arranged between a fourth connecting block 6d of the four connecting blocks 6 and the movable platform 2 and the end effector 12; the sliding guide mechanism is used for limiting the movement of the fourth connecting block 6d, so that the fourth connecting block 6d can move in a translation manner relative to the movable platform 2; the motion conversion mechanism is used for converting the translation of the fourth connecting block 6d relative to the movable platform 2 into the rotation of the end effector 12.
In one embodiment, the driven arm assembly 8 adopts a spatial 4S quadrilateral mechanism, that is, the two driven rods 8c and 8d are connected with the upper connecting rod 8b and the lower connecting rod 8a through spherical hinges; the driving arm 5 is fixedly connected with the upper connecting rod 8b, and the lower connecting rod 8a is fixedly connected with the connecting block 6.
As another embodiment, the driven arm assembly 8 adopts a plane 4R parallelogram mechanism, i.e. the two driven rods 8c and 8d are connected with the upper connecting rod 8b and the lower connecting rod 8a through a revolute pair, and the axis of the revolute pair is perpendicular to the axis of the upper connecting rod 8 b; the driving arm 5 is connected with the upper connecting rod 8b through a rotating pair, and the lower connecting rod 8a is connected with the connecting block 6 through a rotating pair.
Example 1
Fig. 1 and 5 are schematic structural diagrams of embodiment 1 of the present invention, and the four-degree-of-freedom high-speed parallel robot mechanism of the present embodiment includes a static platform 1, a movable platform 2, a motor 3, a reduction box 4, four identical rod-type branched chains, a sliding guide mechanism, a motion transformation mechanism, and an end effector 12.
The four rod-type branched chains are connected in parallel between the static platform 1 and the movable platform 2, and each rod-type branched chain comprises a driving arm 5, a driven arm assembly 8 and a connecting block 6; the driven arm assembly 8 comprises an upper connecting rod 8b, a lower connecting rod 8a and two connecting rods 8c and 8d which are connected in parallel between the upper connecting rod 8b and the lower connecting rod 8a and have the same structure, two ends of each of the two slave connecting rods 8c and 8d are connected with the upper connecting rod 8b and the lower connecting rod 8a through four spherical hinges, and the upper connecting rod 8b and the lower connecting rod 8a are equal in length; one ends of the four driving arms 5 are connected with the static platform 1 through revolute pairs, the axes of the revolute pairs are horizontally arranged and uniformly distributed around the static platform 1, the other ends of the revolute pairs are fixedly connected with the middle of an upper connecting rod 8b, and the axes of the upper connecting rod 8b are parallel to the axes of the revolute pairs of the driving arms 5 and are vertical to the driving arms 5; the end effector 12 is connected with the movable platform 2 through a revolute pair, and the axis of the revolute pair is arranged in the vertical direction.
A lower connecting rod 8a in the rod-type branched chain is fixedly connected with the connecting block 6, and a connecting point is positioned in the middle of the lower connecting rod 8 a; two adjacent connecting blocks 6 of the four connecting blocks 6 are hinged through a connecting rod 17; the three connecting blocks 6a, 6b and 6c are fixed with sliding blocks 19, and the sliding blocks 19 can slide on the movable platform 2; the sliding guide mechanism between the fourth connecting block 6d and the movable platform 2 comprises a sliding block 19, a connecting rod 17 and a guide rail 16, and the guide rail 16 is fixed on the movable platform 2; a rack 14 is fixedly connected to the fourth connecting block 6d through a bolt and a nut 13; the rack 14 slides along the guide rail 16 and is meshed with the gear 11; the gear 11 is fixedly connected to the upper end of the end effector 12 and is connected to the movable platform 2 through a revolute pair, and the revolute pair is perpendicular to the movable platform 2; the rack 14 and the gear 11 constitute a motion conversion mechanism.
