CN103350417A - Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation - Google Patents
Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation Download PDFInfo
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- CN103350417A CN103350417A CN2013103198058A CN201310319805A CN103350417A CN 103350417 A CN103350417 A CN 103350417A CN 2013103198058 A CN2013103198058 A CN 2013103198058A CN 201310319805 A CN201310319805 A CN 201310319805A CN 103350417 A CN103350417 A CN 103350417A
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Abstract
The invention discloses a parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation. The parallel mechanism comprises a fixing frame and a movable platform. Five drive devices are fixedly connected to the fixing frame. The movable platform comprises a central plate and a rocker vertically penetrating through the center of the central plate. The central plate is connected with the rocker through a hooke hinge in a rotating mode. Two ball head rods are fixed at the upper end of the rocker. Three first branch chains are connected between the fixing frame and the central plate. Two second branch chains are connected between the fixing frame and the two ball head rods. The central plate is driven by the three first branch chains to be in three-dimensional translational motion. The rocker is driven by the two second branch chains to be in two-dimensional rotation relative to the central plate through the hooke hinge. Consequently, the rocker is enabled to have not only three translational motion freedom degrees but also two rotation freedom degrees. The parallel mechanism is simple and compact in structure, exquisitely realizes five freedom degrees through the hooke hinge, reduces mechanism complexity, and can realize high-speed high-precision complex grab easily.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel institution with space five-freedom of robot.
Background technology
The mechanism that at present domestic research to the space six-degree-of-freedom parallel connection mechanism still concentrates on machining or measures purposes, and less for the space six-degree-of-freedom parallel connection mechanism research of the high-speed motion realized that is applied to the material pick-and-place.
There is in the world minority to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place.Patent documentation US20110097184A1 discloses a kind of parallel institution of realizing three-dimensional translating and Three dimensional rotation, comprises fixed mount, moving platform, Three Degree Of Freedom wrist and is arranged symmetrically in three side chains that structure is identical between described fixed mount and the moving platform; Be connected with drive unit on the described fixed mount; Described moving platform is connected with lower connecting axle; Every side chain comprises hack lever far away that nearly hack lever is parallel with two and drive end, connecting axle, and drive end is affixed on described nearly hack lever one end and the described fixed mount, and the other end is connected with connecting axle; Described two parallel hack lever far away one ends respectively with the two ends ball-joint of described upper connecting axle, the other end respectively with described lower connecting axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; Be connected with drive end between described two parallel hack levers far away; Drive end is affixed between described connecting axle one end and the described hack lever far away, and the other end and described Three Degree Of Freedom wrist input are affixed.The limitation of said mechanism is: the drive end of Three Degree Of Freedom wrist is fixed between two hack levers far away, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, causes this mechanism to be difficult to realize high-speed motion.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of parallel institution of realizing the three-dimensional translating two-dimensional rotary, have the characteristics of light inertia, high power density, can be used for the parallel manipulator with five freedom degrees of high-speed motion.
In order to solve the problems of the technologies described above, a kind of parallel institution of realizing the three-dimensional translating two-dimensional rotary of the present invention, comprise fixed mount and moving platform, be connected with five drive units on the described fixed mount, described moving platform comprises central plate and vertically through the rocking bar of central plate center, adopt Hooke's hinge to be rotationally connected between described central plate and the described rocking bar, the upper end of described rocking bar is fixed with two ball rods; Be connected with three the first side chains between described fixed mount and the central plate, be connected with two the second side chains between described fixed mount and described two ball rods; Described the first side chain is parallel to each other by nearly hack lever, upper connecting axle, two and isometric the first hack lever far away and lower connecting axle consists of; Described the second side chain is made of with lower connection spherical hinge nearly hack lever, upper connection spherical hinge, the second hack lever far away; In described the first side chain, be connected by revolute pair between one end of described nearly hack lever and the described fixed mount and affixed with the output of a drive unit, the other end of described nearly hack lever and described upper connecting axle are affixed, one end of two first hack levers far away respectively with described upper connecting axle ball-joint, the other end of two first hack levers far away respectively with described lower connecting axle ball-joint; Upper connecting axle, two parallel and isometric the first hack lever far away and lower connecting axles in every first side chain consist of a parallelogram sturcutre; In described the second side chain, be connected by revolute pair between one end of described nearly hack lever and the described fixed mount and affixed with the output of a drive unit, the other end of described nearly hack lever is by an end ball-joint of described upper connection spherical hinge and the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge and described ball rod ball-joint; Described central plate is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar and realize three-dimensional translating, described rocking bar is by realizing two-dimensional rotary with respect to described central plate by Hooke's hinge under the drive of two the second side chains, thereby make existing three translational degree of freedom of rocking bar, two rotational freedoms are arranged again.
