CN106272346A - There are the three five degree of freedom sorting machine people's devices moving two rotation decouplings - Google Patents
There are the three five degree of freedom sorting machine people's devices moving two rotation decouplings Download PDFInfo
- Publication number
- CN106272346A CN106272346A CN201610790283.3A CN201610790283A CN106272346A CN 106272346 A CN106272346 A CN 106272346A CN 201610790283 A CN201610790283 A CN 201610790283A CN 106272346 A CN106272346 A CN 106272346A
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- CN
- China
- Prior art keywords
- silent flatform
- degree
- sorting machine
- transmission branch
- machine people
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of have the three five degree of freedom sorting machine people's devices moving two rotation decouplings, including: three parallel branched structures, two movement branched chain, two transmission branch chain, the silent flatform, moving platform and the assistance platform that the most sequentially coaxially arrange, wherein: each one end of parallel branched structure is rotationally connected with the edge of silent flatform, the other end is fixing with the edge of moving platform is connected；The two ends of two movement branched chain are rotationally connected with silent flatform and moving platform respectively；Moving platform is connected by two transmission branch chain with assistance platform；The axis angle two-by-two of the revolute pair that three parallel branched structures are connected with silent flatform is 60 °, and three parallel branched structures and two movement branched chain are provided with driving by revolute pair relevant position on silent flatform；Present configuration is simple, and operating rate is fast, easy for installation.
Description
Technical field
The present invention relates to a kind of Robot Design manufacture the technology in field, specifically one and have three and move two rotations
Five degree of freedom sorting machine people's device of decoupling.
Background technology
Parallel institution is generally formed by the connection of a plurality of side chain by moving platform and fixed platform, and relatively serial mechanism has structure
Compact, rigidity and the advantage such as bearing capacity is strong, cumulative error is little, therefore obtain practical implementation widely；Serial mechanism has
The advantages such as work space is big；Hybrid mechanism then has concurrently also, the advantage of serial mechanism, is widely used in practical implementation.
Delta robot can realize three movements and rotation about the z axis, typically by frame, moving platform, silent flatform, three
Side chain and intermediate transmission side chain composition, can complete to sort at a high speed, plug-in mounting, encapsulate, the operation such as packaging.But can not be around level
Axis rotates, so being difficult to meet more complicated task, limits its application to a certain extent.
Summary of the invention
The present invention is directed to deficiencies of the prior art, propose a kind of to have three and move the five of two rotations decouplings freely
Degree sorting machine people's device, uses series connection and hybrid mechanism in parallel, is realized rotation and the shifting of decoupling by revolute pair and ball pair
Dynamic, motion is flexibly, easy for installation.
The present invention is achieved by the following technical solutions:
The present invention includes: three parallel branched structures, two movement branched chain, two transmission branch chain, the most successively with
Silent flatform, moving platform and the assistance platform that axle is arranged, wherein: one end of each parallel branched structure rotates with the edge of silent flatform
Connecting, the other end is fixing with the edge of moving platform to be connected；The two ends of two movement branched chain rotate with silent flatform and moving platform respectively
Connect；Moving platform is connected by two transmission branch chain with assistance platform.
Described parallel branched structure is connected by revolute pair with silent flatform.
Described movement branched chain is connected with moving platform and silent flatform by revolute pair.
Described parallel branched structure includes: be respectively arranged at two ends with two parallel side chains that ball is secondary.
Described moving platform is provided with the ball seat coordinated with ball parafacies.
The axis angle two-by-two of the revolute pair that three described parallel branched structures are connected with silent flatform is 60 °.
Described movement branched chain pass through into hinge pair be connected with revolute pair.
Described silent flatform is provided with the through hole that the revolute pair being connected with movement branched chain matches.
Two described transmission branch chain are respectively double transmission branch chain and three transmission branch chain.
Described double transmission branch chain are the revolute pair that two ends are connected.
Three described transmission branch chain are three revolute pairs being sequentially connected.
Five revolute pairs of two described transmission branch chain exist ... be mapped as same point in plane.
The axis of the revolute pair that two described transmission branch chain are connected with moving platform is angled with moving platform.
The axis of the revolute pair that two described transmission branch chain are connected with moving platform and two movement branched chain and moving platform phase
The dead in line of revolute pair even.
Three described parallel branched structures and two movement branched chain are provided with by revolute pair relevant position on silent flatform
Drive.
Technique effect
Compared with prior art, the present invention is reasonable in design, simple and compact for structure, can be used for spot welding, sprays and sort, inserts
Fill, encapsulate, the occasion such as packaging, operating rate is fast, and end rotary inertia is little.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention；
Fig. 2 is parallel branched structure schematic diagram；
Fig. 3 is movement branched chain connection diagram；
Fig. 4 is silent flatform schematic diagram；
Fig. 5 is moving platform schematic diagram；
Fig. 6 is moving platform and assistance platform annexation schematic diagram；
In figure: 1 is silent flatform, 2 is moving platform, and 3 is assistance platform, and 4 is revolute pair, and 5 is that ball is secondary, and 6 for becoming secondary to hinge, 7
For parallel branched structure, 8 is movement branched chain, and 9 is double transmission branch chain, and 10 is three transmission branch chain.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement
Example.
Embodiment 1
As it is shown in figure 1, the present embodiment includes: three parallel branched structures, 8, two transmission branch chain of 7, two movement branched chain,
Revolute pair 4, the silent flatform 1 the most sequentially coaxially arranged, moving platform 2 and assistance platform 3, wherein: each parallel link
One end of structure 7 is connected with the edge of silent flatform 1 by revolute pair 4, and the other end is fixing with the edge of moving platform 2 to be connected；Two fortune
The two ends of dynamic side chain 8 are connected with silent flatform 1 and moving platform 2 respectively by revolute pair 4；Moving platform 2 and assistance platform 3 are by two
Transmission branch chain is connected.
