CN102152300A - Linear-driven high-speed planar parallel mechanical arm - Google Patents

Abstract

The invention discloses a linearly driven high-speed planar parallel manipulator, which comprises a machine base and a moving platform, and kinematic chains connected with the moving platform are respectively arranged on both sides of the machine base; the kinematic chain is driven by a linear motor, and the linear motor is installed on the machine On the seat; the machine base is connected to a sleeve through two coaxial pins, and a guide rod is arranged in the sleeve, and the guide rod and the sleeve are connected through a sliding pair. Between two parallelogram mechanisms, and its axis is coplanar with the two parallelogram mechanisms. The invention can realize the two-dimensional movement of the moving platform in different ranges at a relatively high speed, while keeping the posture of the moving platform unchanged, has a large bearing capacity, and has high positioning accuracy and repeat positioning accuracy.

Description

Linear Drive High Speed Planar Parallel Manipulator

technical field

The invention relates to a manipulator, in particular to a linearly driven high-speed plane parallel manipulator.

Background technique

Pick-and-place robotic mechanisms are used to accurately repeat simple operations such as grabbing an object from one location, moving it to another location, and releasing it multiple times. Existing pick-and-place robots are mainly used in light industries such as electronics and packaging, and have low carrying capacity.

The performance of this type of robot usually requires that the moving platform can move in two degrees of freedom at a high speed in a motion plane without changing the attitude of the platform. In some cases, it is also required that the whole mechanism moves linearly at a relatively high speed in a direction perpendicular to the motion plane of the moving platform. At the same time, the moving platform requires high positioning accuracy and repeat positioning accuracy.

Contents of the invention

In order to solve the technical problems in the known technology, the present invention provides two kinds of linearly driven high-speed planar parallel manipulators, both of which can realize the two-dimensional movement of the moving platform in different ranges at a relatively high speed, while maintaining the attitude of the moving platform Unchanged, it has a large carrying capacity, high positioning accuracy and repeat positioning accuracy.

A technical solution adopted by the present invention to solve the technical problems in the known technology is: a linearly driven high-speed planar parallel manipulator, including a machine base and a moving platform, and the two sides of the machine base are respectively provided with the The kinematic chain connected to the moving platform; the kinematic chain on both sides of the base is symmetrical about the axis, and each of the kinematic chains includes two parallel equal-length connecting rods, the two connecting rods and their end connectors and the The moving platform forms a mutually hinged parallelogram mechanism, the connecting piece is connected with the linear motor, and the linear motor is installed on the base; a sleeve is connected to the base through two coaxial pins, and the There is a guide rod inside the sleeve, the guide rod is connected with the sleeve through a sliding pair, the lower part of the guide rod is connected with the moving platform through a hinge, and the guide rod is located between the two parallelogram mechanisms. between, and its axis is coplanar with the two parallelogram mechanisms.

The connecting rod at its end and the moving platform are respectively connected by ball joints.

The connecting rod, the connecting piece at its end and the moving platform are respectively connected by plane hinges.

The machine base is connected on its transmission device.

A keyway is provided in the sleeve, and a key matching the keyway is provided on the guide rod.

Another technical solution adopted by the present invention to solve the technical problems existing in the known technology is: a linearly driven high-speed planar parallel manipulator, including a machine base and a moving platform. The kinematic chain connected to the moving platform; the kinematic chain on one side of the machine base includes two parallel connecting rods of equal length, and the two connecting rods form a mutually hinged parallelogram with the connectors at their ends and the moving platform mechanism, the kinematic chain on the other side of the machine base includes a connecting rod, the connecting piece at the end of the connecting rod and the moving platform are respectively hinged, the connecting piece is connected with a linear motor, and the linear motor is installed On the base, all the connecting rods are of the same length; the base is connected to a sleeve through two coaxial pins, and a guide rod is arranged inside the sleeve, and the guide rod and the sleeve are slid The lower part of the guide rod is connected to the moving platform through a hinge, the guide rod is located between the kinematic chains on both sides of the base, and its axis is the same as that of the kinematic chains on both sides of the base. noodle.

The connecting rod at its end and the moving platform are respectively connected by ball joints.

The connecting rod, the connecting piece at its end and the moving platform are respectively connected by plane hinges.

The machine base is connected on its transmission device.

A keyway is provided in the sleeve, and a key matching the keyway is provided on the guide rod.

