CN103846911B - A kind of high speed six-degree of freedom parallel manipulator - Google Patents
A kind of high speed six-degree of freedom parallel manipulator Download PDFInfo
- Publication number
- CN103846911B CN103846911B CN201410073122.3A CN201410073122A CN103846911B CN 103846911 B CN103846911 B CN 103846911B CN 201410073122 A CN201410073122 A CN 201410073122A CN 103846911 B CN103846911 B CN 103846911B
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- Prior art keywords
- side chain
- mounting plate
- hack lever
- upper mounting
- screw rod
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- 230000007423 decrease Effects 0.000 abstract 1
- 210000000707 wrist Anatomy 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of high speed six-degree of freedom parallel manipulator, including the side chain that fixed mount, moving platform and six structures are identical, equipped with six driving devices on fixed mount, every side chain by nearly hack lever, upper connection axle, two be parallel to each other and isometric remote hack lever and lower connection axle form; Article six, in side chain, the outfan of all driving devices is affixed with one end of a nearly hack lever respectively and provides a rotational freedom for it; Moving platform includes upper mounting plate that is horizontally disposed and that be parallel to each other and lower platform, upper mounting plate and lower platform are connected by a rotating mechanism comprising screw rod, article six, side chain is divided into two groups of side chains according to the position at interval successively, independently drive upper mounting plate and lower platform, by rotating mechanism, upper and lower three-dimensional relative movement is converted into three rotations of screw rod. Present configuration is compact, it is to avoid enlarger, decreases heavy moving parts, improve kinematic accuracy while reducing mechanism complexity, easily realizes complicated pick-and-place operation.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to the parallel institution with space six degree of freedom of a kind of robot.
Background technology
The domestic research to space six-degree-of-freedom parallel connection mechanism at present still concentrates on machining or measures the mechanism of purposes, and the space six-degree-of-freedom parallel connection mechanism research for being applied to the realized high-speed motion of material pick-and-place is less.
Minority is had to can be applicable to the space six-degree-of-freedom parallel connection mechanism of material pick-and-place in the world. Patent documentation US20110097184A1 discloses a kind of parallel institution realizing three-dimensional translating Three dimensional rotation, including the side chain that fixed mount, moving platform, Three Degree Of Freedom wrist and three structures being arranged symmetrically between described fixed mount and moving platform are identical; Described fixed mount is connected with driving device; Described moving platform is connected with lower connection axle; Every side chain includes nearly hack lever and two parallel remote hack levers and drive end, connection axle, and described nearly hack lever one end is affixed with drive end on described fixed mount, and the other end is connected with connection axle; The parallel remote hack lever one end of said two respectively with described on be connected the two ends ball-joint of axle, the other end respectively with described under be connected axle ball-joint; Described Three Degree Of Freedom wrist is fixed in described moving platform; It is connected with drive end between the remote hack lever that said two is parallel; Between described connection axle one end and described remote hack lever, drive end is affixed, and the other end is affixed with described Three Degree Of Freedom wrist input. The limitation of said mechanism is in that: the drive end of Three Degree Of Freedom wrist is fixed between two remote hack levers, increases quality and the inertia of these mechanism kinematic parts, affects the dynamic property of said mechanism, causes that this mechanism is difficult to high-speed motion.
Summary of the invention
The present invention solves that the technical problem existed in known technology proposes the high speed six-degree of freedom parallel manipulator of a kind of light inertia, high power density.