As in figure 2 it is shown, described parallel branched structure 7 includes: be respectively arranged at two ends with two parallel side chains of ball pair 5.
As it is shown in figure 5, described moving platform 2 is provided with the ball seat matched with ball pair 5.
The axis angle two-by-two of the revolute pair 4 that three described parallel branched structures 7 are connected with silent flatform 1 is 60 °.
It is connected with revolute pair 4 as it is shown on figure 3, described movement branched chain 8 is passed through into hinge secondary 6.
As shown in Figure 4, described silent flatform 1 is provided with the through hole that the revolute pair 4 being connected with movement branched chain 8 matches.
As shown in Figure 6, two described transmission branch chain are respectively double transmission branch chain 9 and three transmission branch chain 10.
Described double transmission branch chain 9 are the revolute pair 4 that two ends are connected.
Three described transmission branch chain 10 are three revolute pairs being sequentially connected 4.
The axis of the revolute pair 4 that two described transmission branch chain are connected with moving platform 2 is angled with moving platform 2.
The axis of the revolute pair 4 that two described transmission branch chain are connected with moving platform 2 and two movement branched chain 8 and moving platform
The dead in line of 2 revolute pairs 4 being connected.
Three described parallel branched structures 7 and two movement branched chain 8 are by revolute pair 4 relevant position on silent flatform 1
It is provided with driving.
Described driving is mounted at frame.
The end of the present embodiment has three moving characteristics and two rotation features, and end rotary inertia is little, moves and turns
There is between Dong decoupling, the most separate.
Claims (8)
1. one kind has the three five degree of freedom sorting machine people's devices moving two rotation decouplings, it is characterised in that including: put down for three
Row branched structure, two movement branched chain, two transmission branch chain, the silent flatform the most sequentially coaxially arranged, moving platform and auxiliary
Help platform, wherein: each one end of parallel branched structure is rotationally connected with the edge of silent flatform, the other end and the edge of moving platform
Fixing connection；The two ends of two movement branched chain are rotationally connected with silent flatform and moving platform respectively；Moving platform and assistance platform pass through
Two transmission branch chain are connected.
Five degree of freedom sorting machine people's device the most according to claim 1, is characterized in that, described parallel branched structure with
Silent flatform is connected by revolute pair.
Five degree of freedom sorting machine people's device the most according to claim 1, is characterized in that, described movement branched chain is by turning
Dynamic pair is connected with moving platform and silent flatform.
Five degree of freedom sorting machine people's device the most according to claim 1, is characterized in that, described parallel branched structure bag
Include: be respectively arranged at two ends with two parallel side chains that ball is secondary.
Five degree of freedom sorting machine people's device the most according to claim 2, is characterized in that, parallel of described three link
The axis of the revolute pair that structure is connected with silent flatform angle two-by-two is 60 °.
Five degree of freedom sorting machine people's device the most according to claim 3, is characterized in that, described movement branched chain is passed through into
It is connected with revolute pair to hinge pair.
Five degree of freedom sorting machine people's device the most according to claim 1, is characterized in that, two described transmission branch chain are divided
Not Wei double transmission branch chain and three transmission branch chain, double transmission branch chain are the revolute pair that two ends are connected, and three transmission branch chain are three
The revolute pair being sequentially connected.
Five degree of freedom sorting machine people's device the most according to claim 3, is characterized in that, parallel of described three link
Structure and two movement branched chain are provided with driving by revolute pair relevant position on silent flatform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790283.3A CN106272346A (en) | 2016-08-31 | 2016-08-31 | There are the three five degree of freedom sorting machine people's devices moving two rotation decouplings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790283.3A CN106272346A (en) | 2016-08-31 | 2016-08-31 | There are the three five degree of freedom sorting machine people's devices moving two rotation decouplings |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272346A true CN106272346A (en) | 2017-01-04 |
Family
ID=57673479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610790283.3A Pending CN106272346A (en) | 2016-08-31 | 2016-08-31 | There are the three five degree of freedom sorting machine people's devices moving two rotation decouplings |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272346A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116275762A (en) * | 2023-05-19 | 2023-06-23 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4976582A (en) * | 1985-12-16 | 1990-12-11 | Sogeva S.A. | Device for the movement and positioning of an element in space |
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN101554727A (en) * | 2008-04-10 | 2009-10-14 | 村田机械株式会社 | Parallel mechanism |
| 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 |
| CN103085061A (en) * | 2013-01-21 | 2013-05-08 | 广东工业大学 | Macro-micro compound five free degree light-emitting diode (LED) bonding machine actuating mechanism |
-
2016
- 2016-08-31 CN CN201610790283.3A patent/CN106272346A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4976582A (en) * | 1985-12-16 | 1990-12-11 | Sogeva S.A. | Device for the movement and positioning of an element in space |
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN101554727A (en) * | 2008-04-10 | 2009-10-14 | 村田机械株式会社 | Parallel mechanism |
| 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 |
| CN103085061A (en) * | 2013-01-21 | 2013-05-08 | 广东工业大学 | Macro-micro compound five free degree light-emitting diode (LED) bonding machine actuating mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116275762A (en) * | 2023-05-19 | 2023-06-23 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
| CN116275762B (en) * | 2023-05-19 | 2023-08-11 | 常州碳科智能装备有限公司 | Welding robot based on parallel mechanism |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
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| RJ01 | Rejection of invention patent application after publication |