The advantages and positive effects that the present invention has are:

1) The moving platform can move relative to the machine base in a plane including the machine base and the moving platform; 2) When the two linear motors slide in a straight line with different rules, the two-dimensional movement of the moving platform in different ranges can be realized. At the same time, the posture of the moving platform is kept unchanged; 3) the linear motor is used as the driving part, which is beneficial to the mechanism to realize the motion with stable motion, high speed acceleration, high positioning accuracy and repeat positioning accuracy. 4) The kinematic chain takes the form of a parallelogram mechanism, which is beneficial to improve the overall rigidity of the mechanism; 5) The movement of the machine base in the direction perpendicular to the moving plane of the moving platform is realized by installing the machine base on its transmission device.

In a word, the present invention is a pick-and-place high-speed planar parallel manipulator driven by a linear motor, which can realize high-speed grabbing action with a high load capacity, and ensure that the manipulator has the characteristics of stable movement, high positioning accuracy and repeat positioning accuracy.

Description of drawings

Fig. 1 is the front view of Embodiment 1 of the present invention, and mechanism is in the middle position at this moment;

Fig. 2 is A-A sectional view of Fig. 1;

Fig. 3 is a three-dimensional view of the present invention;

Figure 4a and Figure 4b are two front views of Embodiment 1 of the present invention, and the mechanisms are respectively located on opposite sides;

Fig. 5 is a three-dimensional view of the present invention installed on a transverse transmission mechanism;

Fig. 6 is a front view of Embodiment 2 of the present invention.

Detailed ways

In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

Please refer to Figures 1 to 5, a linear-driven high-speed planar parallel manipulator, including a machine base 1, two linear motors 2 and two kinematic chains 5 connected between the linear motors 2 and the moving platform 11, and guide rods 17 , Sleeve 14, moving platform 11. The dotted line 18 in FIG. 1 indicates a plane passing through the guide rod, perpendicular to the mechanism, about which plane the mechanism in FIGS. 1 to 5 is symmetrical. The mechanism uses a linear motor 2 as a driving component, and the linear motor 2 moves linearly along the fixed guide rail. The sleeve 14 is connected with the base 1 through two coaxial pins 13 on its outer wall; the guide rod 17 is installed on the base 1 through the sleeve 14, and its lower part is connected with the base 1. The moving platform 11 is connected by a plane hinge 12. The moving platform 11 can be specially designed to install a series of accessories 10, such as grippers, sensors or tools.

Each kinematic chain 5 comprises a pair of links 6,7 of equal length. Obviously, the connecting rods 6, 7 in the kinematic chain 5, the connector 16, and the moving platform 11 form a parallelogram mechanism. One end of the connecting rod is hinged to the connector 16 through plane hinges 3 and 4, and the other end is hinged to the moving platform through plane hinges 8 and 9. When considering the error accumulation that may occur during the processing or assembly of parts of the mechanism, the plane hinges 3, 4,8,9 can be replaced by ball hinges.

The guide rail of the linear motor 2 is fixedly connected with the base 1. When the linear motor 2 drives its internal transmission mechanism, the kinematic chain 5 can slide along the direction of the motor guide rail; The hinged mode with the moving platform 11 can make it rotate relative to the support 1 and the moving platform.

The inner diameter of the sleeve 14 is slightly larger than the outer diameter of the guide rod 17, and its inner wall is provided with a keyway; the upper half of the guide rod 17 is axially provided with a key 15, which can make it and the inner wall provided with a keyway. Said sleeve 14 constitutes a sliding pair. The guide rod 17 is located between the two parallelograms, and its axis is coplanar with the parallelograms. The above-mentioned installation position and installation method of the guide rod 17 enable it to move axially relative to the sleeve 14 and to rotate with the sleeve 14 relative to the machine base 1 .

The movement of the moving platform 11 relative to the machine base 1 can be realized by the linear sliding of the two linear motors 2 . As shown by the arrow 19 in Figure 1, the linear motor 2 can make the moving platform 11 approach or move away from the base 1 by linear sliding from the same position with the same law; The hysteresis slip of the linear motor can make the moving platform move laterally relative to the machine base. Therefore, the moving platform 11 can realize 2-DOF movement in an imaginary plane passing through the machine base 1 and the moving platform 11 (ie, the plane of the parallelogram mechanism), and this movement is realized by the sliding of two linear motors. The kinematic chain 5 directly affects the static stiffness and dynamic stiffness of the mechanism, especially the stiffness of the above-mentioned kinematic plane.