Further, described Hooke's hinge comprises Hooke inner ring and Hooke outer ring, and described Hooke inner ring is connected with the Hooke outer ring rotating, and described Hooke inner ring and described rocking bar are affixed, and described Hooke outer ring and described central plate are rotationally connected.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention is simple and compact for structure, need not enlarger, utilizes Hooke's hinge to realize cleverly five degree of freedom, has reduced mechanism complexity, has reduced heavy moving parts, has improved kinematic accuracy, easily realizes at a high speed crawl, and satisfies the requirement of complicated pick-and-place operation.
Description of drawings
Fig. 1 is the integrated model schematic diagram of the present invention's parallel institution that can realize the three-dimensional translating two-dimensional rotary;
Fig. 2 is the structural representation of moving platform among the present invention;
Fig. 3 is the structural representation of Hooke's hinge among the present invention.
Among the figure: 1-drive unit, 2-fixed mount, the nearly hack lever of 3-, the upper connection of 4-spherical hinge, the upper connecting axle of 5-, 6-the second hack lever far away, 6a, 6b-the first hack lever far away connect spherical hinge under the 7-, connecting axle under the 8-, 9-moving platform, the 10-central plate, 11-Hooke inner ring, 12-Hooke outer ring, 13-rocking bar.
The specific embodiment
Below in conjunction with the specific embodiment the present invention is described in further detail.
As shown in Figure 1, a kind of parallel institution of realizing the three-dimensional translating two-dimensional rotary of the present invention, comprise fixed mount 2 and moving platform 9, be connected with five drive units 1 on the described fixed mount 2, as depicted in figs. 1 and 2, described moving platform 9 comprises central plate 10 and vertically through the rocking bar 13 of central plate 10 centers, as shown in Figure 3, adopt Hooke's hinge to be rotationally connected between described central plate 10 and the described rocking bar 13, described Hooke's hinge comprises Hooke inner ring 11 and Hooke outer ring 12, described Hooke inner ring 11 is rotationally connected with Hooke outer ring 12, described Hooke inner ring 11 and described rocking bar 13 are affixed, described Hooke outer ring 12 is rotationally connected with described central plate 10, and the upper end of described rocking bar 13 is fixed with two ball rods.
As shown in Figure 1, be connected with three the first side chains between described fixed mount 2 and the central plate 10, be connected with two the second side chains between described fixed mount 2 and described two ball rods; Described the first side chain is parallel to each other by nearly hack lever 3, upper connecting axle 5, two and isometric the first hack lever 6a, 6b far away and lower connecting axle 8 consists of; Described the second side chain is made of with lower connection spherical hinge 7 nearly hack lever 3, upper connection spherical hinge 4, the second hack lever 6 far away.In described the first side chain, be connected by revolute pair between one end of described nearly hack lever 3 and the described fixed mount 2 and affixed with the output of a drive unit 1, described drive unit 1 provides a rotational freedom for the nearly hack lever 3 affixed with it, the other end of described nearly hack lever 3 and described upper connecting axle 5 are affixed, the end of two first hack lever 6a, 6b far away respectively with described upper connecting axle 5 ball-joints, the other end of two first hack lever 6a, 6b far away respectively with described lower connecting axle 8 ball-joints; Upper connecting axle 5 in every first side chain, two the first parallel and isometric hack lever 6a, 6b far away and lower connecting axle 8 consist of a parallelogram sturcutre; In described the second side chain, be connected by revolute pair between one end of described nearly hack lever 3 and the described fixed mount 2 and affixed with the output of a drive unit 1, the other end of described nearly hack lever 3 is by the end ball-joint of described upper connection spherical hinge 4 with the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge 7 and described ball rod ball-joint.
As depicted in figs. 1 and 2, described central plate 10 is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar 13 and realize three-dimensional translating, described rocking bar 13 is by realizing two-dimensional rotary with respect to described central plate 10 by Hooke's hinge under the drive of two the second side chains, thereby make rocking bar 13 existing three translational degree of freedom, two rotational freedoms are arranged again.
Simultaneously, when parallel manipulator with five freedom degrees motion of the present invention, upper connection spherical hinge in the second side chain only needs a place to provide the rotation around the second hack lever 6 far away to get final product with lower connection spherical hinge, Gu when replacing upper connection spherical hinge or lower connection spherical hinge with Hooke's hinge, described rocking bar 13 still can drive the two-dimensional rotary of realizing with respect to described central plate 10 by two the second side chains under the effect of Hooke's hinge, and then mechanism can realize three translational degree of freedom and three rotational freedoms equally.
The present invention compared with prior art, its difference is:
Five side chains among the present invention are divided into two groups, and one group comprises three the first side chains, and another group comprises two the second side chains, and central plate 10 is driven by three the first side chains and realizes three-dimensional translating, realizes three-dimensional translating thereby drive rocking bar 13; Under the drive of two the second side chains, rocking bar 13 is realized the two-dimensional rotary of relative central plate 10 by Hooke's hinge, thereby makes rocking bar 13 existing three translational degree of freedom, and two rotational freedoms are arranged again.
Among the present invention, replace connecting arbitrary place in spherical hinge 4 and the lower connection spherical hinge 7 by Hooke's hinge, the present invention can realize translational degree of freedom and two rotational freedoms of three directions equally.
