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CN106272348B - The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three - Google Patents

The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three Download PDF

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Publication number
CN106272348B
CN106272348B CN201610795070.XA CN201610795070A CN106272348B CN 106272348 B CN106272348 B CN 106272348B CN 201610795070 A CN201610795070 A CN 201610795070A CN 106272348 B CN106272348 B CN 106272348B
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China
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moving
platform
pair
branch
pairs
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CN201610795070.XA
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CN106272348A (en
Inventor
郭为忠
林荣富
王旭
赵冬华
韩有承
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Transmission Devices (AREA)

Abstract

一种具有三移二转五自由度的混联分拣机构，包括：动平台、静平台以及两端分别与动、静平台相连的五条运动支链，第一至第四运动支链的一端与静平台通过转动副相连，第一运动支链的另一端通过两个球副与动平台相连，第二和第三运动支链的另一端均通过转动副与动平台相连，第四运动支链的另一端通过转动副与动平台相连，第五运动支链的两端分别通过移动副和球副与静平台和动平台相连。本发明能够实现末端构件的三维移动、绕水平轴和竖直轴线的二维转动。本装置具有速度快、电机都安装在静平台处、末端转动惯量小、安装容易等特点，可用于点焊、喷涂和分拣等场合。

A hybrid sorting mechanism with three shifts, two turns and five degrees of freedom, comprising: a moving platform, a static platform, and five moving branch chains whose ends are respectively connected with the moving and static platforms, and one end of the first to fourth moving branch chains It is connected with the static platform through the rotating pair, the other end of the first moving branch is connected with the moving platform through two ball pairs, the other ends of the second and third moving branch are connected with the moving platform through the rotating pair, and the fourth moving branch is connected with the moving platform through the rotating pair. The other end of the chain is connected with the moving platform through the rotating pair, and the two ends of the fifth moving branch chain are respectively connected with the static platform and the moving platform through the moving pair and the ball pair. The present invention enables three-dimensional movement of the end member and two-dimensional rotation about the horizontal axis and the vertical axis. The device has the characteristics of high speed, the motors are installed on the static platform, the moment of inertia at the end is small, and the installation is easy. It can be used for spot welding, spraying and sorting.

