CN104044135A - Planar two-degree-of-freedom parallel robot mechanism - Google Patents
Planar two-degree-of-freedom parallel robot mechanism Download PDFInfo
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- CN104044135A CN104044135A CN201410325946.5A CN201410325946A CN104044135A CN 104044135 A CN104044135 A CN 104044135A CN 201410325946 A CN201410325946 A CN 201410325946A CN 104044135 A CN104044135 A CN 104044135A
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Abstract
本发明涉及一种平面二自由度并联机器人机构，其特征是：运动平台通过两个相同的支链与固定平台相连接，每个支链均由平行四边形机构和一滑块相串联组成，其中滑块为机器人机构输入，两个支链的平行四边形机构在运动平台处交叉铰接在一起。该机构可作为工业机器人实现平面内分拣、包装和封装等操作。本发明具有重量轻、高速等优点。
The invention relates to a plane two-degree-of-freedom parallel robot mechanism, which is characterized in that: the motion platform is connected to the fixed platform through two identical branch chains, and each branch chain is composed of a parallelogram mechanism and a sliding block connected in series, wherein The slider is the input of the robot mechanism, and the parallelogram mechanism of two branch chains is cross-hinged together at the motion platform. The mechanism can be used as an industrial robot to realize operations such as in-plane sorting, packaging and encapsulation. The invention has the advantages of light weight, high speed and the like.
Description
Technical field:
The invention belongs to industrial robot and mechanical manufacturing field, particularly a kind of plane two degrees of freedom parallel robot mechanism.
Background technology:
Plane two degrees of freedom parallel robot can be realized any track in plane, can be applicable to high speed job task in the planes such as sorting, packing, encapsulation, therefore on the automatic production line of the industries such as light industry, electronics, food and medicine, has obtained important application.
In existing plane two degrees of freedom parallel robot mechanism, its output is some movement in the plane in mechanism, and in engineering application, often needs to locate in the plane a rigid body, requires the end of mechanism to be output as two-dimensional translation in the plane of a rigid body.
For addressing the above problem, Xin-Jun Liu proposed a kind of novel planar two degrees of freedom parallel robot in 2004, its feature that is different from existing plane two-freedom-degree parallel mechanism is, in the side chain of mechanism, adopted parallel-crank mechanism, the end of robot is the rigid body of doing plane translation like this, and is no longer the point in a plane.The artificial moving sets of this machine drives, and for obtaining larger working space, it needs large lateral dimension, the weak point of Zhe Shigai mechanism.In order to make mechanism can have less lateral dimension, CN101804629B proposes a kind of crossed two-freedom-degree parallel mechanism, and it also drives for moving sets, and owing to having adopted the linkage arrangement of chiasma type, the guide rail of mechanism has less lateral dimension.CN2511447Y proposes a kind of DIAMOND robot mechanism, and it adopts revolute pair to drive, and each side chain is containing two parallel-crank mechanisms that are in series, and its end output is also the translation of a rigid body.Owing to adopting revolute pair to drive, its lateral dimension is very little, but has also increased the number of connecting rod in side chain.
Foregoing invention, all by adopt parallel-crank mechanism in side chain, and then obtained the translation of end rigid body, but no matter be chiasma type, or other type, it all contains two side chains, two side chains are hinged on the both sides of motion platform at mechanism's end, motion platform all has larger kinematics size, and the quality that this has increased motion platform is undoubtedly unfavorable for that robot completes the high speed job task in plane.
Summary of the invention:
The present invention is directed to deficiency of the prior art, propose a kind of plane two degrees of freedom parallel robot mechanism, the translation and two-dimensional output that it can realize end movement platform, has the advantages such as lightweight, high-speed.
The present invention solves the scheme that its technical problem adopts: plane two degrees of freedom parallel robot mechanism, this mechanism is symmetrical structure.Its structure is that mechanism kinematic platform is connected with fixed platform by two identical side chains, for each side chain, by a parallel-crank mechanism and a slide block, is composed in series, and slide block is as the input of every side chain.The parallel-crank mechanism of each side chain in motion platform place cross-articulation together.
The present invention passes through technique scheme, there is following effect: due to the employing of parallel-crank mechanism, can realize planar two-dimensional translation of motion platform, due to the parallel-crank mechanism of each side chain in motion platform place cross-articulation together, greatly reduced the size of mechanism kinematic platform, reduce the quality of motion platform, this robot mechanism is had lightweight, the advantages such as high speed.
Accompanying drawing explanation:
Fig. 1 is structural representation of the present invention;
In figure: 1,3,5,6,10,11 is revolute pair, 2 is motion platform, and 4 is first connecting rod, and 7 is second connecting rod, and 8 is the first slide block, and 9 is the second slide block, and 12 is third connecting rod, and 13 is the 4th connecting rod, and 14 is fixed platform.
