CN104669252A - Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof - Google Patents
Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof Download PDFInfo
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- CN104669252A CN104669252A CN201510091183.7A CN201510091183A CN104669252A CN 104669252 A CN104669252 A CN 104669252A CN 201510091183 A CN201510091183 A CN 201510091183A CN 104669252 A CN104669252 A CN 104669252A
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Abstract
The invention discloses a two-degree-of-freedom hybrid manipulator, which comprises a base and a tail executer, wherein a parallel connecting part and a serial connecting part are arranged between the base and the tail executer; the parallel connecting part comprises a rotary frame, a first slide block, a second slide block, a first connecting rod and a second connecting rod, and the serial connecting part comprises three parallelogram mechanisms; by utilizing the driving action of the parallel connecting part and the proportional amplifying and translation actions of the serial connecting part, the sliding of the first slide block and the second slide block relative to the rotary frame is finally converted into the two-degree-of-freedom translation of the tail executer. The two-degree-of-freedom hybrid manipulator has the advantages that the serial and parallel hybrid topology structure is adopted; the structure is compact; the mass of movement parts is reduced; the working space is increased; the movement accuracy is improved; the high-speed movement is easy to be realized, and the load capacity of the mechanism is greatly improved by a movement pair driving mode.
Description
Technical field
The present invention relates to a kind of manipulator, particularly relate to a kind of hybrid mechanism with two-freedom of manipulator.
Background technology
Mainly contain two classes at present for sterically defined two-freedom mechanism of robot: series connection articulated type and plane parallel.The inertia of series connection jointed linkage is comparatively large, and movement velocity is low and positioning precision is poor, though plane-parallel type formula can realize higher movement velocity, and working range and working space critical constraints.
Minority is had to can be applicable to the plane two-degree-of-freedom parallel mechanism of material handling in the world.Patent document US 7090458 B2 and ZL 01154160.2 discloses a kind of parallel institution realizing two-freedom translation, comprises frame, moving platform and two pairs of side chains; Frame installs two servomotors, and moving platform is connected with frame by Liang Ge branch, forms parallel closed loop structure; Two side chains, respectively containing two parallel-crank mechanisms, respectively as group of drive rods and follower lever group, adopt turning joint to connect completely between each movement parts; Parallelogram branched structure is adopted to realize the two-dimensional translation of moving platform.The limitation of said mechanism is: the every bar side chain of mechanism respectively contains two groups of parallel-crank mechanisms, complex structure; Initiatively joint is rotating drive, and the bearing capacity of mechanism is poor, working space and range of movement little.
Summary of the invention
The present invention solves the technical problem existed in known technology, there is provided a kind of two-freedom detent mechanism and multiple degrees of freedom series-parallel connection manipulator thereof, the slip that parallel connection part can provide by the part in series of two-freedom series-parallel connection manipulator wherein is finally converted into two translational degree of freedom of end effector.Manipulator of the present invention adopts string and series-parallel connection topological structure, and its compact conformation, reduces heavy moving parts, increase working space, improve kinematic accuracy, easily realize high-speed motion, the type of drive of moving sets can make the load capacity of this mechanism significantly promote simultaneously.
In order to solve the problems of the technologies described above, a kind of two-freedom detent mechanism that the present invention proposes, comprise pedestal, described pedestal is connected with rotating frame, described rotating frame is connected with the first slide block and the second slide block respectively by sliding pair, described first slide block is connected with one end of first connecting rod by revolute pair, and described second slide block is connected with one end of second connecting rod by revolute pair, and described first connecting rod is connected with one end of third connecting rod by revolute pair A with the other end of second connecting rod; On described third connecting rod a bit and the other end of described third connecting rod be rotationally connected with one end of double leval jib and the 5th connecting rod respectively; The other end of described double leval jib is connected by revolute pair B with one end of described rotating frame and six-bar linkage; The other end of described six-bar linkage and being a bit connected by revolute pair C on the 5th connecting rod; Described third connecting rod after connection, the 5th connecting rod, six-bar linkage and double leval jib constitute a parallel-crank mechanism.
