CN114378792A - Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion - Google Patents
Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion Download PDFInfo
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- CN114378792A CN114378792A CN202210073189.1A CN202210073189A CN114378792A CN 114378792 A CN114378792 A CN 114378792A CN 202210073189 A CN202210073189 A CN 202210073189A CN 114378792 A CN114378792 A CN 114378792A
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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
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Abstract
The invention discloses a four-degree-of-freedom parallel robot mechanism capable of realizing SCARA-like motion, which comprises a fixed platform, a movable platform and four branched chains uniformly distributed on the orbiting platform; the branched chain comprises a driving arm, an auxiliary driving arm, a triangular joint, a U-shaped bracket, an upper connecting shaft, a far frame parallel rod and a lower connecting shaft. The auxiliary driving arm is parallel to the driving arm, one end of the auxiliary driving arm is respectively connected with two positions of the fixed platform in a rotating way, and the other end of the auxiliary driving arm is respectively connected with the upper part and the lower part of the triangular joint in a rotating way; the upper end of the U-shaped bracket is rotationally connected with the lower wall of the triangular joint, and the lower ends of the left and right side wing plates are rotationally connected with the upper connecting shaft; the upper ends of the far frame parallel rods are rotatably connected with the two ends of the upper connecting shaft, the lower ends of the far frame parallel rods are hinged with the two ends of the lower connecting shaft through ball pairs, and the lower connecting shaft is fixed on the movable platform. The branched chains of the invention all comprise two parallelogram structures, so that the invention has larger rigidity and stability, the tail end can realize three-translation and one-rotation, and the movement is more flexible.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a four-degree-of-freedom parallel robot mechanism capable of realizing SCARA motion.
Background
The parallel robot has a space multi-closed-loop structure, and can realize the motion output of the end effector through the synergistic action of a plurality of branched chains. Compared with the traditional series mechanism, the parallel mechanism has the characteristics of high rigidity, high bearing capacity, high precision, compact structure and the like.
The parallel robot with three-dimensional translation and one-dimensional rotation freedom can also meet the operation of carrying objects in space and the like, and is widely applied to the fields of modern logistics, food and medicine, precision instrument installation and the like which need rapid and accurate carrying operation. The three-degree-of-freedom Delta mechanism can realize spatial three-dimensional high-speed translation, but with the development of the field of precise carrying operation, the requirement on the position and posture of an article is gradually improved, and the article can not be completed only by the pure translation Delta mechanism, so that a placing process is required before Delta performs grabbing and releasing work, and the four-degree-of-freedom parallel robot mechanism with an SCARA motion form, namely three-translation and one-rotation, can be produced according to the operation, but the existing SCARA mechanism motion form has the problems of small rotation capacity, poor motion flexibility, low mechanism rigidity and the like.
Disclosure of Invention
The invention aims to provide a parallel mechanism which is flexible in movement, high in rigidity and capable of realizing SCARA movement (three-translation and one-rotation).
The technical solution for realizing the purpose of the invention is as follows:
the invention relates to a four-degree-of-freedom parallel robot mechanism capable of realizing SCARA (selective compliance assembly robot arm) motion, which comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged between the fixed platform and the movable platform, the structures of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are completely the same, four machine frames are uniformly distributed and fixed at intervals of 90 degrees in the circumferential direction of the fixed platform, a driving motor and a speed reducer fixedly connected with an output shaft of the driving motor are fixed on each machine frame, the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are uniformly distributed at intervals of 90 degrees around the fixed platform and the circumferential direction of the movable platform, each branched chain comprises a driving arm and an auxiliary driving arm, the upper end of the driving arm is connected with a rotating shaft of the speed reducer through a first rotating shaft arranged on the machine frames to form first rotating connection with the movable platform, the lower end of the triangular joint is connected with the lower part of the triangular joint through a second rotating shaft connected to the triangular joint to form second rotating connection; the upper end of the auxiliary driving arm is in third rotating connection with a third rotating shaft arranged on the rack, the lower end of the auxiliary driving arm is connected with a fourth rotating shaft connected to the upper part of the triangular joint to form fourth rotating connection, the lower wall of the triangular joint is arranged along the horizontal direction, the lower wall of the triangular joint is rotatably connected with the upper end of a connecting column with an axis arranged along the vertical direction, the driving arm and the auxiliary driving arm respectively form two long edges of an upper parallelogram mechanism, the two short edges of the upper parallelogram mechanism respectively form a connecting line of the driving arm and the hinged point of the auxiliary driving arm with the triangular joint and a connecting line of a first rotating shaft axis where the driving arm is located and a third rotating shaft axis where the auxiliary driving arm is located, the two short edges of the upper parallelogram always form an included angle of 60 degrees with the horizontal plane, and the opening angle of the triangular joint is 60 degrees, each branched chain comprises a lower parallelogram mechanism consisting of an upper connecting shaft, two far frame parallel rods and a lower connecting shaft, wherein the two far frame parallel rods are two long edges of the lower parallelogram mechanism, the lower connecting shaft is fixed on the movable platform through fastening bolts, and two ends of the lower connecting shaft are connected with the lower ends of the two far frame parallel rods through spherical hinges; the end effector is fixed in the center of the movable platform;
lower parallelogram mechanism link to each other so that parallelogram mechanism can rotate around the vertical axis of spliced pole down through revolution mechanic and triangular joint, two upper ends of putting up side by side the pole far link to each other with last connecting axle through first connection structure respectively, last connecting axle and revolution mechanic link to each other through second connection structure, revolution mechanic can rotate around the axis of spliced pole and form first revolute pair, first rotation connect, second rotate connect, the third rotates the axis of rotation of connecting and the fourth rotation is connected and the axis quadrature of first revolute pair.