Parallel manipulator with five freedom degrees of the present invention has been avoided enlarger, utilizes Hooke's hinge to realize cleverly five degree of freedom, its compact conformation, reduce mechanism complexity, reduced heavy moving parts, improved kinematic accuracy, easily realize at a high speed crawl, and satisfy the requirement of complicated pick-and-place operation.
Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that do not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (2)
1. the parallel institution that can realize the three-dimensional translating two-dimensional rotary comprises fixed mount (2) and moving platform (9), is connected with five drive units (1) on the described fixed mount (2), it is characterized in that,
Described moving platform (9) comprises central plate (10) and vertically through the rocking bar (13) of central plate (10) center, adopt Hooke's hinge to be rotationally connected between described central plate (10) and the described rocking bar (13), the upper end of described rocking bar (13) is fixed with two ball rods;
Be connected with three the first side chains between described fixed mount (2) and the central plate (10), be connected with two the second side chains between described fixed mount (2) and described two ball rods; Described the first side chain is parallel to each other by nearly hack lever (3), upper connecting axle (5), two and isometric the first hack lever far away (6a, 6b) and lower connecting axle (8) consists of; Described the second side chain is made of nearly hack lever (3), upper connection spherical hinge (4), the second hack lever far away (6) and lower connection spherical hinge (7);
In described the first side chain, be connected by revolute pair between one end of described nearly hack lever (3) and the described fixed mount (2) and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) and described upper connecting axle (5) are affixed, one end of two first hack levers far away (6a, 6b) respectively with described upper connecting axle (5) ball-joint, the other end of two first hack levers far away (6a, 6b) respectively with described lower connecting axle (8) ball-joint; Upper connecting axle (5) in every first side chain, two the first parallel and isometric hack levers far away (6a, 6b) and lower connecting axle (8) consist of a parallelogram sturcutre;
In described the second side chain, be connected by revolute pair between one end of described nearly hack lever (3) and the described fixed mount (2) and affixed with the output of a drive unit (1), the other end of described nearly hack lever (3) is by the end ball-joint of described upper connection spherical hinge (4) with the described second hack lever far away, and the other end of the described second hack lever far away is by described lower connection spherical hinge (7) and described ball rod ball-joint;
Described central plate (10) is realized three-dimensional translating under the drive of three the first side chains, thereby drive rocking bar (13) and realize three-dimensional translating, described rocking bar (13) passes through the two-dimensional rotary of the relatively described central plate of realization (10) of Hooke's hinge under the drive of two the second side chains, thereby make existing three translational degree of freedom of rocking bar (13), two rotational freedoms are arranged again.
2. the described parallel institution of realizing the three-dimensional translating two-dimensional rotary according to claim 1, it is characterized in that, described Hooke's hinge comprises Hooke inner ring (11) and Hooke outer ring (12), described Hooke inner ring (11) is rotationally connected with Hooke outer ring (12), described Hooke inner ring (11) is affixed with described rocking bar (13), and described Hooke outer ring (12) is rotationally connected with described central plate (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310319805.8A CN103350417B (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310319805.8A CN103350417B (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
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| CN103350417A true CN103350417A (en) | 2013-10-16 |
| CN103350417B CN103350417B (en) | 2015-03-04 |
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| CN201310319805.8A Expired - Fee Related CN103350417B (en) | 2013-07-25 | 2013-07-25 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105234926A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation |
| CN106826767A (en) * | 2017-03-01 | 2017-06-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
| CN112719949A (en) * | 2020-12-24 | 2021-04-30 | 枣庄北航机床创新研究院有限公司 | Posture adjusting swing table for blade machining and mounting method |
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| FR2940925A1 (en) * | 2009-01-14 | 2010-07-16 | Jean Marie Chenu | Parallel type handling robot for packaging chocolate squares, has rail extending in displacement plane secant with working plane and inclined in displacement plane such that projection of rail on working plane defines side of polygon |
| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
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| CN203460171U (en) * | 2013-07-25 | 2014-03-05 | 天津大学 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2940925A1 (en) * | 2009-01-14 | 2010-07-16 | Jean Marie Chenu | Parallel type handling robot for packaging chocolate squares, has rail extending in displacement plane secant with working plane and inclined in displacement plane such that projection of rail on working plane defines side of polygon |
| CN202702238U (en) * | 2012-07-20 | 2013-01-30 | 大连佳林设备制造有限公司 | Parallel sorting robot |
| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
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| CN203460171U (en) * | 2013-07-25 | 2014-03-05 | 天津大学 | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105234928A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN105234926A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation |
| CN106826767A (en) * | 2017-03-01 | 2017-06-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on crawl parallel-connection structure |
| CN112719949A (en) * | 2020-12-24 | 2021-04-30 | 枣庄北航机床创新研究院有限公司 | Posture adjusting swing table for blade machining and mounting method |
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| Publication number | Publication date |
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| CN103350417B (en) | 2015-03-04 |
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