A kind of six degree of freedom series-parallel connection manipulator that the present invention proposes, on the architecture basics of above-mentioned two-freedom detent mechanism, described rotating frame and described pedestal relatively rotate, and the other end of described 5th connecting rod is provided with Three Degree Of Freedom wrist.
A kind of two-freedom series-parallel connection manipulator that the present invention proposes, comprise pedestal and end effector, described pedestal is connected with rotating frame, described rotating frame is connected with the first slide block and the second slide block respectively by sliding pair, described first slide block is connected with one end of first connecting rod by revolute pair, described second slide block is connected with one end of second connecting rod by revolute pair, and described first connecting rod is connected with one end of third connecting rod by revolute pair A with the other end of second connecting rod; On described third connecting rod a bit and the other end of described third connecting rod be rotationally connected with one end of double leval jib and the 5th connecting rod respectively; The other end of described double leval jib is connected by revolute pair B with one end of described rotating frame and six-bar linkage; On the other end of described six-bar linkage, the 5th connecting rod a bit and one connect set square and connected by revolute pair C; Described third connecting rod after connection, the 5th connecting rod, six-bar linkage and double leval jib constitute the first parallel-crank mechanism; The described other end of six-bar linkage and one end of seven-link assembly are rotationally connected; The other end of described seven-link assembly is rotationally connected with the described set square that is connected; Described rotating frame after connection, six-bar linkage, connection set square and seven-link assembly constitute the second parallel-crank mechanism; Described connection set square is rotatably connected to the 8th connecting rod and end set square in turn, the other end and the described end set square of described 5th connecting rod are rotationally connected, and described 5th connecting rod after connection, connection set square, end set square and the 8th connecting rod constitute the 3rd parallel-crank mechanism; Described end effector and described end set square affixed; Described rotating frame, the first slide block, the second slide block, first connecting rod and second connecting rod constitute parallel connection part, and described first parallel-crank mechanism, the second parallel-crank mechanism and the 3rd parallel-crank mechanism constitute part in series; By the driving effect of parallel connection part and the scale amplifying of part in series and translation, thus the first slide block and the second slide block are finally converted into two translational degree of freedom of end effector relative to the slip of rotating frame.
A kind of four-freedom hybrid manipulator that the present invention proposes, on the basis of above-mentioned two-freedom series-parallel connection manipulator, described rotating frame and described pedestal relatively rotate, described end effector rotation.
Compared with prior art, the invention has the beneficial effects as follows:
The two-freedom detent mechanism that the present invention proposes and multiple degrees of freedom series-parallel connection manipulator thereof, have employed series-parallel connection topological structure, therefore its compact conformation, reduce heavy moving parts, increase working space, improve kinematic accuracy, easily realize high-speed motion, the type of drive of moving sets can make the load capacity of this mechanism significantly promote simultaneously.
Accompanying drawing explanation
Fig. 1 is integrated model schematic diagram of the present invention;
Reference numeral: 1-pedestal, 2-rotating frame, 3a first slide block, 3b-second slide block, 4-first connecting rod, 5-second connecting rod, 6-double leval jib, 7-third connecting rod, 8-six-bar linkage, 9-seven-link assembly, 10-the 8th connecting rod, 11-the 5th connecting rod, 12-connects set square, 13-end set square, 14-end effector.
Detailed description of the invention
Be described in further detail technical solution of the present invention below in conjunction with the drawings and specific embodiments, described specific embodiment only explains the present invention, not in order to limit the present invention.
As shown in Figure 1, a kind of two-freedom series-parallel connection manipulator that the present invention proposes, comprise pedestal 1 and end effector 14, described pedestal 1 is connected with rotating frame 2, described rotating frame 2 is connected with the first slide block 3a and the second slide block 3b respectively by sliding pair, described first slide block 3a is connected by revolute pair one end with first connecting rod 4, described second slide block 3b is connected by revolute pair one end with second connecting rod 5, and described first connecting rod 4 is connected with one end of third connecting rod 7 by revolute pair A with the other end of second connecting rod 5;
On described third connecting rod 7 a bit and the other end of described third connecting rod 7 be rotationally connected with one end of double leval jib 6 and the 5th connecting rod 11 respectively; The other end of described double leval jib 6 is connected by revolute pair B with one end of described rotating frame 2 and six-bar linkage 8; On the other end of described six-bar linkage 8, the 5th connecting rod 11 a bit and one connect set square 12 and connected by revolute pair C; Described third connecting rod 7 after connection, the 5th connecting rod 11, six-bar linkage 8 and double leval jib 6 constitute the first parallel-crank mechanism.