The invention has the advantages that:
the three-dimensional translational and one-dimensional rotational four-degree-of-freedom parallel robot can realize SCARA movement and has the characteristic of high-speed movement. The lower parallelogram enables the movement to be more flexible by adding the ball pair. In addition, the mechanism has the advantages of compact structure, clear movement mode, double-parallelogram structure, high rigidity and bearing capacity and stable movement.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment 1 of a four-degree-of-freedom parallel robot mechanism capable of realizing SCARA-like motion according to the present invention.
Fig. 2 is a schematic structural view of a movable platform in the mechanism according to embodiment 1 of the present invention.
FIG. 3 is a schematic view of the structure of a branched chain in the mechanism according to example 1 of the present invention.
Fig. 4 is a schematic structural diagram of a movable platform according to another embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an embodiment 3 of the four-degree-of-freedom parallel robot mechanism capable of realizing SCARA-like motion according to the present invention.
Fig. 6 is a schematic diagram of the structure of a branch in the structure shown in fig. 5.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the four-degree-of-freedom parallel robot mechanism capable of realizing SCARA motion comprises a fixed platform 1, a movable platform 11, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged between the fixed platform and the movable platform. The structure of the first branched chain, the second branch chain, the third branched chain and the fourth branched chain is completely the same, four racks are uniformly distributed and fixed on the fixed platform 1 at intervals of 90 degrees in the circumferential direction, a driving motor 3 and a speed reducer 2 fixedly connected with an output shaft of the driving motor 3 are fixed on each rack, and the first branched chain, the second branch chain, the third branched chain and the fourth branched chain are uniformly distributed at intervals of 90 degrees around the circumferential direction of the fixed platform 1 and the movable platform 11. Each branched chain comprises a driving arm 5 and an auxiliary driving arm 4, the upper end of the driving arm 5 is connected with a rotating shaft of the speed reducer 2 through a first rotating shaft arranged on the rack to form first rotating connection with the movable platform, and the lower end of the driving arm is connected with the lower part of the triangular joint 6 through a second rotating shaft connected to the triangular joint 6 to form second rotating connection; the upper end of the auxiliary driving arm 4 is in third rotating connection with a third rotating shaft installed on the rack, and the lower end of the auxiliary driving arm is connected with a fourth rotating shaft connected to the upper portion of the triangular joint 6 to form fourth rotating connection. The lower wall of the triangular joint 6 is arranged along the horizontal direction, and the lower wall of the triangular joint 6 is connected with the upper end of a connecting column of which the axis is arranged along the vertical direction in a rotating manner. The driving arm 5 and the auxiliary driving arm 4 respectively form two long edges of an upper parallelogram mechanism, and two short edges of the upper parallelogram mechanism respectively form a connecting line of hinged points of the driving arm 5 and the auxiliary driving arm 4 with the triangular joint 6 and a connecting line of a first rotating shaft axis where the driving arm is located and a third rotating shaft axis where the auxiliary driving arm is located.
Two short sides of the upper parallelogram and the horizontal plane form an included angle of 60 degrees all the time, and the opening angle of the triangular joint 6 is 60 degrees.
Each branched chain comprises a lower parallelogram mechanism consisting of an upper connecting shaft 8, two far frame parallel rods 9 and a lower connecting shaft 10. The two far frame parallel rods 9 are two long edges of the lower parallelogram mechanism, the lower connecting shaft 10 is fixed on the movable platform through fastening bolts, and two ends of the lower connecting shaft 10 are connected with the lower ends of the two far frame parallel rods through spherical hinges; the movable platform 11 has two forms as shown in the attached drawings; the end effector 12 is fixed at the center of the movable platform 11, and the end effector 12 may adopt a suction cup device, so as to realize suction and release actions.