Example 2
As shown in fig. 2 and 6, the movable platform 2 is a cross-shaped movable platform, four sliding grooves are formed in the movable platform 2, lower connecting rods 8a of four branched chains are respectively and fixedly connected to the connecting blocks 6, a connecting point is located in the middle of the lower connecting rods 8a, two adjacent connecting blocks 6 of the four connecting blocks 6 are hinged through connecting rods 17, and sliding blocks 19 are fixed on the four connecting blocks 6 and can slide relative to the movable platform 2; one end of a sliding block 19 on the fourth connecting block 6d is connected with a swing rod 18 through a vertical rotating pair, and the other end of the swing rod 18 is connected with a crank 9 through a vertical rotating pair; the crank 9 is fixedly connected to the upper end of the end effector 12 and is connected to the center of the movable platform 2 through a rotating pair, and the rotating pair is perpendicular to the movable platform 2; the crank 9 and the swing rod 18 form a motion transformation mechanism.
Example 3
As shown in fig. 3 and 7, the three branched connecting blocks 6a, 6b and 6c are fixed on the movable platform 2 by screws 10; the sliding guide mechanism comprises a guide rail 16, and the guide rail 16 is fixed on the movable platform 2; a rack 14 is fixedly connected to the fourth connecting block 6d through a bolt and a nut 13; the rack 14 slides along the guide rail 16 and is meshed with the gear 11; the gear 11 is fixedly connected to the upper end of the end effector 12 and is connected to the movable platform 2 through a revolute pair, and the revolute pair is perpendicular to the movable platform 2; the rack 14 and the gear 11 constitute a motion conversion mechanism.
Example 4
As shown in fig. 4 and 8, the three branched connecting blocks 6a, 6b and 6c are fixed on the movable platform 2 by screws 10; the sliding guide mechanism comprises a sliding block 19, and the sliding block 19 is fixed on the fourth connecting block 6d and can slide relative to the movable platform 2; one end of a sliding block 19 on the fourth connecting block 6d is connected with a swing rod 18 through a vertical rotating pair, and the other end of the swing rod 18 is connected with a crank 9 through a vertical rotating pair; the crank 9 is fixedly connected to the upper end of the end effector 12 and is connected to the movable platform 2 through a rotating pair, and the rotating pair is perpendicular to the movable platform 2; the crank 9 and the swing rod 18 form a motion transformation mechanism.
The driving mode of the four branched chains can be changed from the driving mode of the revolute pair active driving into the driving mode of the sliding pair active driving, and the driving mode belongs to the protection scope of the invention.
Claims (3)
1. A four-degree-of-freedom high-speed parallel robot mechanism comprises a static platform (1), a movable platform (2), four branched chains connected in parallel between the static platform (1) and the movable platform (2), and an end effector (12), and is characterized by further comprising a sliding guide mechanism and a motion transformation mechanism; the end effector (12) is connected with the movable platform (2) through a revolute pair;
each branched chain comprises a driving arm (5), a driven arm assembly (8) and a connecting block (6); the driving arm (5), the driven arm assembly (8) and the connecting block (6) are sequentially connected between the static platform (1) and the movable platform (2); the driven arm assembly (8) comprises an upper connecting rod (8 b), a lower connecting rod (8 a) and two driven rods which are connected in parallel between the upper connecting rod (8 b) and the lower connecting rod (8 a) and have the same structure; two ends of the two driven rods with the same structure are respectively hinged with an upper connecting rod (8 b) and a lower connecting rod (8 a); the length of the upper connecting rod (8 b) is equal to that of the lower connecting rod (8 a);
one end of the driving arm (5) is connected with the static platform (1) through a revolute pair, the other end of the driving arm is connected with an upper connecting rod (8 b) in the driven arm component (8), and the axis of the upper connecting rod (8 b) is parallel to the axis of the revolute pair of the driving arm (5);
the four connecting blocks are respectively a first connecting block, a second connecting block, a third connecting block and a fourth connecting block;
a sliding guide mechanism and a motion conversion mechanism are arranged between the fourth connecting block and the movable platform (2) and between the fourth connecting block and the end effector (12); the sliding guide mechanism is used for limiting the movement of the fourth connecting block, so that the fourth connecting block can move in a translation manner relative to the movable platform (2); the motion conversion mechanism is used for converting the translation of the fourth connecting block relative to the movable platform (2) into the rotation of the end effector (12);
the sliding guide mechanism between the fourth connecting block and the movable platform (2) comprises a sliding block (19) and a connecting rod (17);
two adjacent connecting blocks (6) of the four connecting blocks (6) are hinged through a connecting rod (17); the first connecting block, the second connecting block, the third connecting block and the fourth connecting block are all fixed with sliding blocks (19) and are in sliding connection with the movable platform (2) through the sliding blocks (19);
one end of a sliding block (19) on the fourth connecting block is connected with a swing rod (18), and the other end of the swing rod (18) is connected with a crank (9); the crank (9) is fixedly connected to the upper end of the end effector (12); the crank (9) and the swing rod (18) form a motion transformation mechanism.