The described other end of six-bar linkage 8 and one end of seven-link assembly 9 are rotationally connected; The other end of described seven-link assembly 9 is rotationally connected with the described set square 12 that is connected; Described rotating frame 2 after connection, six-bar linkage 8, connection set square 12 and seven-link assembly 9 constitute the second parallel-crank mechanism.
Described connection set square 12 is rotatably connected to the 8th connecting rod 10 and end set square 13 in turn, the other end and the described end set square 13 of described 5th connecting rod 11 are rotationally connected, and described 5th connecting rod 11 after connection, connection set square 12, end set square 13 and the 8th connecting rod 10 constitute the 3rd parallel-crank mechanism.Described end effector 14 is affixed with described end set square 13.
Described rotating frame 2, first slide block 3a, the second slide block 3b, first connecting rod 4 and second connecting rod 5 constitute parallel connection part, and described first parallel-crank mechanism, the second parallel-crank mechanism and the 3rd parallel-crank mechanism constitute part in series; By the driving effect of parallel connection part and the scale amplifying of part in series and translation, thus the first slide block 3a and the second slide block 3b is finally converted into two translational degree of freedom of end effector 14 relative to the slip of rotating frame 2.
On the basis of above-mentioned two-freedom series-parallel connection robot manipulator structure, if rotating frame 2 and pedestal 1 relatively rotate, simultaneously, end effector 14 can rotation, make end effector 14 on the basis of original two translational degree of freedom, with the addition of again two rotational freedoms, thus constitute a kind of four-freedom hybrid manipulator.
In addition, on the basis of above-mentioned two-freedom series-parallel connection robot manipulator structure, if remove seven-link assembly 9, the 8th connecting rod 10, connect set square 12, end set square 13 and end effector 14, then constitute a kind of two-freedom detent mechanism.If on the basis of this two-freedom detent mechanism, rotating frame 2 and pedestal 1 are relatively rotated, and on the 5th connecting rod 11, install a Three Degree Of Freedom wrist just formation six degree of freedom series-parallel connection manipulator additional.
The invention provides a kind of two-freedom detent mechanism and multiple degrees of freedom series-parallel connection manipulator thereof, the slip that parallel connection part can provide by the part in series of two-freedom series-parallel connection manipulator wherein is finally converted into two translational degree of freedom of end effector.Manipulator of the present invention adopts string and series-parallel connection topological structure, and its compact conformation, reduces heavy moving parts, increase working space, improve kinematic accuracy, easily realize high-speed motion, the type of drive of moving sets can make the load capacity of this mechanism significantly promote simultaneously.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (4)
1. a two-freedom detent mechanism, comprise pedestal (1), it is characterized in that, described pedestal (1) is connected with rotating frame (2), described rotating frame (2) is connected with the first slide block (3a) and the second slide block (3b) respectively by sliding pair, described first slide block (3a) is connected by revolute pair one end with first connecting rod (4), described second slide block (3b) is connected by revolute pair one end with second connecting rod (5), described first connecting rod (4) is connected with one end of third connecting rod (7) by revolute pair A with the other end of second connecting rod (5),
On described third connecting rod (7) a bit and the other end of described third connecting rod (7) be rotationally connected with one end of double leval jib (6) and the 5th connecting rod (11) respectively; The other end of described double leval jib (6) is connected by revolute pair B with one end of described rotating frame (2) and six-bar linkage (8); The other end of described six-bar linkage (8) and being a bit connected by revolute pair C on the 5th connecting rod (11); Described third connecting rod (7) after connection, the 5th connecting rod (11), six-bar linkage (8) and double leval jib (6) constitute a parallel-crank mechanism.
2. a six degree of freedom series-parallel connection manipulator, it is characterized in that, comprise two-freedom detent mechanism as claimed in claim 1, wherein, described rotating frame (2) and described pedestal (1) relatively rotate, and the other end of described 5th connecting rod (11) is provided with Three Degree Of Freedom wrist.