The lower parallelogram mechanism is connected with the triangular joint 6 through a rotating structure so that the lower parallelogram mechanism can rotate around the vertical axis of the connecting column. The upper ends of the two far frame parallel rods 9 are connected with an upper connecting shaft 8 through first connecting structures respectively, the upper connecting shaft 8 is connected with a rotating structure through a second connecting structure, and the rotating structure can rotate around the axis of the connecting column to form a first rotating pair. And the rotation axes of the first rotation connection, the second rotation connection, the third rotation connection and the fourth rotation connection are orthogonal to the axis of the first rotation pair.
As an embodiment of the present invention, as shown in fig. 1, the rotating structure 7 is a U-shaped bracket, the middle of a web of the U-shaped bracket is fixedly connected to the lower end of the connecting column, and the second connecting structure is: the lower extreme of the side wing board about U type support passes through the revolute pair with the last connecting axle of parallelogram down and connects formation second revolute pair, first connection structure be: two ends of the upper connecting shaft are respectively and rotatably connected with the upper ends of the two far frame rods to form a third rotating pair, the rotating axis of the first rotating pair is orthogonal to the rotating axis of the second rotating pair, and the rotating axis of the second rotating pair is orthogonal to the rotating axis of the third rotating pair.
As another embodiment of the present invention, as shown in fig. 5 to 6, the rotating structure 7 is a rectangular body with a through hole in the middle, the lower end of the connecting column is fixedly connected with the middle of the top wall of the rectangular body, and the second connecting structure is: go up connecting axle 8 pass the through-hole of cuboid and fixedly link to each other with the cuboid, first connection structure be: two ends of the upper connecting shaft are respectively connected with the upper ends of the two far frame rods through spherical hinges.
The upper part and the lower part between two far frame rods in the lower parallelogram are respectively connected with an upper connecting rod 13 and a lower connecting rod 14, wherein two ends of the upper connecting rod 13 are respectively rotatably connected with the two far frame rods to form a fourth rotating pair, two ends of the lower connecting rod 14 are respectively rotatably connected with the two far frame rods to form a fifth rotating pair, the fourth rotating pair and the fifth rotating pair are used for restraining the rotation of the two far frame rods, and the rotating axes of the fourth rotating pair and the fifth rotating pair are parallel to each other.
With reference to fig. 2 and 4, the movable platform in fig. 2 has an axisymmetric structure, and the clockwise and counterclockwise rotation capabilities thereof are the same. The movable platform in fig. 4 is a centrosymmetric structure, and the four lower connecting shafts are also centrosymmetric and are all fixed on the movable platform. Compared with the movable platform in fig. 2, the movable platform fixes the lower connecting shaft 10 on the movable platform 11, and the end effector 12 is fixed at the center of the movable platform 11. When the assembly is adopted, namely the movable platform is arranged in a clockwise central symmetry manner, the rotating capacity of the movable platform in the clockwise direction is increased, and the assembly is more suitable for occasions with high requirement on clockwise placement of articles. When the device is rotated up and down, the end effector is still arranged at the lower side, and the movable platform is arranged in a symmetrical manner in the anticlockwise center, so that the rotating capacity of the movable platform in the clockwise direction is improved, and the device is more suitable for occasions with large requirements on the anticlockwise placement of articles.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. The utility model provides a can realize four degree of freedom parallel robot mechanisms of SCARA motion, includes and decides the platform, moves the platform and arranges first branch chain, second branch even, third branch chain and fourth branch chain between deciding the platform and moving the platform, first branch chain, second branch even, third branch chain and fourth branch chain's structure completely the same, decide platform circumference interval 90 degrees evenly distributed be fixed with four frames, be fixed with a driving motor and with the reduction gear of driving motor's output shaft fixed continuous in each frame, first branch chain, second branch even, third branch chain and fourth branch chain around deciding the platform and move the circumference of platform and evenly distributed 90 degrees apart from each other which characterized in that: each branched chain comprises a driving arm and an auxiliary driving arm, the upper end of the driving arm is connected with a rotating shaft of the speed reducer through a first rotating shaft arranged on the rack to form first rotating connection with the movable platform, and the lower end of the driving arm is connected with the lower part of the triangular joint through a second rotating shaft connected to the triangular joint to form second rotating connection; the upper end of the auxiliary driving arm is in third rotating connection with a third rotating shaft arranged on the rack, the lower end of the auxiliary driving arm is connected with a fourth rotating shaft connected to the upper part of the triangular joint to form fourth rotating connection, the lower wall of the triangular joint is arranged along the horizontal direction, the lower