Description

The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three
Technical field
It is specifically a kind of that there is two turn five of three shifting certainly the present invention relates to a kind of technology of Robot Design manufacturing field By the mixed connection mechanism for sorting spent.
Background technique
Parallel institution is usually coupled by moving platform and fixed platform by branch of doing more physical exercises, and compared with serial mechanism, is had The advantages that compact-sized, rigidity, bearing capacity are strong, accumulated error is small, therefore obtain in extensive practical implementation；Serial mechanism Have many advantages, such as that working space is big；Hybrid mechanism then have both simultaneously, serial mechanism the advantages of, therefore be widely used in engineering in practice. And three move two turns of five degree of freedom hybrid mechanisms, therefore end tool can be used for a little there are three moving characteristic and two rotation features The occasions such as weldering, spraying and sorting.
Delta robot can realize three movements and rotation about the z axis, generally by silent flatform, moving platform, silent flatform, three Movement branched chain and an intermediate transmission branch composition, the operations such as achievable high speed sorting, inserting, encapsulation, packaging.But it cannot be around Horizontal axis rotation, so being difficult to meet more complex task, limits its application to a certain extent.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of mixed connection point that two turns of five degree of freedom are moved with three Mechanism is picked, has the characteristics that speed is fast, motor is all mounted at silent flatform, end rotary inertia is small, installation is easy.
The present invention is achieved by the following technical solutions:
The present invention includes: five movement branched chains that moving platform, silent flatform and both ends are connected with dynamic and static platform respectively, In: one end of first to fourth movement branched chain is connected with silent flatform by revolute pair, and the other end of the first movement branched chain passes through two A ball pair is connected with moving platform, second and the other end of third movement branched chain pass through revolute pair and be connected with moving platform, the 4th fortune The other end of dynamic branch is connected by revolute pair with moving platform, the both ends of the 5th movement branched chain pass through respectively prismatic pair and ball pair and Silent flatform is connected with moving platform.
First movement branched chain a, comprising: revolute pair and four sides being made of four ball pairs interconnections Shape mechanism.
Second movement branched chain is identical with third movement branched chain, comprising: two revolute pairs and one are by four ball pairs Interconnect the quadrangular mechanism constituted.
4th movement branched chain, comprising: two revolute pairs and two universal hinges pairs and a prismatic pair.
5th movement branched chain a, comprising: prismatic pair and two ball pairs.
Three revolute pairs that described first to third movement branched chain is connected with silent flatform are circumferentially uniformly distributed, i.e., this three rotations Angle is 60 ° to secondary and silent flatform center line two-by-two.
The axis for two revolute pairs being connected in second and the third movement branched chain with moving platform and the first movement branch Chain is parallel with the line of centres of two ball pairs that moving platform is connected.
The driving of the movement branched chain is all set at silent flatform, one end of first to fourth movement branched chain with it is quiet The connected revolute pair of platform is to drive pair.
Technical effect
Compared with prior art, the configuration of the present invention is simple is compact, and assembly is easy, and mechanism kinematic is flexible, and speed is fast, can apply In occasions such as spot welding, spraying and sortings.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the first movement branched chain L1Structural schematic diagram；
Fig. 3 is Article 2 or third movement branched chain L2、L3Structural schematic diagram；
Fig. 4 is the 5th movement branched chain L5Structural schematic diagram；
Fig. 5 is the 4th movement branched chain L4Structural schematic diagram；
Fig. 6 is the structural schematic diagram of silent flatform；
Fig. 7 is the structural schematic diagram of moving platform；
In figure: silent flatform 1, the 2, first to the 5th movement branched chain L of moving platform1、L2、L3、L4、L5。
Specific embodiment
Embodiment 1
As shown in Figure 1, the present embodiment includes: 2, five silent flatform 1, moving platform movement branched chain L1、L2、L3、L4、L5。
As shown in Fig. 2, the first movement branched chain L1It include: a revolute pair R11Mutually it is connected with one by four balls are secondary The quadrangular mechanism of composition is connect, one end of the movement branched chain passes through revolute pair R11It is connected with silent flatform, the other end and moving platform are logical Cross two ball secondary S13、S14It is connected.
As shown in figure 3, the second movement branched chain L2With third movement branched chain L3It is identical, comprising: two revolute pair R21、 R22The quadrangular mechanism constituted is interconnected by four ball pairs with one, the both ends of the movement branched chain pass through revolute pair R respectively21 (R31) be connected with silent flatform, the other end passes through revolute pair R22(R32) connect with moving platform.
As shown in figure 5, the 4th movement branched chain L4It include: two revolute pair R41、R42With two universal hinge secondary U41、 U42, the both ends of the movement branched chain pass through revolute pair R respectively41It is connected with silent flatform, the other end passes through revolute pair R42With moving platform phase It connects.
As shown in figure 4, the 5th movement branched chain L5It include: a prismatic pair P51With two ball secondary S51、S52, the fortune The both ends of dynamic branch pass through prismatic pair P respectively51It is connected with silent flatform, the other end passes through ball secondary S52It is connect with moving platform.
As shown in fig. 6, described first to third movement branched chain L1、L2、L3In the revolute pair axis being connected with silent flatform Angle is 60 ° two-by-two.
As shown in fig. 7, the second and third movement branched chain L2、L3In the revolute pair R that is connected with moving platform22、R32Axis Line and the first movement branched chain L1In two ball secondary S13、S14The line of centres is parallel.
The driving of first to the 5th movement branched chain is all set at silent flatform, and driving pair is the movement branched chain The revolute pair being connected with silent flatform, i.e. R11、R21、R31、R41、P51。
The present apparatus can realize the three-dimensional movement of terminal link based on above structure, turn around the two dimension of trunnion axis and vertical axis It is dynamic.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute Limit, each implementation within its scope is by the constraint of the present invention.