The technical scheme of the present invention a kind of high speed six-degree of freedom parallel manipulator is: this mechanical hand includes fixed mount, moving platform and the identical side chain of six structures being arranged between described fixed mount and moving platform, described fixed mount is provided with six driving devices, every side chain by nearly hack lever, upper connection axle, two be parallel to each other and isometric remote hack lever and lower connection axle are constituted; Article six, in side chain, one end of all nearly hack levers is affixed with the outfan of six driving devices being arranged on fixed mount one to one respectively, and each driving device provides a rotational freedom for the nearly hack lever affixed with it; In every side chain, the other end of described nearly hack lever is with upper described to be connected axle affixed, two be parallel to each other and isometric remote hack lever one end respectively through spherical hinge with described on be connected axle ball-joint, two be parallel to each other and isometric remote hack lever, the other end respectively through spherical hinge with described under be connected axle ball-joint; Described lower connection axle on every side chain, described upper connection axle and two are parallel to each other and isometric remote hack lever constitutes a parallelogram sturcutre, and described parallelogram sturcutre is that described lower connection axle provides three-dimensional translating; The meaning of this parallelogram sturcutre is in that to ensure that described lower connection axle is parallel to fixed mount all the time in robot movement process.
Described moving platform in mechanical hand of the present invention includes upper mounting plate that is horizontally disposed and that be parallel to each other and lower platform, described upper mounting plate and lower platform are connected by a rotating mechanism, described rotating mechanism includes the nut being rotationally connected with described upper mounting plate and the screw rod being connected with described nut, being provided with bearing on described lower platform, described screw rod is by described bearings;Between described upper mounting plate and described screw rod, between described lower platform and described screw rod, Hooke's hinge is adopted to be rotationally connected respectively; Wherein, Hooke's hinge between described upper mounting plate and described screw rod is made up of a Hooke outer ring and described nut, Hooke's hinge between described lower platform and described screw rod is made up of a Hooke outer ring and described bearing, and the relative movement of upper mounting plate and lower platform is converted into three rotations of described screw rod by above-mentioned rotating mechanism and two Hooke's hinges; Article six, side chain is divided into two groups of side chains according to spaced position, connects axle and all consolidate with described upper mounting plate under three in one of which side chain, connects axle and all consolidate with described lower platform under three in another set side chain.
Compared with prior art, the invention has the beneficial effects as follows:
Horizontally disposed upper mounting plate and lower platform is have employed due to the moving platform in mechanical hand of the present invention, and adopt rotating mechanism to connect between upper and lower platform, therefore its compact conformation, avoid enlarger, heavy moving parts is decreased while reducing mechanism complexity, improve kinematic accuracy, easily realize capturing at a high speed, and meet the requirement of complicated pick-and-place operation.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of mechanical hand of the present invention;
Fig. 2 is the structural representation of moving platform shown in Fig. 1;
Fig. 3 is the structural representation of the Hooke's hinge on moving platform shown in Fig. 2.
Description of reference numerals: 1-driving device, 2-fixed mount, the nearly hack lever of 3-, 4-connects axle, the remote hack lever of 5a, 5b-, connect axle, 7-moving platform, 8-upper mounting plate, 9-lower platform, 10-nut, 11a, 11b-Hooke outer ring, 12-bearing, 13-screw rod under 6-.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in further detail.
As shown in Figure 1, one high speed six-degree of freedom parallel manipulator of the present invention, including the side chain that fixed mount 2, moving platform 7 and six structures being arranged between described fixed mount 2 and moving platform 7 are identical, being provided with six driving devices 1 on described fixed mount 2, every side chain is parallel to each other by nearly hack lever 3,4, two, upper connection axle and isometric remote hack lever 5a, 5b and lower connection axle 6 are constituted; Article six, in side chain, one end of all nearly hack levers 3 is affixed with the outfan of six driving devices 1 being arranged on fixed mount 2 one to one respectively, and each driving device 1 provides a rotational freedom for the nearly hack lever 3 affixed with it; In every side chain, the other end of described nearly hack lever 3 is with upper described to be connected axle 4 affixed, two be parallel to each other and isometric remote hack lever 5a, 5b one end respectively through spherical hinge with described on be connected axle 4 ball-joint, two be parallel to each other and isometric remote hack lever 5a, 5b the other end respectively through spherical hinge with described under be connected axle 6 ball-joint; Described lower connection axle 6 on every side chain, described upper connection axle 4 and two are parallel to each other and isometric remote hack lever 5a, 5b constitute a parallelogram sturcutre, and described parallelogram sturcutre provides three-dimensional translating for described lower connection axle 6;
As shown in Figure 2, described moving platform 7 includes upper mounting plate 8 that is horizontally disposed and that be parallel to each other and lower platform 9, described upper mounting plate 8 and lower platform 9 are connected by a rotating mechanism, described rotating mechanism includes the nut 10 being rotationally connected with described upper mounting plate 8 and the screw rod 13 being connected with described nut 10, being provided with bearing 12 on described lower platform 9, described screw rod 13 is supported by described bearing 12; Between described upper mounting plate 8 and described screw rod 13, between described lower platform 9 and described screw rod 13, Hooke's hinge is adopted to be rotationally connected respectively;Wherein, Hooke's hinge between described upper mounting plate 8 and described screw rod 13 is made up of a Hooke outer ring 11a and described nut 10, Hooke's hinge between described lower platform 9 and described screw rod 13 is made up of a Hooke outer ring 11b and described bearing 12, and the relative movement of upper mounting plate 8 and lower platform 9 is converted into three rotations of described screw rod 13 by above-mentioned rotating mechanism and two Hooke's hinges.