wall of the triangular joint is rotatably connected with the upper end of a connecting column with an axis arranged along the vertical direction, the driving arm and the auxiliary driving arm respectively form two long edges of an upper parallelogram mechanism, the two short edges of the upper parallelogram mechanism respectively form a connecting line of the driving arm and the hinged point of the auxiliary driving arm with the triangular joint and a connecting line of a first rotating shaft axis where the driving arm is located and a third rotating shaft axis where the auxiliary driving arm is located, the two short edges of the upper parallelogram always form an included angle of 60 degrees with the horizontal plane, and the opening angle of the triangular joint is 60 degrees, each branched chain comprises a lower parallelogram mechanism consisting of an upper connecting shaft, two far frame parallel rods and a lower connecting shaft, wherein the two far frame parallel rods are two long edges of the lower parallelogram mechanism, the lower connecting shaft is fixed on the movable platform through fastening bolts, and two ends of the lower connecting shaft are connected with the lower ends of the two far frame parallel rods through spherical hinges; the end effector is fixed in the center of the movable platform;
lower parallelogram mechanism link to each other so that parallelogram mechanism can rotate around the vertical axis of spliced pole down through revolution mechanic and triangular joint, two upper ends of putting up side by side the pole far link to each other with last connecting axle through first connection structure respectively, last connecting axle and revolution mechanic link to each other through second connection structure, revolution mechanic can rotate around the axis of spliced pole and form first revolute pair, first rotation connect, second rotate connect, the third rotates the axis of rotation of connecting and the fourth rotation is connected and the axis quadrature of first revolute pair.
2. The four-degree-of-freedom parallel robot mechanism capable of realizing SCARA motion according to claim 1, characterized in that: revolution mechanic be a U type support, the lower extreme stationary phase of the web middle and spliced pole of U type support links to each other, second connection structure be: the lower extreme of the side wing board about U type support passes through the revolute pair with the last connecting axle of parallelogram down and connects formation second revolute pair, first connection structure be: two ends of the upper connecting shaft are respectively and rotatably connected with the upper ends of the two far frame rods to form a third rotating pair, the rotating axis of the first rotating pair is orthogonal to the rotating axis of the second rotating pair, and the rotating axis of the second rotating pair is orthogonal to the rotating axis of the third rotating pair.
3. The four-degree-of-freedom parallel robot mechanism capable of realizing SCARA motion according to claim 1, characterized in that: the revolution mechanic is the middle cuboid that opens there is the through-hole, the lower extreme of spliced pole and the roof of cuboid in the middle of fixed linking to each other, second connection structure be: the upper connecting shaft penetrates through a through hole of the rectangular body and is fixedly connected with the rectangular body, and the first connecting structure is as follows: two ends of the upper connecting shaft are respectively connected with the upper ends of the two far frame rods through spherical hinges.
The upper part and the lower part between two far frame rods in the lower parallelogram are respectively connected with an upper connecting rod and a lower connecting rod, wherein the two ends of the upper connecting rod are respectively and rotationally connected with the two far frame rods to form a fourth revolute pair, the two ends of the lower connecting rod are respectively and rotationally connected with the two far frame rods to form a fifth revolute pair, the fourth revolute pair and the fifth revolute pair are used for restraining the rotation of the two far frame rods, and the rotation axes of the fourth revolute pair and the fifth revolute pair are parallel to each other.
4. A four-degree-of-freedom parallel robot mechanism capable of performing SCARA motions according to any of claims 1-3, characterized in that: the movable platform is in an axisymmetric structure.
5. A four-degree-of-freedom parallel robot mechanism capable of performing SCARA motions according to any of claims 1-3, characterized in that: the movable platform is of a centrosymmetric structure, and the four lower connecting shafts are also centrosymmetric and are all fixed on the movable platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210073189.1A CN114378792A (en) | 2022-01-21 | 2022-01-21 | Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210073189.1A CN114378792A (en) | 2022-01-21 | 2022-01-21 | Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion |
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| CN202210073189.1A Pending CN114378792A (en) | 2022-01-21 | 2022-01-21 | Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918902A (en) * | 2022-05-19 | 2022-08-19 | 南京理工大学 | Three-dimensional translational and one-dimensional rotational four-degree-of-freedom parallel mechanism |
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- 2022-01-21 CN CN202210073189.1A patent/CN114378792A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918902A (en) * | 2022-05-19 | 2022-08-19 | 南京理工大学 | Three-dimensional translational and one-dimensional rotational four-degree-of-freedom parallel mechanism |
| CN114918902B (en) * | 2022-05-19 | 2023-09-26 | 南京理工大学 | Three-dimensional-to-one four-degree-of-freedom parallel mechanism |
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