The specific embodiment:
Below in conjunction with the embodiment shown in accompanying drawing 1, be described in further detail:
In the embodiment shown in fig. 1: robot mechanism is symmetrical mechanism about y axle, motion platform 2 is connected with fixed platform 14 by two identical side chains.Article two, side chain is a parallel-crank mechanism and a slide block is in series.Wherein first connecting rod 4, second connecting rod 7, the first slide block 8 and motion platform 2 form the parallel-crank mechanism of the first side chain, first connecting rod 4 is hinged by revolute pair 6 and the first slide block 8, first connecting rod 4 is hinged by revolute pair 3 and motion platform 2, second connecting rod 7 is hinged by revolute pair 5 and the first slide block 8, and second connecting rod 7 is hinged by revolute pair 1 and motion platform 2.Wherein third connecting rod 12, the 4th connecting rod 13, the second slide block 9 and motion platform 2 form the parallel-crank mechanism of the second side chain, third connecting rod 12 is hinged by revolute pair 10 and the second slide block 9, third connecting rod 12 is hinged by revolute pair 1 and motion platform 2, the 4th connecting rod 13 is hinged by revolute pair 11 and the second slide block 9, and the 4th connecting rod 13 is hinged by revolute pair 3 and motion platform 2.In motion platform 2 place's cross-articulation together, wherein first connecting rod 4 and the 4th connecting rod 13 are hinged with crossing revolute pair 3 parallel-crank mechanism of two side chains, and second connecting rod 7 is hinged by revolute pair 1 with third connecting rod 12.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410325946.5A CN104044135A (en) | 2014-07-10 | 2014-07-10 | Planar two-degree-of-freedom parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410325946.5A CN104044135A (en) | 2014-07-10 | 2014-07-10 | Planar two-degree-of-freedom parallel robot mechanism |
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| CN104044135A true CN104044135A (en) | 2014-09-17 |
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| CN201410325946.5A Pending CN104044135A (en) | 2014-07-10 | 2014-07-10 | Planar two-degree-of-freedom parallel robot mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364917A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Pseudo-four-degree-of-freedom parallel robot adopting vertical joints |
| CN105710443A (en) * | 2016-03-14 | 2016-06-29 | 无为县环江铜业有限公司 | Edge trimmer for inner walls of copper pipes |
| CN106493713A (en) * | 2016-12-12 | 2017-03-15 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
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| TW200520911A (en) * | 2003-12-05 | 2005-07-01 | Janome Sewing Machine Co Ltd | A robot |
| CN101190526A (en) * | 2007-12-06 | 2008-06-04 | 上海交通大学 | Two-degree-of-freedom mobile parallel mechanism with buffer capacity |
| CN101474756A (en) * | 2009-01-20 | 2009-07-08 | 西安理工大学 | Dual-drive skid revolving joint portion dual-shaft parallel high-speed accurate mainshaft head |
| CN101804629A (en) * | 2010-04-17 | 2010-08-18 | 浙江理工大学 | Crossed two-freedom-degree parallel mechanism |
| CN202241285U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Two-degree-of-freedom X-shaped parallel mechanism |
| CN204094785U (en) * | 2014-07-10 | 2015-01-14 | 北华航天工业学院 | A kind of planar two-DOF parallel robot mechanism |
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2014
- 2014-07-10 CN CN201410325946.5A patent/CN104044135A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EA005147B1 (en) * | 2001-02-23 | 2004-12-30 | Виллемэн Машин С.А. | Kinematic device for support programmable displacement of a terminal element in a machine or an instrument |
| TW200520911A (en) * | 2003-12-05 | 2005-07-01 | Janome Sewing Machine Co Ltd | A robot |
| CN101190526A (en) * | 2007-12-06 | 2008-06-04 | 上海交通大学 | Two-degree-of-freedom mobile parallel mechanism with buffer capacity |
| CN101474756A (en) * | 2009-01-20 | 2009-07-08 | 西安理工大学 | Dual-drive skid revolving joint portion dual-shaft parallel high-speed accurate mainshaft head |
| CN101804629A (en) * | 2010-04-17 | 2010-08-18 | 浙江理工大学 | Crossed two-freedom-degree parallel mechanism |
| CN202241285U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Two-degree-of-freedom X-shaped parallel mechanism |
| CN204094785U (en) * | 2014-07-10 | 2015-01-14 | 北华航天工业学院 | A kind of planar two-DOF parallel robot mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364917A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Pseudo-four-degree-of-freedom parallel robot adopting vertical joints |
| CN105710443A (en) * | 2016-03-14 | 2016-06-29 | 无为县环江铜业有限公司 | Edge trimmer for inner walls of copper pipes |
| CN106493713A (en) * | 2016-12-12 | 2017-03-15 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
| CN106493713B (en) * | 2016-12-12 | 2018-09-04 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
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Application publication date: 20140917 |