Claims (8)

1.一种具有三移二转五自由度的混联分拣机构，其特征在于，包括：动平台、静平台以及两端分别与动、静平台相连的五条运动支链，其中：第一至第四运动支链的一端与静平台通过转动副相连，第一运动支链的另一端通过两个球副与动平台相连，第二和第三运动支链的另一端均通过转动副与动平台相连，第四运动支链的另一端通过转动副与动平台相连，第五运动支链的两端分别通过移动副和球副与静平台和动平台相连。1. a hybrid sorting mechanism with three shifts, two turns, and five degrees of freedom, is characterized in that, comprising: a moving platform, a static platform and five motion branch chains that are connected to the dynamic and static platforms respectively at both ends, wherein: the first One end of the fourth moving branch is connected with the static platform through the rotating pair, the other end of the first moving branch is connected with the moving platform through two ball pairs, and the other ends of the second and third moving branch are connected with the rotating pair through the rotating pair. The moving platform is connected, the other end of the fourth moving branch is connected with the moving platform through the rotating pair, and the two ends of the fifth moving branch are connected with the static platform and the moving platform respectively through the moving pair and the ball pair. 2.根据权利要求1所述的混联分拣机构，其特征是，所述的第一运动支链，包括：一个转动副和一个由四个球副互相连接构成的四边形机构。2 . The hybrid sorting mechanism according to claim 1 , wherein the first moving branch chain comprises: a rotating pair and a quadrilateral mechanism formed by interconnecting four ball pairs. 3 . 3.根据权利要求1所述的混联分拣机构，其特征是，所述的第二运动支链和第三运动支链相同，包括：两个转动副和一个由四个球副互相连接构成的四边形机构。3. The hybrid sorting mechanism according to claim 1, wherein the second moving branch chain and the third moving branch chain are the same, including: two rotating pairs and one are connected to each other by four ball pairs Constituted quadrilateral mechanism. 4.根据权利要求1所述的混联分拣机构，其特征是，所述的第四运动支链，包括：两个转动副和两个万向铰副。4 . The hybrid sorting mechanism according to claim 1 , wherein the fourth moving branch chain comprises: two rotating pairs and two universal hinge pairs. 5 . 5.根据权利要求1所述的混联分拣机构，其特征是，所述的第五运动支链，包括：一个移动副和两个球副。5 . The hybrid sorting mechanism according to claim 1 , wherein the fifth moving branch chain comprises: one moving pair and two ball pairs. 6 . 6.根据权利要求1所述的混联分拣机构，其特征是，所述的第一至第三运动支链与静平台相连的三个转动副周向均布，即该三个转动副与静平台中心的连线两两夹角为60°。6 . The hybrid sorting mechanism according to claim 1 , wherein the three rotating pairs connected with the first to third moving branches and the static platform are evenly distributed in the circumferential direction, that is, the three rotating pairs are connected to the static platform. 7 . The angle between the lines connecting the center of the platform is 60°. 7.根据权利要求1所述的混联分拣机构，其特征是，所述的第二和第三运动支链中与动平台相连的两个转动副的轴线与第一运动支链与动平台相连的两个球副的中心连线相平行。7 . The hybrid sorting mechanism according to claim 1 , wherein the axes of the two rotating pairs connected with the moving platform in the second and third moving branches are connected to the first moving branch and the moving platform. 8 . The center lines of the two ball pairs connected to the platform are parallel. 8.根据权利要求1所述的混联分拣机构，其特征是，所述的运动支链的驱动均设置于静平台处，所述第一至第四运动支链的一端与静平台相连的转动副即为驱动副。8 . The hybrid sorting mechanism according to claim 1 , wherein the drives of the moving branch chains are all arranged at the static platform, and one end of the first to fourth moving branch chains is connected to the static platform. 9 . The rotating pair is the driving pair.
CN201610795070.XA 2016-08-31 2016-08-31 The mixed connection mechanism for sorting for moving two turns of five degree of freedom with three Expired - Fee Related CN106272348B (en)

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CN101249654A (en) * 2008-03-28 2008-08-27 北京工业大学 FOUROrganization
EP2301726A1 (en) * 2009-09-24 2011-03-30 CAMA 1 SpA Telescopic shaft for an industrial robot according to the delta concept
CN103052475A (en) * 2010-08-02 2013-04-17 株式会社安川电机 Parallel mechanism
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

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JP4850863B2 (en) * 2008-04-10 2012-01-11 村田機械株式会社 Parallel mechanism
CN101708611B (en) * 2009-11-09 2011-07-27 天津大学 Parallel mechanism with three-dimensional translation and one-dimensional rotation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101249654A (en) * 2008-03-28 2008-08-27 北京工业大学 FOUROrganization
EP2301726A1 (en) * 2009-09-24 2011-03-30 CAMA 1 SpA Telescopic shaft for an industrial robot according to the delta concept
CN103052475A (en) * 2010-08-02 2013-04-17 株式会社安川电机 Parallel mechanism
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

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