The linear drive two-degree-of-freedom parallel mechanism can be further set to be movable in the direction orthogonal to the motion plane of the moving platform 11, which can be realized by installing the machine base 1 on a transmission device, such as a single-degree-of-freedom linear transmission device 23 . The linear transmission device 23 includes a lead screw 20 , a motor 21 and a support frame 22 . The leading screw 20 is driven by the motor to rotate, and cooperates with the nut on the machine base 1 . Therefore, the rotation of the lead screw 20 can drive the base 1 and the mechanism as a whole to move in the direction indicated by the arrow. The mechanism can also be driven by other transmissions, for example, it can be driven by a belt transmission.

The mechanism shown in Fig. 6 is the second embodiment of the present invention. Most of the construction features are the same as the mechanism described in Figures 1 to 5, so refer to Figures 1 to 5 for parts with common features, and the mechanism shown in Figure 6 differs from Figures 1 to 5 in that in the machine Among the kinematic chains on both sides of the seat, one has the same branch chain 5 as the above-mentioned mechanism, and a simplified kinematic chain 24 on the other side. The kinematic chain 24 includes a connecting rod 6 connected with the connecting piece 16 fixedly connected to the linear motor 2 through the hinge 3 and connected with the moving platform 11 through the hinge 8 . The kinematic chain 5 can maintain the posture of the moving platform 11 relative to the machine base 1 , and the kinematic chain 24 can make the power from the linear motor 2 act on the moving platform 11 .

Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art Under the enlightenment of the present invention, people can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims, and these all belong to the protection scope of the present invention.

Claims (10)

1. A linearly driven high-speed plane parallel manipulator, comprising a support and a moving platform, is characterized in that a kinematic chain connected with the moving platform is respectively provided on both sides of the support; The kinematic chain is symmetrical about the middle plane of the mechanism, and each kinematic chain includes two parallel connecting rods of equal length, and the two connecting rods and the connectors at their ends and the moving platform form a mutually hinged parallelogram mechanism, The connecting piece is connected with the linear motor, and the linear motor is installed on the base; a sleeve is connected to the base through two coaxial pins, and a guide rod is arranged inside the sleeve, and the guide The rod is connected with the sleeve through a sliding pair, the lower part of the guide rod is connected with the moving platform through a hinge, the guide rod is located between the two parallelogram mechanisms, and its axis is in line with the two The parallelogram bodies are coplanar. 2 . The linear-driven high-speed planar parallel manipulator according to claim 1 , characterized in that the connecting rod, the connecting piece at its end and the moving platform are respectively connected by ball joints. 3 . 3 . The linear-driven high-speed planar parallel manipulator according to claim 1 , characterized in that, the connecting rod, the connecting piece at its end and the moving platform are respectively connected by planar hinges. 4 . 4. The linear-driven high-speed planar parallel manipulator according to claim 1, wherein the machine base is connected to its transmission device. 5 . The linear-driven high-speed planar parallel manipulator according to claim 1 , wherein a keyway is provided in the sleeve, and a key adapted to the keyway is provided on the guide rod. 6 . 6. A linearly driven high-speed planar parallel manipulator, comprising a support and a moving platform, characterized in that a kinematic chain connected to the moving platform is respectively provided on both sides of the support; one side of the support The kinematic chain of the kinematic chain includes two parallel connecting rods of equal length, and the connecting parts of the two connecting rods and the moving platform form a parallelogram mechanism hinged to each other. The kinematic chain on the other side of the base includes a Connecting rods, the connectors at the ends of the connecting rods and the moving platform are respectively hinged, the connectors are connected to the linear motor, the linear motor is installed on the base, and all the connecting rods are equal in length; A sleeve is connected to the machine base through two coaxial pins, and a guide rod is arranged inside the sleeve, and the guide rod is connected with the sleeve through a sliding pair, and the lower part of the guide rod is connected to the sleeve through a hinge. The moving platform is connected, and the guide rod is located between the kinematic chains on both sides of the base, and its axis is coplanar with the kinematic chains on both sides of the base. 7 . The linear-driven high-speed planar parallel manipulator according to claim 6 , characterized in that, the connecting rod, the connecting piece at its end and the moving platform are respectively connected by ball joints. 8 . 8 . The linear-driven high-speed planar parallel manipulator according to claim 6 , characterized in that, the connecting rod, the connecting piece at its end and the moving platform are respectively connected by planar hinges. 9. The linear-driven high-speed planar parallel manipulator according to claim 6, characterized in that the machine base is connected to its transmission device. 10 . The linear-driven high-speed planar parallel manipulator according to claim 1 , wherein a keyway is provided in the sleeve, and a key matching the keyway is provided on the guide rod. 11 .

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