3. a two-freedom series-parallel connection manipulator, comprise pedestal (1) and end effector (14), it is characterized in that, described pedestal (1) is connected with rotating frame (2), described rotating frame (2) is connected with the first slide block (3a) and the second slide block (3b) respectively by sliding pair, described first slide block (3a) is connected by revolute pair one end with first connecting rod (4), described second slide block (3b) is connected by revolute pair one end with second connecting rod (5), described first connecting rod (4) is connected with one end of third connecting rod (7) by revolute pair A with the other end of second connecting rod (5),
On described third connecting rod (7) a bit and the other end of described third connecting rod (7) be rotationally connected with one end of double leval jib (6) and the 5th connecting rod (11) respectively; The other end of described double leval jib (6) is connected by revolute pair B with one end of described rotating frame (2) and six-bar linkage (8); On the other end of described six-bar linkage (8), the 5th connecting rod (11) a bit and one connect set square (12) and connected by revolute pair C; Described third connecting rod (7) after connection, the 5th connecting rod (11), six-bar linkage (8) and double leval jib (6) constitute the first parallel-crank mechanism;
The described other end of six-bar linkage (8) and one end of seven-link assembly (9) are rotationally connected; The other end of described seven-link assembly (9) is rotationally connected with the described set square (12) that is connected; Described rotating frame (2) after connection, six-bar linkage (8), connection set square (12) and seven-link assembly (9) constitute the second parallel-crank mechanism;
Described connection set square (12) is rotatably connected to the 8th connecting rod (10) and end set square (13) in turn, the other end and the described end set square (13) of described 5th connecting rod (11) are rotationally connected, and described 5th connecting rod (11) after connection, connection set square (12), end set square (13) and the 8th connecting rod (10) constitute the 3rd parallel-crank mechanism;
Described end effector (14) is affixed with described end set square (13);
Described rotating frame (2), the first slide block (3a), the second slide block (3b), first connecting rod (4) and second connecting rod (5) constitute parallel connection part, and described first parallel-crank mechanism, the second parallel-crank mechanism and the 3rd parallel-crank mechanism constitute part in series; By the driving effect of parallel connection part and the scale amplifying of part in series and translation, thus the first slide block (3a) and the second slide block (3b) are finally converted into two translational degree of freedom of end effector (14) relative to the slip of rotating frame (2).
4. a four-freedom hybrid manipulator, it is characterized in that, comprise two-freedom series-parallel connection manipulator as claimed in claim 3, wherein, described rotating frame (2) and described pedestal (1) relatively rotate, described end effector (14) rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510091183.7A CN104669252A (en) | 2015-02-28 | 2015-02-28 | Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof |
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| CN201510091183.7A CN104669252A (en) | 2015-02-28 | 2015-02-28 | Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof |
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| CN104669252A true CN104669252A (en) | 2015-06-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965546A (en) * | 2016-07-26 | 2016-09-28 | 青岛北洋天青数联智能股份有限公司 | Waist device for pelletizing robot |
| CN106002986A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Palletizing robot with double vertical sliding bases |
| CN110394799A (en) * | 2019-07-10 | 2019-11-01 | 柳州铁道职业技术学院 | A kind of restructural more Gou Taikezhan digital control mechanical arms mechanism |
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| JPS6164626A (en) * | 1984-09-06 | 1986-04-03 | Okura Yusoki Co Ltd | Loading device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105965546A (en) * | 2016-07-26 | 2016-09-28 | 青岛北洋天青数联智能股份有限公司 | Waist device for pelletizing robot |
| CN106002986A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Palletizing robot with double vertical sliding bases |
| CN110394799A (en) * | 2019-07-10 | 2019-11-01 | 柳州铁道职业技术学院 | A kind of restructural more Gou Taikezhan digital control mechanical arms mechanism |
| CN110394799B (en) * | 2019-07-10 | 2024-03-08 | 柳州铁道职业技术学院 | Reconfigurable multi-configuration extendable numerical control manipulator mechanism |
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Application publication date: 20150603 |