2. The four-degree-of-freedom high-speed parallel robot mechanism according to claim 1, characterized in that the driven arm assembly (8) adopts a spatial 4S quadrilateral mechanism, namely, the two driven rods with the same structure are connected with the upper connecting rod (8 b) and the lower connecting rod (8 a) through a spherical hinge; the driving arm (5) is fixedly connected with the upper connecting rod (8 b), and the lower connecting rod (8 a) is fixedly connected with the corresponding connecting block (6).
3. The four-degree-of-freedom high-speed parallel robot mechanism according to claim 1, characterized in that the driven arm assembly (8) adopts a plane (4R) parallelogram mechanism, namely, the two driven rods with the same structure are connected with the upper connecting rod (8 b) and the lower connecting rod (8 a) through a revolute pair, and the axis of the revolute pair is perpendicular to the axis of the upper connecting rod (8 b); the driving arm (5) is connected with the upper connecting rod (8 b) through a revolute pair, and the lower connecting rod (8 a) is connected with the corresponding connecting block (6) through a revolute pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911108234.7A CN110815184B (en) | 2019-11-13 | 2019-11-13 | Four-freedom-degree high-speed parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911108234.7A CN110815184B (en) | 2019-11-13 | 2019-11-13 | Four-freedom-degree high-speed parallel robot mechanism |
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| CN110815184A CN110815184A (en) | 2020-02-21 |
| CN110815184B true CN110815184B (en) | 2022-04-19 |
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| CN111975752B (en) * | 2020-08-24 | 2022-03-22 | 重庆邮电大学 | Four-freedom-degree parallel mechanism with continuous rotation capacity |
| CN111975753B (en) * | 2020-08-24 | 2021-12-17 | 重庆邮电大学 | Four-freedom-degree high-speed parallel robot with continuous rotation capacity |
| CN114367962B (en) * | 2022-01-21 | 2023-09-26 | 天津工业大学 | High-speed parallel robot mechanism capable of realizing three or four degrees of freedom |
Citations (4)
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|---|---|---|---|---|
| BRPI1106768A2 (en) * | 2011-08-17 | 2013-08-06 | Tercek Usinagem De Precisao Ltda Me | horizontal drive mechanism of the vehicle lift platform |
| CN103753521A (en) * | 2014-01-17 | 2014-04-30 | 天津大学 | Pinion-and-rack type four-freedom-degree high-speed parallel robot |
| CN106426115A (en) * | 2016-11-24 | 2017-02-22 | 天津大学 | Rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator |
| CN107127741A (en) * | 2017-07-10 | 2017-09-05 | 勃肯特（北京）机器人技术有限公司 | Four-shaft parallel movable disk and four-shaft parallel robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6740998B2 (en) * | 2001-11-02 | 2004-05-25 | Advantest Corporation | Single motor, multi-axis stage |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BRPI1106768A2 (en) * | 2011-08-17 | 2013-08-06 | Tercek Usinagem De Precisao Ltda Me | horizontal drive mechanism of the vehicle lift platform |
| CN103753521A (en) * | 2014-01-17 | 2014-04-30 | 天津大学 | Pinion-and-rack type four-freedom-degree high-speed parallel robot |
| CN106426115A (en) * | 2016-11-24 | 2017-02-22 | 天津大学 | Rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator |
| CN107127741A (en) * | 2017-07-10 | 2017-09-05 | 勃肯特（北京）机器人技术有限公司 | Four-shaft parallel movable disk and four-shaft parallel robot |
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