As it is shown in figure 1, six side chains are divided into two groups of side chains according to spaced position. All consolidating with described upper mounting plate 8 as in figure 2 it is shown, connect axle 6 under in one of which side chain three, under three in another set side chain, connection axle 6 all consolidates with described lower platform 9. Fig. 3 illustrates upper mounting plate 8 and is connected the position relationship of axle 6 under in one of which side chain three.
Compared with prior art, its difference is in that mechanical hand of the present invention:
By upper and lower platform, six side chains are divided into two groups, often the lower connection axle in group drives the relative motion of upper and lower platform can be converted into the Three dimensional rotation of screw rod 13 by rotating mechanism, so that moving platform both can have the translational degree of freedom in three directions, there are again three partial rotational degree of freedom simultaneously.
In the present invention, moving platform 7 have employed horizontally disposed upper mounting plate and lower platform, and upper lower platform adopts rotating mechanism to connect, Gu its compact conformation, avoid enlarger, moving-mass is decreased while reducing mechanism complexity, improve kinematic accuracy, easily realize capturing at a high speed, and meet the requirement of complicated pick-and-place operation.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing; but the invention is not limited in above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is merely schematic; it is not restrictive; those of ordinary skill in the art is under the enlightenment of the present invention; without departing under present inventive concept and scope of the claimed protection situation, it is also possible to making a lot of form, these belong within protection scope of the present invention.
Claims (1)
1. a high speed six-degree of freedom parallel manipulator, including the side chain that fixed mount (2), moving platform (7) and six structures being arranged between described fixed mount (2) with moving platform (7) are identical, described fixed mount (2) is provided with six driving devices (1), every side chain by nearly hack lever (3), upper connection axle (4), two be parallel to each other and isometric remote hack lever (5a, 5b) and lower connection axle (6) are constituted;
Article six, in side chain, one end of all nearly hack levers (3) is affixed with the outfan of six driving devices (1) being arranged on fixed mount (2) one to one respectively, and the nearly hack lever (3) that each driving device (1) is affixed with it provides a rotational freedom; In every side chain, the other end of described nearly hack lever (3) with described on to be connected axle (4) affixed, two be parallel to each other and isometric remote hack lever (5a, 5b) one end respectively through spherical hinge with described on be connected axle (4) ball-joint, two be parallel to each other and isometric remote hack lever (5a, 5b) the other end respectively through spherical hinge with described under be connected axle (6) ball-joint; Described lower connection axle (6) on every side chain, described upper connection axle (4) and two are parallel to each other and isometric remote hack lever (5a, 5b) constitutes a parallelogram sturcutre, and described parallelogram sturcutre is that described lower connection axle (6) provides three-dimensional translating;
It is characterized in that:
Described moving platform (7) includes upper mounting plate (8) that is horizontally disposed and that be parallel to each other and lower platform (9), described upper mounting plate (8) and lower platform (9) are connected by a rotating mechanism, described rotating mechanism includes the nut (10) being rotationally connected with described upper mounting plate (8) and the screw rod (13) being connected with described nut (10), being provided with bearing (12) on described lower platform (9), described screw rod (13) is supported by described bearing (12);Between described upper mounting plate (8) and described screw rod (13), between described lower platform (9) and described screw rod (13), Hooke's hinge is adopted to be rotationally connected respectively; Wherein, Hooke's hinge between described upper mounting plate (8) and described screw rod (13) is made up of a Hooke outer ring (11a) and described nut (10), Hooke's hinge between described lower platform (9) and described screw rod (13) is made up of a Hooke outer ring (11b) and described bearing (12), and the relative movement of upper mounting plate (8) and lower platform (9) is converted into three rotations of described screw rod (13) by above-mentioned rotating mechanism and two Hooke's hinges;
Article six, side chain is divided into two groups of side chains according to spaced position, connect axle (6) under in one of which side chain three all to consolidate with described upper mounting plate (8), connect axle (6) under three in another set side chain and all consolidate with described lower platform (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073122.3A CN103846911B (en) | 2014-02-28 | 2014-02-28 | A kind of high speed six-degree of freedom parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073122.3A CN103846911B (en) | 2014-02-28 | 2014-02-28 | A kind of high speed six-degree of freedom parallel manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103846911A CN103846911A (en) | 2014-06-11 |
| CN103846911B true CN103846911B (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410073122.3A Expired - Fee Related CN103846911B (en) | 2014-02-28 | 2014-02-28 | A kind of high speed six-degree of freedom parallel manipulator |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014223410B4 (en) * | 2014-11-17 | 2017-03-16 | Krones Aktiengesellschaft | Device and method for handling articles such as containers, piece goods or the like |
| CN105171717B (en) * | 2015-08-03 | 2017-04-19 | 电子科技大学 | Foldable six-freedom-degree parallel motion platform |
| CN107081760B (en) * | 2017-06-21 | 2023-05-09 | 东莞爱创机器人科技有限公司 | Six-degree-of-freedom mechanical arm based on translation parallel mechanism |
| CN107571249A (en) * | 2017-10-30 | 2018-01-12 | 江苏哈工海渡工业机器人有限公司 | 3-dof parallel robot |
| CN110450142B (en) * | 2019-09-09 | 2024-08-20 | 哈工大机器人（合肥）国际创新研究院 | Six-degree-of-freedom parallel robot based on double gyroscope components |
| CN112197128B (en) * | 2020-10-30 | 2023-08-29 | 常州固立高端装备创新中心有限公司 | Flexible six-degree-of-freedom platform |
| US12048503B2 (en) * | 2020-12-30 | 2024-07-30 | Point Robotics (Singapore) Pte. Ltd. | Medical device for manipulating surgical tool |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0760678A (en) * | 1993-08-20 | 1995-03-07 | Nippon Steel Corp | Parallel link manipulator |
| EP1293691A1 (en) * | 2001-09-17 | 2003-03-19 | SIG Pack Systems AG | Telescopic device for transmitting a torque |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| JP2011088262A (en) * | 2009-10-26 | 2011-05-06 | Fanuc Ltd | Parallel link robot |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN103386681A (en) * | 2013-07-25 | 2013-11-13 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
-
2014
- 2014-02-28 CN CN201410073122.3A patent/CN103846911B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0760678A (en) * | 1993-08-20 | 1995-03-07 | Nippon Steel Corp | Parallel link manipulator |
| EP1293691A1 (en) * | 2001-09-17 | 2003-03-19 | SIG Pack Systems AG | Telescopic device for transmitting a torque |
| JP2011088262A (en) * | 2009-10-26 | 2011-05-06 | Fanuc Ltd | Parallel link robot |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN103240729A (en) * | 2013-04-23 | 2013-08-14 | 天津大学 | Telescopic space triple-translation parallel manipulator |
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN103386681A (en) * | 2013-07-25 | 2013-11-13 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation |
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| Publication number | Publication date |
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| CN103846911A (en) | 2014-06-11 |
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Granted publication date: 20160608 |